Device and method for maneuvering endoscope

• US 9,795,282 B2
• Filed: 01/14/2014
• Issued: 10/24/2017
• Est. Priority Date: 09/20/2011
• Status: Active Grant

• Current Assignee: Great Belief International Limited
• Original Assignee: M.S.T. Medical Surgery Technologies Ltd (Asensus Surgical, Inc.)
• Inventors: Sholev, Mordehai, Atarot, Gal, Karvat, Shlomi
• Primary Examiner(s): NEAL, TIMOTHY JAY
• Application Number:
  US14/154,225
• Publication Number:
  US 20140221738A1
• Time in Patent Office: 1,379 Days
• Field of Search: 600102, 600104, 600114, 600146, 600149
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/01 Guiding arrangements therefore
• 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 2090/5025 with a counter-balancing mechanism
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

Systems and methods for maneuvering an endoscope are disclosed. The system includes: at least one first pivoting support that is pivotally attached to the endoscope and that permits the endoscope to pivot around at least one first axis of rotation; at least one second pivoting support that is in communication with the at least one first pivoting support and that is adapted to rotate around at least one axis that is substantially orthogonal to said first axis so as to permit the endoscope to rotate around an insertion point into a body in at least two orthogonal axes; and at least one controller attached to either the first or the second pivoting. The controller is adapted to provide a constant dynamic equilibrium between said endoscope and at least one of the pivoting supports.

Claims

1. A system for maneuvering an endoscope, comprising:

at least one first pivoting support configured to be pivotally attached to said endoscope;

said pivoting support configured to enable said endoscope to pivot around at least one first axis of rotation;

at least one second pivoting support in communication with said at least one first pivoting support, said second pivoting support configured to rotate around at least one axis being substantially orthogonal to said first axis of rotation independently of said first pivoting support;

thereby enabling said endoscope to rotate around an insertion point into a body of a subject in at least two orthogonal axes;

at least one controller attached to either said first pivoting support or said second pivoting support,

wherein said controller is configured to provide a constant dynamic equilibrium between said endoscope and at least one selected from a group consisting of said first pivoting support, said second pivoting support and any combination thereof;

such that pressure on an insertion point into a patient is prevented;

further wherein said at least one selected from a group consisting of said first pivoting support, said second pivoting support and any combination thereof enable said endoscope to pivot about said insertion point if a line of application of force to move said endoscope is not completely collinear with a main longitudinal axis thereof, without application of force on said pivoting point.

2. The system according to claim 1, wherein at least one of said pivoting supports is configured to moderate said pivoting of said endoscope around either said first axis of rotation or said second axis of rotation.

3. The system according to claim 1, wherein said system further comprises at least one connecting means configured to connect said endoscope to at least one of said pivoting supports.

4. The system according to claim 3, wherein at least one of said pivoting supports is configured to constantly apply a counter torque to oppose the torque induced by said endoscope and said connecting means;

further wherein said counter torque varies as said torque varies such that there is provided a constant dynamic equilibrium between said endoscope and at least one of said first pivoting support and said second pivoting support.

5. The system according to claim 1, wherein said first pivoting support is configured to enable said endoscope to pivot around one first axis of rotation and said second pivoting support is configured to enable said endoscope to pivot around a second and third axis of rotation, each of said first axis of rotation, said second axis of rotation and said third axis of rotation being substantially perpendicular to the other two axes of rotation.

6. The system according to claim 1, wherein said controller further comprises at least one element selected from a group consisting of (a) damping mechanism configured to prevent oscillation of the system;

(b) at least one of an active mechanism and a passive mechanism to provide said dynamic equilibrium;

(c) at least one selected from a group consisting of a motor and a spring; and

any combination thereof.

7. The system according to claim 1, wherein said system additionally comprises an automatic assistant in communication with said endoscope configured to maneuver said endoscope.

8. The system of claim 1, further comprising:

a first mechanism, comprising;

a) at least one first transmission means (101);

said first transmission means 101 defines a first plane;

said first transmission means (101) is characterized by a first axis of rotation;

said first axis of rotation is substantially orthogonal to said first plane;

b) at least one second transmission means (102);

said second transmission means (102) defines a second plane;

said second transmission means is characterized by a second axis of rotation (141);

said second axis of rotation (141) is substantially orthogonal to said second plane;

said second transmission means (102) is rotatably connected to said first transmission means (101);

where said first plane is substantially orthogonal to second plane; and

c) at least one first means (106) configured to rotate said first transmission means (101) around said first axis of rotation;

where said first transmission means (101) transmits rotation to said second transmission means (102); and

,

a second mechanism, comprising;

a) at least one third transmission means (103);

said third transmission means (103) defines a third plane;

said third transmission means (103) is characterized by a third axis of rotation;

said third axis of rotation is substantially orthogonal to said third plane;

b) at least one fourth transmission means (104);

said fourth transmission means (104) defines a fourth plane;

said forth transmission means defines a fourth axis of rotation;

said fourth axis of rotation is substantially orthogonal to said fourth plane;

said fourth transmission means (104) is rotatably connected to said third transmission means (103);

where said fourth plane is substantially orthogonal to said third plane;

c) at least one fifth transmission means (105);

said fifth transmission means (105) defines a fifth plane;

said fifth transmission means defines a fifth axis of rotation (142);

said fifth axis of rotation (142) is substantially orthogonal to said fifth plane;

said fifth transmission means (105) is rotatably connected to said fourth transmission means (104);

where said fifth plane is substantially orthogonal to said fourth plane;

d) at least one second means (107) configured to rotate said third transmission means (103) around said third axis of rotation;

where said third transmission means (103) transmits rotation to said fourth transmission means (104);

where said fourth transmission means (104) transmits rotation to said fifth transmission means (105),

wherein said first mechanism and said second mechanism are configured to rotate said endoscope around at least one said second axis of rotation (141) being substantially orthogonal to said second plane; and

around at least one said fifth axis of rotation (142) being substantially orthogonal to said fifth plane, such that said second axis of rotation (141) and said fifth axis of rotation (142) are positioned at an angle A relative to each other;

said angle A between said second axis of rotation (141) and said fifth axis of rotation (142) is in the range of about 0 degrees to about 180 degrees.

9. The system according to claim 8, wherein said rotation in said second plane defines an angle θ

;

said angle θ

varies between about 0 and about 360 degrees, preferably between about 0 and about 160 degrees, when said system is in said automatic configuration or in said manual configuration;

further wherein said rotation in said fifth plane defines an angle ψ

;

said angle ψ

varies between about 0 and about 360 degrees, preferably between about 0 and about 140 degrees, when system is in said automatic configuration or in said manual configuration.

10. The system according to claim 8, wherein at least one of the following is being held true (a) said first mechanism additionally comprises locking means configured to maintain in a predetermined orientation upon power failure at least one selected from a group consisting of:

said first transmission means, said second transmission means and any combination thereof; and

to prevent any rotational movement of the same upon power failure;

(b) said second mechanism additionally comprises locking means configured to maintain in a predetermined orientation upon power failure at least one selected from a group consisting of;

said third transmission means, said fourth transmission means, said fifth transmission means, and any combination thereof; and

to prevent any rotational movement of the same upon power failure; and

any combination thereof.

11. The system according to claim 8, wherein a member of a group consisting of said first transmission means (101), said second transmission means (102), said third transmission means (103), said fourth transmission means (104), fifth transmission means (105) and any combination thereof is selected from a group consisting of gearwheels, wheels, crown gears, bevel gears, spur gears, belts and any combination thereof.

12. The system according to claim 1, wherein at least one of the following is being held true (a) said system further comprising at least one zoom mechanism 115, configured to maneuver said endoscope along the main longitudinal axis of the same;

(b) either one of said first or second pivoting supports (113 and 114) is a gimbal; and

any combination thereof.

13. The system according to claim 1, wherein said system comprises attaching means configured to reversibly couple said system to a hospital bed, said attaching means selected from a group consisting of mechanical means, magnetic means and any combination thereof;

said mechanical means is selected from a group consisting of a clip, a fastening element, tape, adhesive tape, a snap fastener, a button and any combination thereof;

said magnetic means comprises a magnetic device, said magnetic device comprising at least one magnet and at least one selected from a group consisting of;

a ferromagnet and a paramagnet;

where said magnet is attached to at least one member of a group consisting of;

a hospital bed, said system, and any combination thereof, and said member of said group consisting of a ferromagnet and a paramagnet is attached to at least one member of a group consisting of;

a hospital bed, said system, and any combination thereof.

14. The system according to claim 1, wherein said system additionally comprises a quick release handle configured to disassemble said endoscope from said system.

15. The system according to claim 1, additionally comprising at least one manual override system (MOS), configured upon activation of the same to switch reversibly between a manual configuration, in which the endoscope is moved manually by an operator via a manual control mechanism and an automatic configuration, in which the endoscope is moved automatically by the system, and optionally configured to switch reversibly to a wholly manual configuration, in which the endoscope is moved wholly manually by an endoscope assistant.

16. The system according to claim 15, wherein at least one of the following is being held true (a) said system additionally comprises at least one joystick, in communication with said endoscope;

(b) said system additionally comprises activation means configured to activate at least one of a group consisting of said system, said joystick and any combination thereof;

(c) said activation means is configured to be worn by an operator;

(d) said activation means is selected from a group consisting of a pres sable button, a rotatable knob, a knob, and any combination thereof; and

(e) said MOS additionally comprises n sensors, where n is an integer greater than or equal to one;

wherein said sensors are selected from of a group consisting of;

motion sensors, heat sensors, electric sensors, sound sensors, pressure sensors, optical sensors and any combination thereof.

17. The system according to claim 16, wherein at least one of the following is being held true (a) said motion sensors detect motion of said joystick;

wherein said motion detection of said joystick is used to deactivate said motion of said endoscope if said motion'"'"'s speed is above a predetermined threshold;

(b) said motion sensors detect motion upon the external surface of said joystick;

wherein said motion upon the external surface of said joystick is used to operate said endoscope according to said motion upon said external surface;

(c) said heat sensors are configured to sense temperature in the range of about 35 to about 42 degrees;

(d) said heat sensors enable the activation of said MOS when said heat sensors sense said temperature is in the range of about 35 to about 42 degrees;

(e) said heat sensors are configured to provide a thermal image, where said heat sensors are coupled to a processing unit configured to provide said endoscope user with said thermal image;

(f) said electric sensors are configured to sense at least one of a group consisting of;

power failure, connection to power, and electrical conductivity of a human body;

(g) said sound sensors are configured to sense predetermined sound patterns;

wherein said sound sensors are used to operate said endoscope according to said predetermined sound patterns;

(h) said optical sensors are configured to sense visual changes according to predetermined visual patterns;

wherein said optical sensors are used to operate said endoscope according to said predetermined visual patterns;

(i) said pressure sensors are configured to sense pressure applied to said MOS; and

any combination thereof.

18. The system according to claim 16 wherein said MOS is activated upon at least one condition selected from a group consisting of:

analysis of said thermal image by said processing unit and detection of human hand, said electric sensors sense said human body conductivity, said sound sensors sense said predetermined sound patterns, and according to said predetermined visual patterns detected by said optical sensors.