Apparatus and system for controlling tissue sampling

Abstract

Disclosed embodiments include devices, systems, and methods for securing a control device of an elongate instrument to an insertion device. In an exemplary embodiment, the device includes a fitting configured to couple the control device to a port of the insertion device used to deliver the elongate instrument to a target location. A bushing extends from the fitting and is configured to be inserted into an opening of the port of the insertion device. The elongate instrument is movably extendable through the bushing. A first seal member is disposed on an outer surface of the bushing to seal the outer surface of the bushing against an inner surface of the opening of the port. A second seal member is disposed on the outer surface of the elongate instrument to movably seal the outer surface of the elongate instrument.

Description

Technical Field

[0001] Priority Claim This application claims the priority and benefit of all of U.S. Provisional Patent Application Nos. 63 / 123,571, 63 / 123,601, 63 / 123,623, 63 / 123,641, 63 / 123,696, and 63 / 123,731, all filed on December 10, 2020, and entitled "REAL-TIME SAMPLING SYSTEM," and all of U.S. Non-Provisional Patent Application Nos. 17 / 546,685, 17 / 546,757, 17 / 546,774, 17 / 546,788, 17 / 546,804, and 17 / 546,818, all filed on December 9, 2021, and entitled "REAL-TIME SAMPLING SYSTEM."

[0002] This disclosure relates to an interface for controlling a device for collecting samples from within a body.

Background Art

[0003] The description in this section merely provides background information related to the present disclosure and may not constitute prior art.

[0004] By inserting and manipulating thin and elongated instruments into a living body or other object, it is always possible to improve the types of analysis, diagnosis, and treatment of those living bodies or objects with minimally invasive techniques. As examples, non-invasive biopsies, endoscopies, and catheter treatments have enabled the evaluation and treatment of numerous internal lesions without invasive surgery.

[0005] Similarly, elongated instruments can also be used to collect samples from within the body in a relatively non-invasive manner. For example, if a biopsy from the lung is needed to determine whether a detected lesion is cancerous, instead of making an incision in the patient's chest to obtain the sample, an insertion device such as a bronchoscope may be used to guide one or more elongated instruments to a position near the lesion to obtain the sample. However, simply bringing an elongated instrument to a position near the lesion may only present part of what is needed to collect the lesion itself. [Overview of the Initiative] [Means for solving the problem]

[0006] The disclosed embodiments include devices, systems, and methods for controlling tissue harvesting using one or more elongated instruments that can be inserted into the body.

[0007] In an exemplary embodiment, the apparatus includes a fitting configured to connect a control device at a port of an insertion device configured to transport an elongated instrument to a target position. A bush extends from the fitting and is configured to be inserted into the opening of the port of the insertion device. The elongated instrument is movably extendable through the bush. A first sealing member is positioned on the outer surface of the bush and is configured to seal the outer surface of the bush against the inner surface of the opening of the port. A second sealing member is positioned on the outer surface of the elongated instrument and is configured to movably seal the outer surface of the elongated instrument.

[0008] In another exemplary embodiment, the system includes an elongated instrument. A control device is movably coupled to the elongated instrument and configured to extend and retract the elongated instrument. A fitting is configured to detachably secure the control device to an insertion device. The insertion device is configured to transport the elongated instrument to a target position and includes a port for receiving the elongated instrument. A bush extends from the fitting and is configured to be inserted into the opening of the port of the insertion device together with the elongated instrument, which is movably expandable through the bush. A first sealing member is positioned on the outer surface of the bush and configured to seal the outer surface of the bush against the inner surface of the opening of the port. A second sealing member is positioned on the outer surface of the elongated instrument and configured to movably seal the outer surface of the elongated instrument.

[0009] In another exemplary embodiment, the method includes presenting a fitting adjacent to the opening of a port of an insertion device, the fitting supporting an elongated instrument being transported to a target position by the insertion device. The bush into which the elongated instrument is inserted extends movably into the opening. The outer surface of the bush seals to the opening to prevent fluid from passing between the inner surface of the opening and the outer surface of the bush. The outer surface of the elongated instrument is movably sealed to prevent fluid from passing between the outer surface of the elongated instrument and the fitting. Fluid is sealed to prevent it from entering the fitting around the outer surface of the bush and around the outer surface of the elongated instrument.

[0010] In another exemplary embodiment, the apparatus includes a control device configured to facilitate the extension of an elongated instrument to a target position. Ports within the end of the control device are configured to compress against the sides of the elongated instrument to secure it so that it moves with the control device.

[0011] In another exemplary embodiment, the system includes an elongated instrument configured to transport a sampling needle and an imaging probe to a target position. A control device is configured to facilitate the extension of the elongated instrument to the target position. A locking mechanism within the end of the control device is configured to compress against the sides of the elongated instrument to secure it so that it moves with the control device.

[0012] In another exemplary embodiment, the method includes the step of receiving an elongated instrument into an instrument port of a control device configured to extend the elongated instrument to a target position. The sides of the elongated instrument are compressed and secured by the control device so that the elongated instrument moves with the control device.

[0013] In another exemplary embodiment, the device includes a stylet configured to be insertable into the lumen of a needle via a proximal port fixed to a needle actuator fixed to the needle. An end cap, fixedly coupled to the stylet and configured to cover the proximal end of the needle actuator, is movable relative to the needle actuator so that an operator can withdraw the stylet from the lumen.

[0014] In another exemplary embodiment, the system includes a needle that defines a lumen. The stylet is configured to be insertable into the lumen of the needle via a proximal port fixed to a needle actuator fixed to the needle. An end cap, fixedly coupled to the stylet and configured to cover the proximal end of the needle actuator, is movable relative to the needle actuator so that an operator can withdraw the stylet from the lumen.

[0015] In another exemplary embodiment, the method includes the step of inserting the distal end of a stylet into the lumen of a needle fixed to a needle actuator. The stylet is inserted into the lumen until an end cap, which is fixedly engaged with the proximal end of the stylet, covers the proximal end of the needle actuator. The end cap is withdrawn from the proximal end of the needle actuator until the stylet is withdrawn from the lumen. A vacuum source is coupled to the lumen.

[0016] In another exemplary embodiment, the system includes a needle that defines a lumen. A stylet is configured to be insertable into the lumen of the needle, which is fixed to a needle actuator. An end cap is fixedly coupled to the stylet. The end cap is configured to be fixed to the proximal end of the needle actuator when the stylet is fully inserted into the lumen. The end cap is configured to work in cooperation with the proximal end of the needle actuator to prevent the stylet from dislodging from the lumen in response to the needle actuator being operated to facilitate the extraction of a tissue sample at the distal end of the needle.

[0017] In another exemplary embodiment, the method includes inserting the distal end of a stylet into the lumen of a needle fixed to a needle actuator. The stylet is expanded into the lumen until an end cap, which is resectably engaged with the proximal end of the stylet, engages with the distal end of the needle actuator. Because the end cap is fixed to the proximal end of the needle actuator, when the needle actuator is operated to facilitate the extraction of a tissue sample at the distal end of the needle, the end cap prevents the stylet from dislodging from the lumen.

[0018] In another exemplary embodiment, the device includes a guide tube that defines a lumen into which the needle can expand. A needle actuator is configured to be fixedly coupled to the proximal end of the needle. A first release device is movably coupled to the needle actuator and is configured to engage with the needle actuator to release the needle actuator, thereby moving the distal end of the needle from a retracted position of the end of the guide tube, where the distal end of the needle retracts into the distal end of a sheath that can be positioned adjacent to the tissue to be harvested, to a ready position adjacent to the distal end of the sheath. A second release device is movably coupled to the needle actuator and is configured to engage with the needle actuator to release the needle actuator, thereby moving the distal end of the needle from the ready position to a harvesting position where it can advance into the tissue to be harvested.

[0019] In another exemplary embodiment, the system includes a needle defining a first lumen. The harvesting device is configured to be coupled to an insertion device configured to deliver the needle to the tissue to be harvested. A guide tube extends from the harvesting device and defines a second lumen into which the needle can expand. A needle actuator is configured to be fixedly coupled to the proximal end of the needle. A first release device is movably coupled to the needle actuator and is configured to be engaged to release the needle actuator, thereby moving the distal end of the needle from a retracted position of the end of the guide tube, where the distal end of the needle is retracted into the distal end of a sheath that can be positioned adjacent to the tissue to be harvested, so that the distal end of the needle can move from the ready position into a harvesting position where it can advance into the tissue to be harvested.

[0020] In another exemplary embodiment, the method includes engaging a first release device to release the needle actuator from a retracted position at the end of a guide tube, where the distal end of the needle retracts into the distal end of a sheath that can be positioned adjacent to the tissue to be harvested. The needle actuator is advanced to a ready position to advance the distal end of the needle adjacent to the distal end of the sheath. A second release device is engaged to release the needle actuator from the ready position. The needle actuator is advanced to advance the distal end of the needle into the tissue to be harvested.

[0021] In another exemplary embodiment, the apparatus includes a guide tube defining a lumen configured to slidably transport a needle from the proximal end of the guide tube to the distal end of the guide tube, the proximal end of the guide tube having an asymmetrical outer cross-section. A needle actuator is configured to be coupled to the proximal end of the needle, and the needle actuator includes an asymmetrical distal opening configured to receive the guide tube in response to the needle actuator being oriented so that the distal end of the needle faces a desired direction.

[0022] In another exemplary embodiment, the system includes a needle defining a first lumen. A harvesting device is configured to be coupled to an insertion device configured to deliver the needle to the tissue to be harvested. A guide tube defining the lumen is configured to slidably transport the needle from its proximal end to its distal end, with the proximal end of the guide tube including an asymmetric outer cross-section. A needle actuator is configured to be coupled to the proximal end of the needle, and the needle actuator includes an asymmetric distal opening configured to receive the guide tube in response to the needle actuator being oriented so that the distal end of the needle faces a desired direction.

[0023] In another exemplary embodiment, the method includes the step of inserting the distal end of a needle into a guide tube configured to define a lumen and transport the distal end of the needle to the tissue to be harvested, wherein the needle is fixedly coupled to a needle actuator. The distal opening of the needle actuator is presented to the proximal end of the guide tube, and in response to the needle actuator being oriented in a desired direction, the distal opening of the needle actuator is configured to slidably receive the proximal end of the guide tube in order to guide the distal end of the needle toward the desired direction. When the needle actuator is oriented in the desired direction, the distal opening of the needle actuator slides along the outer surface of the guide tube.

[0024] In another exemplary embodiment, the device includes a buckling prevention device comprising at least one movable support bracket. The at least one bracket is a substantially planar member having an inner orifice and an outer edge configured to movably engage with the inner surface of a channel, and is configured to provide lateral support to an elongated instrument selected from one of a needle and a probe that are extendable through the inner orifice, in response to an elongated instrument driven through the channel by an actuator receivable within the channel. The at least one bracket also includes a positioning member extending from the planar member, the positioning member configured to resist the planar member from twisting with respect to the axis of the channel, and the positioning member configured to move relative to the distal end of the actuator so as not to obstruct the movement of the actuator toward the distal end of the channel.

[0025] In another exemplary embodiment, the system includes an elongated instrument selected from one of a needle and a probe. A control device is movably coupled to the elongated instrument and configured to extend and retract the elongated instrument, and the control device includes a buckling prevention device including at least one movable support bracket. The at least one bracket includes a substantially planar member having an inner orifice and an outer edge configured to movably engage with the inner surface of the channel. The planar member is configured to provide lateral support to the elongated instrument that is extendable through the inner orifice in response to the elongated instrument driven through the channel by an actuator receivable within the channel. The at least one bracket includes a positioning member extending from the planar member, the positioning member configured to resist the planar member from twisting with respect to the axis of the channel and to move relative to the distal end of the actuator so as not to obstruct the movement of the actuator toward the distal end of the channel.

[0026] In another exemplary embodiment, the method includes engaging an actuator slidably received within a channel, the actuator being configured to move from a proximal end of the channel toward a distal end of the channel to advance an elongate instrument selected from one of a needle and a probe through a distal opening at the distal end of the channel. The elongate instrument is movably supported spaced from an inner surface of the channel at a point between a distal end of the actuator and the distal end of the channel. At least a portion of a bracket moves beyond a distal end of the actuator as the distal end of the actuator advances toward the distal end of the channel so as not to impede movement of the distal end of the actuator toward the distal end of the channel.

[0027] Additional features, advantages, and scope of applicability will become apparent from the description provided herein. It is to be understood that the description and specific examples are for the purpose of illustration only and are not intended to limit the scope of the present disclosure.

[0028] The drawings described herein are for the purpose of illustration only and are not intended to limit the scope of the present disclosure in any way. The components in the figures are not necessarily to scale, and emphasis has been placed upon explaining the principles of the disclosed embodiments.

Brief Description of the Drawings

[0029] [Figure 1] A side view of an exemplary collection system. [Figure 2] An exploded view of a joint of the system of FIG. 1. [Figure 3] An exploded view of a joint of the system of FIG. 1. [Figure 4] A cross-sectional view of a joint of FIGS. 2 and 3. [Figure 5] A perspective view of a port for securing an elongate instrument to an actuator of the system of FIG. 1. [Figure 6] A cross-sectional view of a port of the actuator of FIG. 5. [Figure 7] Figure 1 is a side view of the needle actuator and end cap of the system shown in Figure 1. [Figure 8] Figure 7 is a cross-sectional view of the needle actuator and end cap. [Figure 9] Figure 10 is a cross-sectional view of the needle actuator and end cap. [Figure 10] Figure 1 is a side view of the needle actuator and end cap of the system shown in Figure 1. [Figure 11A] Figure 7 is a cross-sectional view of the needle actuator and release mechanism configured to control the position of the sampling needle. [Figure 11B] This is a side view of a schematic partial configuration of the distal end of the sampling needle, positioned adjacent to the tissue to be sampled, corresponding to the configuration of the needle actuator and release mechanism shown in Figure 11A. [Figure 12A] Figure 7 is a cross-sectional view of the needle actuator and release mechanism configured to control the position of the sampling needle. [Figure 12B] This is a side view of a schematic partial configuration of the distal end of the sampling needle, positioned adjacent to the tissue to be sampled, corresponding to the configuration of the needle actuator and release mechanism shown in Figure 12A. [Figure 13A] Figure 7 is a cross-sectional view of the needle actuator and release mechanism configured to control the position of the sampling needle. [Figure 13B] This is a side plan view of a schematic partial configuration of the distal end of the sampling needle, positioned adjacent to the tissue being sampled, corresponding to the configuration of the needle actuator and release mechanism shown in Figure 13A. [Figure 14] This is a perspective view of the needle actuator shown in Figure 7, which is attached to the guide tube of the system shown in Figure 1. [Figure 15A] This is a schematic diagram of the distal end of a sampling needle with a directional orientation. [Figure 15B] This is a schematic diagram of the distal end of a sampling needle with a directional orientation. [Figure 16] This is a plan view of a partially schematic configuration of the asymmetrical opening at the distal end of the needle actuator and guide tube. [Figure 17]This is a plan view of a partially schematic configuration of the asymmetrical opening at the distal end of the needle actuator and guide tube. [Figure 18] This is a perspective view showing a portion of the system in Figure 1, illustrating the buckling prevention device. [Figure 19] Figures 18, 20, and 21 are side views of typical buckling prevention devices. [Figure 20] This is a perspective view showing a portion of the system in Figure 1, illustrating the buckling prevention device. [Figure 21] This is a perspective view showing a portion of the system in Figure 1, illustrating the buckling prevention device. [Figure 22] This is a flowchart illustrating an exemplary method for connecting the system in Figure 1 to an insertion device. [Figure 23] This is a flowchart illustrating an exemplary method for securing a slender device within the port of the system shown in Figure 1. [Figure 24] This is a flowchart illustrating an exemplary method for securing the stylet within the needle of the system shown in Figure 1. [Figure 25] This is a flowchart illustrating an exemplary method for controlling the forward movement of the needle in the system shown in Figure 1. [Figure 26] This is a flowchart illustrating an exemplary method for controlling the direction of the needle actuator in the system shown in Figure 1. [Figure 27] This is a flowchart illustrating an exemplary method for supporting the elongated device of the system shown in Figure 1. [Modes for carrying out the invention]

[0030] The following description is purely illustrative and is not intended to limit the scope of this disclosure, application, or use. Note that the first digit of a three-digit reference number and the first two digits of a four-digit reference number correspond to the first digit and the first two digits of the single-digit figure number in which the element first appears, respectively.

[0031] The following description illustrates, and is not limiting, various embodiments of a control system for harvesting tissue using an elongated instrument that can be inserted into the body.

[0032] It will be understood that various embodiments of the control systems described herein can assist in the process of deploying and controlling elongated instruments. In various embodiments, the elongated instrument may include a sheath surrounding an imaging probe and a sampling needle. The sheath is insertable into the body and reaches the target tissue to be sampled. The imaging probe can be used to locate the target tissue or a portion of tissue to be sampled. The sampling needle may be used to obtain a sample of that tissue.

[0033] In various embodiments, the control system may be coupled to an insertion device, such as an endoscope or bronchoscope, which includes an insertion conduit that can be inserted into the body through an orifice or other opening. The control system may be coupled directly to the insertion device or to an interchangeable valve, such as a biopsy valve, coupled to an endoscopic device. The insertion device allows the insertion conduit to be inserted into the body and guided to a desired location within the body. The insertion conduit may be configured to receive an elongated instrument that can be extended through the insertion conduit. This elongated instrument can be inserted into the body via the insertion device to obtain a tissue sample at a desired location within the body. The elongated instrument may be operablely coupled to a control system that allows an operator to manipulate the elongated instrument to obtain a tissue sample. Examples of control systems are described below.

[0034] Referring to Figure 1, the exemplary control system 100 operates in conjunction with an insertion device 190 (partially shown in Figure 1), such as an endoscope or bronchoscope. The endoscopic device may include a replaceable valve, such as a biopsy valve (not shown), into which an elongated instrument 102 can be inserted. As previously mentioned, the insertion device includes an insertion conduit that can be inserted into the body through an orifice or other opening (none of which are shown in Figure 1). The insertion device 190 receives the elongated instrument 102, which can be extended through the insertion conduit to a desired location. Also as previously mentioned, in various embodiments, the elongated instrument 102 is a sampling probe that may include an imaging probe and a sampling needle housed in a sheath (none of which are shown individually in Figure 1). The elongated instrument 102 is insertable via the insertion device 190 to obtain a tissue sample at a desired location in the body. The elongated instrument 102 may also include a stylet (none shown in Figure 1) that may be removablely insertable in and / or through the needle, as will be further described below.

[0035] The control system 100 described herein is coupled to the insertion device 190 using a fitting 110 located at the distal end 111 of the control system 100. An elongated instrument 102 operated by the control system 100 extends through the fitting 110 and is inserted into an insertion conduit (not shown) of the insertion device 190. The elongated instrument 102 may be fixed to an actuator 112 movably coupled to the housing 114. The actuator 112 can move along the housing 114 between the proximal end 113 and distal end 111 (corresponding to the proximal and distal ends of the housing 114) of the control system 100 to extend and retract the elongated instrument 102 relative to the insertion device 190. A buckling prevention device (not shown in Figure 1) may be received within the housing 114 to provide lateral support to the elongated instrument 102 when the actuator 112 drives the elongated instrument 102 through the housing 114.

[0036] In various embodiments, the sheath of the elongated instrument 102 is fixedly secured to an actuator 112, while the imaging probe and needle are received into the sheath via the actuator 112. The proximal port 120 is configured to receive and secure the imaging probe. The guide tube 130 is configured to receive and engage the needle actuator 140, to which the acquisition needle is secured. The guide tube 130 and the needle actuator 140 may be movably coupled at an orientation interface 150. The orientation interface 150 is configured to control the orientation of the acquisition needle by maintaining the orientation of the needle actuator 140 relative to the guide tube 130, as will be further described below. The needle actuator 140 can be removably received by an end cap 160 which is coupled to a stylet and can be used to releasably secure the stylet within the acquisition needle. The needle actuator may also include a release mechanism 170 which can be actively engaged by an operator to advance the acquisition needle into the acquisition position, as will be further described below.

[0037] Referring to Figure 2, the fitting 110 may be used to secure the control system 100 to the port 290 of the insertion device 190. As previously mentioned, the insertion device 190 may include a replaceable valve, such as a biopsy valve. In such a case, the fitting 110 may be directly coupled to the biopsy valve coupled to the insertion device 190. In various embodiments, the fitting 110 includes a sealing system 210, a housing 250, and a locking mechanism 270. The components of the fitting 110 are configured to securely fasten the control system 100 to the insertion device 190.

[0038] In various embodiments, the sealing system 210 includes a bush 212 extending from the distal end 111 of the control system 100 (Figure 1). The bush 212 is configured to be slidably received within an opening 292 in a flange at the end of the connector 294 of the port 290. The bush 212 is sized to be slidable within the opening 292 and supports a first sealing member 214 and a second sealing member 224.

[0039] In various embodiments, the first sealing member 214 may be an O-ring configured to form a fluid seal between the outer surface 211 of the elongated instrument 102 (which may be the outer surface of the sheath) and the inner surface 216 of the bush 212. Thus, the first sealing member 214 may help prevent fluid from leaking out of the insertion device 190 between the outer surface 211 of the elongated instrument 102 and the bush 212. The first sealing member 214 is slidable and movable on the elongated instrument 102 when the elongated instrument 102 is inserted into the port 290.

[0040] The second sealing member 224 is configured to fluidly seal the outer surface 223 of the bush 212 to the opening 292 of the connector 294 of the insertion device 190. In various embodiments, the second sealing member 224 is a gasket configured to sealably engage with the outer surface 223 of the bush 212 and sealably engage with the opening 292 of the connector 294 of the port 290. For this purpose, in various embodiments, the second sealing member 224 includes an inclined surface 225 that sealably engages with the opening 292. Thus, the second sealing member 224 can prevent fluid from flowing out of the insertion device 190 between the opening 292 and the bush 212.

[0041] In various embodiments, the two sealing members 214 and 224 can replace a single gasket or membrane used to seal the opening 292. Using a single gasket or membrane may require forcing an elongated instrument 102 through the limiting opening or the surface of the membrane. As previously mentioned, the elongated instrument 102 may include an imaging probe, a sampling needle, and / or other potentially delicate devices that could be damaged in response to being forced through the limiting opening or surface of the membrane. By using the bush 212 supporting the first sealing member 214 and the second sealing member 224, a seal can be provided between the elongated instrument 102 and the opening 292 without the risk of potential damage to the elongated instrument 102.

[0042] Continuing to refer to Figure 3, in various embodiments, the fitting 110 also includes a housing 250 which is secured to the insertion device 190 by a locking mechanism 270. The housing 250 includes an outer housing 252 configured to cover the connector 294 and / or the base 298 of the connector 290 extending from the insertion device 190. The housing 250 also includes a cowl 260 through which an elongated fixture 102 extends and which can help cover and / or secure the bush 212 and sealing members 214 and 224. In various embodiments, the cowl 260 helps to hold the first sealing member 214 in place relative to the end of the connector 290 of the insertion device 190. The housing 250 also includes a slot 254 configured to receive the locking mechanism 270, which, in various embodiments, is slidably received through the slot 254.

[0043] In various embodiments, the locking mechanism 270 includes a base 272 from which a locking member 274 extends, configured to securely engage the connector 294. Referring to Figures 2 and 3, the locking member 274 defines a contoured slot 276 between opposing legs 279. The contoured slot 276 is configured to pass through the connector 294 of the port 290 of the insertion device 190 when the locking mechanism 270 is driven through the slot 254. In various embodiments, the contoured slot 276 includes a wide portion 278 and a narrow portion 280. The wide portion 278 is configured to be wide enough to pass through the connector 294 and a flange 296 that is wider than the connector 294. The narrow portion 280, however, is wide enough to pass through the connector 294 but too narrow to pass through the flange 296. When the locking mechanism 270 is in the fixed position, the narrow portion 280 of the contoured slot 276 of the locking member 274 engages with the connector 294 behind the flange 296. The engagement between the locking member 274 and the flange 296 can prevent the fitting 110 from being pulled out of the insertion device 190 until the locking mechanism 270 is operated and the narrow portion 280 of the locking member 274 disengages from behind the flange 296.

[0044] When the locking mechanism 270 is positioned in a fixed position, one or more latches 284, such as barbed hooks as shown in Figure 3, engage with a notch or similar structure (not shown) in the housing 250 to hold the locking mechanism 270 in place. The one or more latches 284 hold the locking member 274 in place until a retraction force is applied to the base 272, forcibly releasing one or more latches 284 and pulling the locking mechanism 270 at least partially out of the slot 254 within the housing 250.

[0045] Referring to Figure 4, in various embodiments, the control system 100 is coupled to the insertion device 190 by a fitting 110. A bush 212 extending from the control system 100 is inserted into the opening 292 of the port 290 of the insertion device 190. A first sealing member 214 seals the outside of the elongated fixture 102 against the bush 212. In various embodiments, the first sealing member 214 is held in place relative to the end of the bush 214 by a fixture 412 coupled to the cowl 260 of the housing 250 from which the elongated fixture 102 extends. A second sealing member 224 seals the outside of the bush 212 against the opening 292 of the port 290 of the insertion device 190.

[0046] The locking mechanism 270 extends through a slot 254 in the housing 250. The locking member 274 slides around the connector 294 of the port 290 behind the flange 296, preventing the control system 110 from being pulled out of the insertion device 190. After collecting a sample (not shown) using the control system 110, the locking mechanism 270 may be forcibly released to allow the locking mechanism 270 to be pulled out at least partially from the slot 254 in the housing 250. If the locking member 274 moves so that the wider portion 278 (Figure 3) of the contoured slot 276 crosses the flange 296, the housing 250 may be moved away from the port 290, allowing the control system 110 to be pulled out of the insertion device 190.

[0047] Referring to Figure 5, in various embodiments, the actuator 112 includes a proximal port 120 which can be used to securely receive the imaging probe as previously described. The actuator 112 is located at the distal end 501 of the housing 114. The actuator 112 is slidable laterally along the housing 114 to advance the elongated instrument 102 (Figure 1). As previously described, the elongated instrument 102 may include a sheath (not shown in Figure 5) which is slidably driven by the actuator 112. In various embodiments, as previously described, the sheath may include an imaging probe and a sampling needle (neither shown in Figure 5). Both the imaging probe and the sampling needle can be fixed to the actuator 112, so that as the actuator 112 moves forward and backward along the housing 114, the imaging probe and needle move forward with the sheath. The sampling needle may be fixed separately to the actuator 112 and controlled by a needle actuator 140, as will be further described below. The imaging probe can be received and secured by a proximal port 120 located at the proximal end 530 of the actuator 112. The proximal port 120 is configured to compress against the side of the imaging probe, thereby compressibly gripping the side, as will be further described below.

[0048] The proximal port 120 includes a rotatable cap 550 at the distal end 530 of the actuator 112. The rotatable cap 550 includes an opening 552 into which an imaging probe can be received. As further illustrated with reference to Figure 6, the imaging probe is held by a flexible gasket (not shown in Figure 5) that is compressed between the rotatable cap 550 and the body of the actuator 112. The compression of the flexible gasket between the rotatable cap 550 and the body of the actuator 112 operates similarly to a Tuohy-Borst adapter, where the flexible gasket functions as a valve. The flexible gasket includes an opening in its center, which can be compressed and deformed to close the opening within the flexible gasket. In various embodiments, rotation of the rotatable cap 550 compresses the flexible gasket, resulting in the flexible gasket engaging with the side of the imaging probe. The rotatable cap of the Tuohy-Borst adapter may rotate multiple times to control the flow of fluid through the valve. In contrast, in various embodiments, the rotatable cap 550 and actuator 112 are configured such that only partial rotation of the rotatable cap 550 is used to compressibly secure the side of the imaging probe.

[0049] In various embodiments, the imaging probe is fixed and therefore can be visually and / or tactilely confirmed to move with the actuator 112 as it advances along the housing. For example, in various embodiments, the rotatable cap 550 and the socket 560 at the distal end 530 of the actuator 112 are shaped such that the rotatable cap 550 is received into the socket 560 only when the rotatable cap 550 is rotated to fix the imaging probe. As shown in Figure 5, in various embodiments, the rotatable cap 550 includes at least one flat surface 554 corresponding to a flat edge 564 of the socket 560. In this configuration, when the rotatable cap 550 is rotated to the closed position, the rotatable cap 550 is slidably received into the socket 560, thereby providing visual and / or tactile confirmation that the imaging probe is fixed. If the rotatable cap 550 does not rotate to the closed position, the flat edge 564 prevents the non-flat surface of the rotatable cap 550 from being inserted into the socket 560, thus preventing the rotatable cap 550 from being slidably inserted into the socket 560.

[0050] Referring to Figure 6, the flexible gasket 620 is installed in a mounting socket 660 within the body 630 of the actuator 112. The rotatable cap 550 has an outward-facing threaded surface 652 that is screw-receivable by the inward-facing threaded surface 662 of the socket 560 of the actuator 112. The distal end 621 of the flexible gasket 620 engages with the distal end 661 of the mounting socket 660. The distal end 653 of the rotatable cap 550 engages with the proximal end 623 of the flexible gasket 620. In response to the rotatable cap 550 rotating in the tightening direction, the interaction between the outward-facing threaded surface 652 of the rotatable cap 550 and the inward-facing threaded surface 662 of the socket 660 causes the flexible gasket 620 to be compressed between the proximal end 623 of the mounting socket 630 and the distal end 653 of the rotatable cap 550. As the flexible gasket 620 is compressed, it compresses against the elongated body through which it is received, such as the imaging probe 650.

[0051] As previously described with reference to Figure 5, in response to the rotation of the rotatable cap 550, the rotatable cap 550 can be rotated to compress the flexible gasket 620 and secure the imaging probe 650, and then the rotatable cap 550 can be slidably inserted into the socket 560 at the distal end 530 of the actuator 112. After the sampling operation is complete, the rotatable cap 550 can be slid out of the socket 560 and rotated in the reverse direction to release the imaging probe 650 from the proximal port 120. The rotatable cap 550 may be slidable against the outward threaded surface 652 so that it can be slidably received into the socket 560 when the rotatable cap 550 is rotated to the tightened position and / or slidably withdrawn from the socket 560 when it is desired to loosen the rotatable cap 550.

[0052] Continuing to refer to Figure 6, note that the imaging probe 650, once inserted through the proximal port 120, is receivable within a sheath 610 having a proximal end 612 coupled to an actuator 112. In various embodiments, the sheath 610 defines a first lumen 614 configured to receive the imaging probe 650 and a second lumen 616 configured to receive a sampling needle 670. The sampling needle 670 is coupled to and controlled by a needle actuator 140, as will be further described below. The needle actuator 140 is slidably mounted on a guide tube 130 (which will also be further described below). In various embodiments, the sampling needle 670 extends from the needle actuator 140 through the guide tube 130 into the second lumen 616 of the sheath 610, through which the sampling needle 670 can be extended into the body to collect a sample. The guide tube 130 is also coupled to an actuator 112. Therefore, once the needle actuator 140 and the imaging probe 650 are fixed to the actuator 112, the movement of the actuator 112 advances the sheath 610 and the imaging probe 650 and the sampling needle 670 contained within it.

[0053] Referring to Figure 7, the sampling needle 670 is fixed and controlled by a needle actuator 140. The needle actuator 140 includes a housing 710 having a distal end 712 that engages with a guide tube 130 extending from an actuator 112. The needle actuator 140 is movable along the guide tube 130, allowing an operator (not shown) to puncture the tissue with the distal end of the sampling needle 670 (Figure 6) or otherwise agitate the tissue to collect a tissue sample (not shown in Figures 7-10). In various embodiments, an end cap 160 is removablely fixed to the proximal end 714 of the housing 710 of the needle actuator 140 to secure a stylet (not shown in Figure 7), as will be further described below.

[0054] Referring to Figure 8, in various embodiments, the stylet 810 is movably received within the collection needle 670 and fixedly secured to the end cap 160. The stylet 810 can perform a range of functions, including, but not limited to, sealing the end of the collection needle 670 until the collection needle 670 is positioned to collect the sample, adding rigidity to the collection needle 670 to facilitate insertion into tissue, guiding or directing the end of the collection needle 670, and / or other functions. However, once the collection needle 670 is ready to accept the tissue sample, it may be desirable to withdraw the stylet 810 from the collection needle 670 so that the tissue sample can be drawn into the collection needle 670. Once the stylet 810 has been withdrawn from the collection needle 670, it may be desirable to apply a vacuum source, such as a syringe or pump (not shown in Figures 7-10), to the proximal end of the collection needle 670 (via the proximal port described later) to facilitate the retrieval of the tissue sample.

[0055] As described above, the operator can move the needle actuator 140 along the guide tube 130 to penetrate or agitate the tissue at the distal end (not shown in Figure 8) of the collection needle 670. While the needle actuator 140 is moving, the end cap 160 covers the proximal end of the needle actuator 140. In addition, while the collection needle 670 is being driven, it may be desirable to hold the stylet 810 in place to prevent it from coming loose and / or detaching from the collection needle 670 due to agitation by the collection needle 670, before it is desirable to remove the stylet 810. The end cap 160 may help prevent the stylet 810 from coming loose.

[0056] Continuing to refer to Figure 8, in various embodiments, the stylet 810 is fixed to the stylet mount 812 of the end cap 160. In various embodiments, at least a portion of the stylet 810 and the stylet mount 812 are both receivable within the proximal port 820 located at the proximal end 714 of the needle actuator 140. In various embodiments, the inner surface 814 of the end cap 160 is configured to engage with the outer surface 824 of the proximal port 820 of the needle actuator 140 to fix the end cap 160 to the needle actuator 140, and thus hold the stylet 810 in place until it is desired to withdraw the stylet 810.

[0057] Referring to Figure 9, in various embodiments, the inner surface 814 of the end cap 160 may include a groove or other recess 916 configured to engage with a protrusion or other projection 926 on the proximal port 820 of the needle actuator 140. The groove 916 may be frictionally engaged with the protrusion 926, and some force may be required from an operator (not shown) to manually remove the end cap 160 if necessary, the amount of force being greater than the amount of force applied to the stylet as the sampling needle 670 is moved or agitated. In various embodiments, the groove 916 and / or protrusion 926 may have a cross section with a curved cross section or other contour to facilitate engagement and disengagement of the groove 916 and the protrusion 926 when the end cap 160 is attached to and removed from the proximal port 820.

[0058] Referring to Figure 10, in various embodiments, the inner surface of the end cap 103 (not shown in Figure 10) may also include one or more inward threads 1016 (shown by dotted lines) configured to engage with one or more outward threads 1026 on the outer surface 824 of the proximal port 820. The threads 1016 and 1026 allow the end cap 160 to be screwed onto the proximal port 820 and alternately locked or unlocked by rotating the end cap 160 relative to the housing 710 of the needle actuator 140. Once the end cap 160 is unlocked from the needle actuator 140, the stylet 810 can be withdrawn.

[0059] The examples in Figures 8 to 10 show the end cap 160 engaging with the proximal port 820 to secure it to the needle actuator 140, but it will be understood that the end cap 160 also engages with the rest of the housing 710 of the needle actuator 140 to fix the stylet 810 in place during operation of the needle actuator 140.

[0060] Referring to Figure 11A, the needle actuator 140 may also include a release mechanism 170 configured to assist an operator (not shown) in selectively advancing the sampling needle 670 using the needle actuator 140. In various embodiments, the release mechanism 170 includes a first release device 1050 and a second release device 1060. The first release device 1050 allows the operator to advance the sampling needle 670 from a retracted position within the sheath 610 (Figure 6) to a ready position where the sampling needle is adjacent to the distal end of an insertion device (not shown) and ready to engage with tissue and collect a tissue sample. By engaging the second release device 1060, the operator can advance the sampling needle 670 beyond the distal end of the sheath 610, allowing the insertion device to penetrate or otherwise engage with the tissue to be sampled.

[0061] Referring to Figure 11B, the distal end 1171 of the collection needle 670 is in a retracted position, detached from the distal end 1111 of the sheath 610. In various embodiments, the distal end 1181 of the stylet 810 is positioned at the distal end 1171 of the collection needle 670, for example, to plug the distal end 1170 of the collection needle 670 and / or to add rigidity to the collection needle 670. The distal end 1111 of the sheath 610 is positioned near a target location that may contain the tissue 1101 to be collected using the collection needle 670.

[0062] Referring again to Figure 11A, the needle actuator 140 is in a retracted position corresponding to the retracted position of the sampling needle 670 in Figure 11B. The release mechanism 170 is configured to prevent the needle actuator 140 from moving from the retracted position in Figure 11B by sliding it relative to the guide tube 130 until the first release device 1050 is engaged by the operator.

[0063] In various embodiments, the first release device 1050 and the second release device 1060 selectively engage with the guide tube 130 to restrict the movement of the needle actuator 140 relative to the guide tube 130. The first release mechanism 1050 includes a first release interlock 1152. The first release interlock 1152 is slidably received in a first release slot 1153 defined by the housing 710 of the needle actuator 140. The first release interlock 1152 includes a first interface 1154 that can be engaged by an operator (not shown). In various embodiments, the first interface 1154 has the properties of a button that can be pressed by an operator. The first release interlock 1152 and / or the first release slot 1153 may include a spring 1155 or similar temporarily deformable structure that applies an opposing force to drive the first release interlock 1152 toward its starting position (as shown in Figure 11A) when the operator is not pressing the first release 1154. The first release interlock 1152 also defines a first channel 1156 through which the guide tube 130 can extend in response to the operator engaging the first interface 1154 to release the first release interlock 1152.

[0064] In various embodiments, the first release interlock 1152 includes projections 1158 configured to alternately engage a lock recess 1172 adjacent to the proximal end 1177 of the guide tube 130 with a channel 1174 formed within the guide tube 130. A ramp 1176 within the channel 1174 facilitates guiding the projections 1158 back into the lock recess 1172 after the needle actuator 140 is operated to acquire a sample and the needle actuator 140 is returned to its starting position in Figure 11A.

[0065] In the initial position before the first release interlock 1152 is released by the operator's engagement with the first interface 1154, the projection 1158 is received within the lock recess 1172. The engagement of the projection 1158 with the lock recess 1172 prevents the needle actuator 140 from moving laterally along the guide tube 130.

[0066] In response to the operator pressing the first release 1154, the first release interlock 1152 deforms the spring 1155, moving the first release interlock 1152 further into the first release slot 1153, thereby disengaging the projection 1158 from the lock recess 1172. Disengaging the projection 1158 from the lock recess 1172 allows the guide tube 130 to slide within the channel 1156 of the first release interlock 1152, enabling the needle actuator 140 to move relative to the guide tube 130 and advance the sampling needle 670.

[0067] Referring to Figure 12A, the needle actuator 140 is in a ready position corresponding to the ready position of the sampling needle 670 in Figure 12B. In response to the engagement of the first release device 1050 by the operator, the distal end 712 of the needle actuator 140 is able to advance along the guide tube 130 until the guide tube 130 is engaged by the second release device 1060. It will be understood that the projection 1158 of the first release interlock 1152 disengages from the lock recess 1172 of the guide tube 130 and moves within the channel 1174 on the side of the guide tube 130.

[0068] In various embodiments, the second release device 1060 includes a second release interlock 1262. The second release interlock 1262 is slidably received in a second release slot 1263 defined by the housing 710 of the needle actuator 140. The second release interlock 1262 includes a second interface 1264 that can be engaged by an operator (not shown). In various embodiments, the second interface 1264 is in the nature of a button that can be pressed by an operator, similar to the first interface 1154 (Figure 11A). The second release interlock 1262 and / or the second release slot 1263 may include a spring 1265 or similar temporarily deformable structure that applies an opposing force to drive the second release interlock 1262 toward its starting position (as shown in Figure 12A) when the operator is not pressing the second interface 1264. The second release interlock 1262 defines a second channel 1266 through which the guide tube 130 can extend, in response to the operator engaging the second interface 1264 to release the second release interlock 1262.

[0069] In various embodiments, the second release interlock 1262 prevents the passage of the proximal end 1177 of the guide tube 130 until the second release interlock 1262 is moved by the operator engaging the second interface 1264. Engaging or pushing the second interface 1264 causes the second release interlock 1262 to move further into the second release slot 1263, so that the second release interlock 1262 no longer blocks the proximal end 1177 of the guide tube 130. The guide tube 130 can then pass through the second channel 1266 of the second release interlock 1262. In various embodiments, as long as the operator keeps the second interface 1264 engaged, the operator can move the needle actuator 140 along the guide tube 130 to penetrate and / or agitate the tissue 1101 to facilitate tissue sample collection.

[0070] Referring to Figure 12B, after the first release device 1050 is activated and the needle actuator 140 advances along the guide tube 130, the distal end 1171 of the sampling needle 670 and the distal end 1181 of the stylet 810 move in coordination to a ready position adjacent to the distal end 111 of the sheath 610. With the distal end 1171 of the sampling needle 670 positioned adjacent to the distal end 1111 of the sheath 610, the second release device 1060 can be activated to advance the sampling needle 670 and collect the tissue 1101.

[0071] Referring to Figure 13A, the needle actuator 140 is in the sampling position corresponding to the sampling position of the sampling needle 670 in Figure 13B. When the first release device 1050 and the second release device 1060 are released, the guide tube 130 can pass through the first channel 1156 of the first release interlock 1152 and the second channel 1266 of the second release interlock 1262. Thus, the needle actuator 140 can slide along the guide tube 130 to move the sampling needle 670 into the tissue 1101 as desired, allowing the tissue to be penetrated and / or agitated. The end cap 160 (Figures 11A and 12A) has been removed to withdraw the stylet 810 from the sampling needle 670. Thus, a vacuum source 1310, such as a syringe or pump, can be applied to the proximal port 820 to draw the tissue sample 1301 into the sampling needle 670, facilitating the capture of the tissue sample 1301.

[0072] Referring to Figure 13B, after the first release device 1050 and the second release device 1060 are released, the needle actuator 140 is able to advance into the tissue 1101 to be collected. The needle actuator 140 can move along the guide tube 130 to pierce the tissue 1101 and / or agitate the tissue 1101 to release the tissue sample 1301. At this point, the stylet 810 (not shown in Figure 13B) may be withdrawn to facilitate the acceptance of the tissue sample 1301 into the distal end 1171 of the collection needle 670.

[0073] Referring to Figure 14, in various embodiments, the needle actuator 140 includes an asymmetric distal opening 1410 configured to receive an asymmetric guide tube 1430 having an asymmetric cross-section, as will be further described below with reference to Figures 16 and 17. In various embodiments, the asymmetric guide tube 1430 may include one or more protruding structures 1440 that can be received in a slot 1450 within the asymmetric distal opening 1410 at the distal end 712 of the needle actuator. The asymmetric distal opening 1410 may be used to ensure that the needle actuator 140 rotates in a particular orientation when moved on the guide tube 130, because, as will be further described below, the distal end of the harvesting needle (not shown in Figure 14) may be oriented in a particular direction or be oriented.

[0074] Referring to Figure 15A as a non-limiting example, the sampling needle 1570 may have a deflectable distal end 1572. When the deflectable distal end 1572 is housed within the sheath 1574, it may conform to the shape of the sheath 1574. However, if it extends beyond the distal end 1576 of the sheath 1574, the deflectable distal end 1572 may deflect in direction 1578. Therefore, if the orientation of the deflectable distal end 1572 can be set relative to the orientation of the needle actuator 140, it may be desirable to orient the needle actuator 140 relative to the guide tube 130 such that the deflectable distal end 1572 deflects in the desired direction when the deflectable distal end 1572 extends.

[0075] Referring to another non-limiting example, Figure 15B, the sampling needle 1571 may have an asymmetric distal end 1573 having a sampling orifice 1575 on the side surface 1577 of the asymmetric distal end 1573. Therefore, if the orientation of the asymmetric distal end 1573 can be set relative to the orientation of the needle actuator 140, it may be desirable to orient the needle actuator 140 relative to the guide tube 130 such that the asymmetric distal end 1573 is presented so that the sampling orifice 1575 faces the desired direction.

[0076] Referring to Figure 16, in various embodiments, the asymmetric distal opening 1410 at the distal end 712 of the needle actuator 140 is molded to receive the asymmetric guide tube 1430. The asymmetric distal opening 1410 may have an asymmetric cross-section including a slot 1450 on the side of the asymmetric distal opening 1410 to accommodate, for example, a protruding structure 1440 on the side of the asymmetric guide tube 1430. The protruding structure 1440 on the side of the asymmetric guide tube 1430 and the slot 1450 on the side of the asymmetric distal opening 1410 allow the needle actuator 140 to move on the guide tube 130 only when the needle actuator 140 is in a predetermined orientation relative to the asymmetric guide tube 1430. Therefore, when the orientation of the distal ends 1572 or 1573 of the sampling needles 1570 and 1571 can be established with respect to the needle actuator 140, the orientation of the distal ends 1572 or 1573 of the sampling needles 1570 and 1571 can be maintained when the needle actuator 140 is moved on the asymmetric guide tube 1430.

[0077] In various embodiments, it will be understood that the asymmetric distal opening 1410 may have other configurations for receiving the asymmetric guide tube 1430, other than those shown in Figure 16. For example, referring to Figure 17, in some embodiments, the asymmetric guide tube 1730 may define a channel 1750 for receiving a protruding structure 1740 extending from the asymmetric distal opening 1710 of the distal end 712 of the needle actuator 140 (instead of supporting the protruding structure 1440 (Figures 14 and 16)). Comparing Figure 17 and Figure 16, it will be understood that the projection, protruding structure, slot, channel, or other feature used in the asymmetric distal opening or asymmetric guide tube may have a straight, curved, or angled configuration. The embodiments are not limited to any particular configuration for oriented the needle actuator 140 relative to the guide tube 130.

[0078] Referring to Figure 18, in various embodiments, the control system 100 includes one or more anti-buckling devices 1810 and 1812 within the housing to support the elongated instrument 102. As the actuator 112 moves along the housing 114 from the proximal end 113 toward the distal end 111, the elongated instrument may encounter resistance. For example, if the elongated instrument 102 encounters a crimped, rotated, or crushed portion of the insertion tube (not shown) of the insertion device 190 as it advances, the advancement of the elongated instrument 102 may be hindered. If the advancement of the elongated instrument 102 is hindered while the operator is moving the actuator 112 toward the distal end 111, the opposing force acting on the elongated instrument 102 may cause it to buckle within the housing 114.

[0079] To avoid damage that may result from components such as the imaging probe and acquisition needle bending, breaking, or other damage, it is desirable to prevent buckling of the elongated instrument 102. While the elongated instrument 102 can be supported using a telescopic internal housing, the length of the telescopic housing section may potentially limit the advancement of the actuator 112 and, consequently, the advancement of the elongated instrument 102. The buckling prevention devices 1810 and 1812 are configured to provide lateral support to the elongated instrument 102 within the housing 114 without hindering the advancement of the actuator 112 and the elongated instrument 102.

[0080] Referring to Figure 19, in various embodiments, the exemplary buckling prevention device 1810 includes a planar member 1920 and a positioning member 1950. The planar member 1920 includes an inner orifice 1930 and at least one outer edge 1940 configured to movably engage with the inner surface 1818 of the channel 1816 defined by the housing 114. The elongated instrument 102 is received through the inner orifice 1930. The planar member 1920 is configured to act as a brace by providing structural and lateral support between the inner orifice 1930 and at least one outer edge 1940. In other words, if the elongated instrument 102 bends perpendicular to its length due to an opposing force, the elongated instrument 102 may engage with the surface of the inner orifice 1930. The resulting lateral force is offset by the reaction force of the planar member 1920 between at least one outer edge 1940 that engages with the inner surface 1818 of the channel 1816, thereby preventing lateral bending of the elongated device 102.

[0081] In various embodiments, the positioning member 1950 is used to maintain the orientation of the planar member 1920 within the channel 1816. The positioning member 1950 can prevent the planar member 1920 from twisting within the channel 1816 in response to lateral forces that may be applied by the elongated device 102. In various embodiments, the positioning member 1950 maintains the planar member 1920 in an orientation substantially perpendicular to the axis 1801 of the channel 1816. In various embodiments, the positioning member 1950 is coupled to the planar member 1920 at one end and is substantially perpendicular to the planar member 1920. When in use, the positioning member 1950 extends between the inner surface 1818 of the channel 1816 and another body such as the actuator 112 or another buckling prevention member 1810 such as the buckling prevention member 1812. The positioning member 1950 is receivable between the inner surface 1818 of the channel on one side and either the actuator 112 on the other side or another anti-buckling member 1812, so that the planar member 1950 is prevented from twisting, and thus the planar member 1920 can be prevented from twisting within the channel 1816.

[0082] In various embodiments, the positioning member 1950 also supports a link mechanism 1960 which can engage with either the actuator 112 or another anti-buckling member 1812. As a result, when the actuator 112 is pulled out from the distal end 111 of the housing 114 toward the proximal end 113 of the housing, the anti-buckling devices 1810 and 1812 are pulled back to their original positions within the housing 114. In various embodiments, one or more stops 1880 may be positioned along the inner surface 1818 of the housing 114. One or more stops 1880 may be configured to engage with one or more of the outer edges 1940 of the planar member 1920 to prevent the planar member 1920, and therefore the anti-buckling devices 1810 and 1812, from collapsing into the actuator 112 or into the recessed recesses 1850 and 1852 along the actuator 112. As a result, the buckling prevention devices 1810 and 1812 are positioned to support the elongated instrument 102 when it is advanced by the actuator 112.

[0083] Referring back to Figure 18, it will be understood that the buckling prevention devices 1810 and 1812 may be positioned at an angle to each other. In this way, as will be further described below, the positioning members 1950 of the buckling prevention devices 1810 and 1812 can slide within or along the actuator 112 in opposing recessed recesses 1850 and 1852, respectively, so as not to obstruct the forward movement of the actuator 112 within the channel 1816 defined by the housing 114. In addition, the inner surface 1818 of the housing 114 may include one or more guides 1885 configured to engage with the positioning member 1950 of the buckling prevention device 1810 (or the positioning member of the buckling prevention device 1812) to maintain the orientation of the positioning member 1950 of the buckling prevention device 1810 (or the positioning member of the buckling prevention device 1812) relative to the axis 1801 of the channel 1816.

[0084] Referring to Figure 20, in various embodiments, the actuator 112 advances a distance of 2000 toward the distal end 111 of the housing 114. As the actuator 112 advances toward the distal end 111 of the housing 114, the buckling prevention devices 1810 and 1812 provide lateral support to the elongated member 102. At the same time, the positioning member 2050 of the buckling prevention device 1810 retracts into the recessed recess 1850, in particular, so that the buckling prevention device 1810 does not hinder the movement of the actuator 112.

[0085] Referring to Figure 21, the actuator 112 advances a further distance of 2100 toward the distal end 111 of the housing 114. As the actuator 112 advances toward the distal end 111 of the housing 114, the buckling prevention devices 1810 and 1812 provide lateral support to the elongated member 102. At the same time, the positioning member 2152 of the buckling prevention device 1812 enters the retracted recess 1852, preventing the buckling prevention device 1812 from hindering the movement of the actuator 112. The buckling prevention devices 1810 and 1812 are offset from each other such that the positioning members 2050 and 2152 are respectively received within the opposing retracted recesses 1850 and 1852. Thus, the buckling prevention devices 1810 and 1812 also do not hinder each other's movement or the movement of the actuator 112 when the actuator 112 advances.

[0086] Referring to Figure 22, an exemplary method 2200 for coupling a control system to an insertion device is provided. Method 2200 begins in block 2205. In block 2210, a fitting is presented adjacent to the opening of a port of the insertion device, and the fitting supports an elongated instrument that is transported to a target position by the insertion device. In block 2220, a bush is inserted into the opening of the insertion device through which the elongated instrument can extend. In block 2230, the outer surface of the bush is sealed to the opening to prevent fluid from passing between the inner surface of the opening and the outer surface of the bush. In block 2240, the outer surface of the elongated instrument is movably sealed away from the body of the fitting to prevent fluid from passing between the outer surface of the elongated instrument and the fitting, thereby sealingly preventing fluid from flowing into the fitting around the outer surface of the bush and around the outer surface of the elongated instrument. Method 2200 ends in block 2245.

[0087] Referring to Figure 23, an exemplary method 2300 for securing an elongated instrument to a movable control device is provided. Method 2300 begins in block 2305. In block 2310, the elongated instrument is received into a port of the control device configured to facilitate the extension of the elongated instrument to a target position. In block 2320, the sides of the elongated instrument are compressed and secured to the control device. Method 2300 ends in block 2325.

[0088] Referring to Figure 24, an exemplary method 2400 for securing a stylet within a needle using an end cap is provided. Method 2400 begins in block 2405. In block 2410, the distal end of the stylet is inserted into the lumen of a needle fixed to a needle actuator. In block 2420, the stylet is extended into the lumen until an end cap, fixedly engaged with the proximal end of the stylet, covers the distal end of the needle actuator. In block 2430, the end cap is withdrawn from the proximal end of the needle actuator until the stylet is withdrawn from the lumen. In block 2440, a vacuum source is coupled to the lumen. Method 2445 ends in block 2435.

[0089] Referring to Figure 25, an exemplary method 2500 for controlling the movement of a needle actuator is provided. Method 2500 begins in block 2505. In block 2510, a first release device is engaged to release the needle actuator from a retracted position of the end of the guide tube, where the distal end of the needle retracts into the distal end of the sheath, which can be positioned adjacent to the tissue to be harvested. In block 2520, the needle actuator is advanced to a ready position for advancing the distal end of the needle adjacent to the distal end of the sheath. In block 2530, a second release device is engaged to release the needle actuator from the ready position. In block 2540, the needle actuator is advanced to advance the distal end of the needle into the tissue to be harvested. Method 2500 ends in block 2545.

[0090] Referring to Figure 26, an exemplary method 2600 is provided for orienting a needle actuator to a control system in order to determine the orientation of the distal end of a mounted needle. Method 2600 begins in block 2605. In block 2610, the distal end of a needle is inserted into a guide tube defining the lumen and configured to deliver the distal end of the needle to the tissue to be harvested, and the needle is fixedly coupled to a needle actuator. In block 2620, the distal opening of the needle actuator is presented to the proximal end of the guide tube, and the distal opening of the needle actuator is configured to slidably receive the proximal end of the guide tube in order to guide the distal end of the needle to orient in the desired direction in response to the needle actuator being oriented in the desired direction. In block 2630, once the needle actuator is orienting in the desired direction, the distal opening of the needle actuator slides on the outer surface of the guide tube. Method 2600 ends in block 2535.

[0091] Referring to Figure 27, an exemplary method 2700 is provided for preventing buckling of an elongated instrument as it advances through a channel. Method 2700 begins in block 2705. In block 2710, an actuator slidably received within the channel engages with an actuator configured to move from the proximal end of the channel toward the distal end of the channel in order to advance the elongated instrument through the distal opening at the distal end of the channel. In block 2720, a planar member is used to support the elongated instrument away from the inner surface of the channel at a point between the distal end of the actuator and the distal end of the channel. In block 2730, a positioning member is used to prevent the planar member from twisting within the channel. In block 2740, as the distal end of the actuator advances toward the distal end of the channel, at least a portion of the positioning member moves beyond the distal end of the actuator. As a result, the portion of the positioning member does not obstruct the movement of the distal end of the actuator toward the distal end of the channel. Method 2700 ends in block 2745.

[0092] The subject matter disclosed includes, but is not limited to, the subject matter enumerated in the following clauses with respect to the various embodiments described herein. First Embodiment Article 1. A fitting configured to connect a control device for an elongated instrument to a port of an insertion device, wherein the insertion device is configured to transport the elongated instrument to a target position, A bushing extending from a fitting and configured to be inserted into the opening of a port of an insertion device, wherein the elongated instrument is movably extendable through the bushing, and A first sealing member is positioned on the outer surface of the bush and configured to seal the outer surface of the bush against the inner surface of the port opening, A second sealing member is positioned on the outer surface of an elongated instrument and configured to movably seal the outer surface of the elongated instrument. A device equipped with the following features. Article 2. The apparatus according to Clause 1, wherein the first sealing member includes a gasket disposed on the outer surface of the bush. Article 3. The apparatus according to Clause 1, wherein the second sealing member includes an O-ring, and the O-ring is configured to allow an elongated instrument to slide within its inner diameter. Article 4. The apparatus according to Clause 1, wherein the elongated instrument includes a sheath that defines at least one lumen from which at least one elongated member can be extended. Article 5. The joint, An outer housing configured to extend on an adapter extending from the insertion device, A locking mechanism configured to secure the outer housing to the adapter, and configured to prevent the fitting from being removed from the insertion device without the locking mechanism being released. The apparatus described in Clause 1, including the apparatus described in Clause 1. Article 6. The adapter includes a shaft having a first outer diameter and a distal flange having a second outer diameter larger than the first outer diameter. A locking mechanism comprising a locking member configured to engage with a shaft, the locking member including a locking member that prevents the outer coupling from separating from the flange without the locking member being removed from the shaft, The apparatus described in Clause 5. Article 7. The apparatus according to Clause 6, wherein the locking member is slidably fixed to the outer housing between a first position in which the locking member does not engage with the shaft and a second position in which the locking member engages with the shaft. Article 8. The apparatus according to Clause 7, wherein the locking member includes at least one locking mechanism configured to hold the locking member in a second position until released. Article 9. A long, slender instrument, A control device movably coupled to an elongated instrument, configured to extend and retract the elongated instrument, A fitting configured to removably secure a control device to an insertion device, wherein the insertion device is configured to transport an elongated instrument to a target position, and the insertion device includes a port for receiving the elongated instrument passing through, A bush that extends from a fitting and is configured to be inserted into the opening of a port of an insertion device, wherein an elongated instrument is movably expandable through the bush, A first sealing member disposed on the outer surface of a bush, configured to seal the outer surface of the bush against the inner surface of the port opening, A second sealing member is positioned on the outer surface of an elongated instrument and configured to movably seal the outer surface of the elongated instrument. A system that includes these features. Article 10. The system according to Clause 9, wherein the first sealing member includes a gasket positioned on the outer surface of the bush. Article 11. The system according to Clause 9, wherein the second sealing member includes an O-ring, and the O-ring is configured to allow an elongated instrument to slide within its inner diameter. Article 12. The system according to Clause 9, wherein the elongated instrument includes a sheath in which at least one elongated member defines at least one expandable lumen. Article 13. The joint, An outer housing configured to extend over an adapter extending from the insertion device, A locking mechanism configured to secure the outer housing to the adapter, wherein the locking mechanism is configured to prevent the fitting from being removed from the insertion device without the locking mechanism being released. The systems described in Clause 9, including those listed in Clause 9. Article 14. The adapter includes a shaft having a first outer diameter and a distal flange having a second outer diameter larger than the first outer diameter. The locking mechanism includes a locking member, which is configured to engage with the shaft to prevent the outer coupling from separating from the flange without the locking member being removed from the shaft. The system described in Clause 13. Article 15. The system according to Clause 14, wherein the locking member is slidably fixed to the outer housing between a first position in which the locking member does not engage with the shaft and a second position in which the locking member engages with the shaft. Article 16. The system according to Clause 15, wherein the locking member includes at least one locking mechanism, the at least one locking mechanism configured to hold the locking member in a second position until the at least one locking mechanism is released. Article 17. It is a method, The steps include presenting a fitting adjacent to the port opening of the insertion device and supporting an elongated instrument that is transported to a target position by the insertion device, The steps include inserting a bushing into the opening of an expandable insertion device using an elongated instrument, The steps include sealing the outer surface of the bush to the opening in order to prevent fluid from passing between the inner surface of the opening and the outer surface of the bush, The steps include: movably sealing the outer surface of the elongated device to prevent fluid from passing between the outer surface of the elongated device and the fitting, so as to sealably prevent fluid from passing through the fitting around the outer surface of the bush and around the outer surface of the elongated device; Methods that include... Article 18. The method according to Clause 17, further comprising the step of movably sealing the outer surface of an elongated instrument in a position along the surface of the elongated instrument before the elongated instrument enters the bush. Article 19. The steps include extending the outer housing of the fitting onto an adapter extending from the insertion device which is coupled onto a port of the insertion device, A step of engaging a locking mechanism for securing a fitting to an insertion device, wherein the fitting cannot be removed from the insertion device without first releasing the locking mechanism. The method described in Article 17, further including the method described in Article 17. Article 20. The method according to clause 19, further comprising the step of fixing the locking mechanism in the locked position. Second Embodiment Article 21. A control device configured to facilitate the extension of an elongated instrument to a target position, A port located at the end of a control device, configured to compress against the side of an elongated instrument in order to secure the elongated instrument so that it moves with the control device, and A device equipped with the following features. Article 22. The apparatus according to Clause 21, further comprising a flexible gasket configured to engage so as to compress the sides of an elongated instrument. Article 23. The apparatus according to Clause 22, wherein a flexible gasket is coupled to a control device. Article 24. The apparatus according to Clause 23, wherein the sides of the flexible gasket are configured to collapse by compressing the flexible gasket along the length of the flexible gasket intersecting the sides of the flexible gasket. Article 25. The apparatus according to Clause 24, wherein a flexible gasket is fixed between a body coupled to a control device and a rotatable cap that is screw-movable within the body. Article 26. The apparatus according to Clause 25, wherein the flexible gasket is configured to be compressed along the length of the flexible gasket by moving a rotatable cap so as to be screwable into the body and pinching the opposing ends of the flexible gasket. Article 27. The apparatus as described in Clause 26, including the body, flexible gasket, and rotatable cap, and the Tuohy-Borst adapter. Article 28. The apparatus according to Clause 26, wherein the body, flexible gasket, and rotatable cap are configured to switch from an open position for receiving an elongated instrument to a closed position for securing an elongated instrument by rotating the rotatable cap within a range of 1 / 16 to 1 / 8 of a turn. Article 29. The apparatus according to Clause 26, wherein the rotatable cap is configured to be receivable within the housing of a control device, accompanied only by a compressed flexible gasket that compresses to securely fasten an elongated instrument. Article 30. It is a system, A long, slender instrument, the sampling probe, is configured to transport the sampling needle and imaging probe to a target position. A control device configured to facilitate the extension of an elongated instrument to a target position, A port located at the end of a control device, configured to compressibly engage the sides of an elongated instrument in order to secure the instrument so as to move with the control device, and A system that includes these features. Article 31. The system according to clause 30, further comprising a flexible gasket configured to compressibly engage the sides of an elongated instrument. Article 32. The system according to Clause 31, wherein a flexible gasket is coupled to a control device. Article 33. The system according to Clause 32, wherein the sides of the flexible gasket are configured to collapse by compressing the flexible gasket along the length of the flexible gasket intersecting the sides of the flexible gasket. Article 34. The system according to Clause 33, wherein a flexible gasket is secured between a body coupled to a control device and a rotatable cap that is screw-movable within the body. Article 35. The system according to Clause 34, wherein the flexible gasket is configured to be compressed along the length of the flexible gasket by moving a rotatable cap so as to screw onto the body and pinching the opposing ends of the flexible gasket. Article 36. The main body, flexible gasket, and rotatable cap, including the Tuohy-Borst adapter, are part of the system as described in Clause 35. Article 37. The system according to Clause 35, wherein the body, flexible gasket, and rotatable cap are configured to switch from an open position for receiving an elongated instrument to a closed position for securing an elongated instrument by rotating the rotatable cap within a range of 1 / 16th to 1 / 8th of a turn. Article 38. The system according to Clause 35, wherein the rotatable cap is configured to be receivable into the housing of the control device, accompanied only by a compressed flexible gasket that compresses to securely fasten an elongated instrument. Article 39. It is a method, The steps include receiving an elongated instrument into an instrument port of a control device configured to facilitate extension to a target position, A step of securing the sides of an elongated instrument to a control device so that they can be compressed, wherein the elongated instrument is secured so that it moves together with the control device, and Methods that include... Article 40. The method according to clause 39, further comprising the step of collapsing sides of a flexible gasket, which is movable with a control device, against the sides of an elongated instrument so that the elongated instrument is compressibly secured to the control device. Third Embodiment Article 41. A stylet configured to be insertable into the lumen of a needle via a proximal port of a needle actuator fixed to the needle, An end cap, fixedly coupled to a stylet and configured to cover the proximal end of a needle actuator, the end cap is movable relative to the needle actuator so that the operator can withdraw the stylet from the lumen. A device equipped with the following features. Article 42. The apparatus according to Clause 41, wherein the end cap is configured to be fixed to the proximal end of the needle actuator. Article 43. The apparatus according to Clause 42, wherein the end cap is configured to be fixed to the proximal end of the needle actuator when the stylet is fully inserted into the lumen, and the end cap is further configured to cooperate with the proximal end of the needle actuator in response to the needle actuator being operated to facilitate the extraction of a tissue sample by the distal end of the needle, in order to prevent the stylet from coming out of the lumen. Article 44. The apparatus according to Clause 43, wherein the end cap includes an inner surface configured to engage securely with the outer surface of the proximal end of the needle actuator. Article 45. The apparatus according to Clause 44, wherein the inner surface includes an inwardly threaded surface configured to screw into a threaded surface on the outside of the outer surface. Article 46. The apparatus according to Clause 42, wherein the end cap includes an inner surface configured to engage securely with the outer surface of the proximal port. Article 47. The apparatus according to Clause 41, wherein the proximal port is fluidly coupled to the lumen. Article 48. The apparatus according to Clause 46, wherein the proximal port is configured to accept a vacuum source when the stylet is withdrawn from the lumen. Article 49. It is a system, A needle to define the lumen, A stylet configured to be insertable into the lumen of a needle via a proximal port of a needle actuator fixed to the needle, An end cap fixedly coupled to a stylet, which covers the proximal end of a needle actuator and is configured to be movable relative to the needle actuator, allowing the operator to withdraw the stylet from the lumen. A system that includes these features. Article 50. The system according to Clause 49, wherein the end cap is configured to be fixed to the proximal end of the needle actuator. Article 51. The system according to Clause 50, wherein the end cap is configured to be fixed to the proximal end of the needle actuator when the stylet is fully inserted into the lumen, and the end cap is further configured to cooperate with the proximal end of the needle actuator in response to the needle actuator being operated to facilitate the extraction of a tissue sample by the distal end of the needle, in order to prevent the stylet from coming out of the lumen. Article 52. The system according to Clause 51, wherein the end cap includes an inner surface configured to engage securely with the outer surface of the proximal end of the needle actuator. Article 53. The system according to Clause 52, wherein the internal surface includes an inwardly threaded surface configured to screw into a threaded surface on the outside of the external surface. Article 54. The system described in Clause 50 includes an end cap with an inner surface configured to engage securely with the outer surface of the proximal port. Article 55. The system according to Clause 49, wherein the proximal port is fluidly coupled to the lumen. Article 56. The system as described in Clause 55, wherein when the stylet is withdrawn from the lumen, the proximal port is configured to receive a vacuum source configured to communicate fluidly with the lumen. Article 57. The steps include inserting the distal end of the stylet into the lumen of a needle fixed to a needle actuator, The steps include expanding the stylet into the lumen until the end cap, which is securely engaged with the proximal end of the stylet, covers the proximal end of the needle actuator, The steps include withdrawing the end cap from the proximal end of the needle actuator until the stylet is withdrawn from the lumen, The steps include connecting a vacuum source to the lumen and Methods that include... Article 58. The method according to Clause 57, further comprising the step of securing an end cap to the proximal end of a needle actuator when the stylet extends into the lumen, thereby preventing the stylet from dislodging from the lumen in response to movement of the needle actuator. Article 59. The method according to Clause 57, wherein the step of securing an end cap to the proximal end of a needle actuator includes one of the steps of frictionally engaging the end cap with the needle actuator and screwing the end cap onto the needle actuator. Article 60. The method according to Clause 57, wherein the step of coupling a vacuum source to the lumen includes coupling a vacuum source to a proximal port that is fluidly coupled to the lumen of the needle. Fourth Embodiment Article 61. A guide tube that defines the lumen into which the needle can extend, A needle actuator configured to be fixedly coupled to the proximal end of the needle, A first release device movably coupled to a needle actuator, the first release device being configured to engage with the release of the needle actuator so that the distal end of the needle moves from a retracted position of the end of the guide tube, where the distal end of the needle retracts into the distal end of a sheath that can be positioned adjacent to the tissue to be harvested, to a ready position adjacent to the distal end of the sheath; A second release device movably coupled to a needle actuator, the second release device being configured to engage with the needle actuator so as to release the needle actuator and move from a ready position to a harvesting position where the distal end of the needle can advance into the tissue to be harvested. A device equipped with the following features. Article 62. The apparatus according to Clause 61, wherein at least one of the first release device and the second release device includes a button that is movable laterally across the axis of the guide tube. Article 63. The apparatus according to Clause 62, wherein the button includes a channel through which a guide tube extends, and the inner surface of the channel is configured to frictionally engage with the outer surface of the guide tube until the button engages and the inner surface of the channel retracts from the outer surface of the guide tube. Article 64. The apparatus according to Clause 61, wherein the first release device and the second release device are spring-loaded to return the first release device and the second release device to the disengaged position when the user is not actively engaging them. Article 65. The first release device includes a release interlock. The guide tube includes a tube interlock which, in the retracted position, engages with a release interlock to prevent movement of the needle actuator until a first release device is engaged. The apparatus described in Article 61. Article 66. The apparatus according to Clause 65, wherein the release interlock includes a projection, and the tube interlock includes a recess configured to receive the projection. Article 67. The apparatus according to Clause 65, wherein the guide tube includes an inclined channel configured to guide a release interlock and engage with a tube interlock in response to the needle actuator being moved to a retracted position. Article 68. The apparatus according to Clause 61, wherein the second release device is configured to present a stop to prevent the needle actuator from advancing from the ready position to the picking position until the second release device is engaged. Article 69. It is a system, A needle that defines the first lumen, A sampling device configured to be coupled to an insertion system configured to deliver a needle to the tissue to be sampled, A guide tube extending from the sampling device and defining a second lumen through which the needle can extend, A needle actuator is fixedly coupled to the proximal end of the needle and configured to move slidably along a guide tube, A first release device movably coupled to a needle actuator, the first release device being configured to engage with the release of the needle actuator so that the distal end of the needle moves from a retracted position at the end of a guide tube to a ready position adjacent to the distal end of a sheath, which is insertable via an insertion system and can be positioned adjacent to the tissue to be harvested, to a ready position adjacent to the distal end of the sheath. A second release device movably coupled to a needle actuator, the second release device being configured to engage with the needle actuator so as to release the needle actuator and move from a ready position to a harvesting position where the distal end of the needle can advance into the tissue to be harvested. A system that includes these features. Article 70. The system according to Clause 69, wherein at least one of the first release device and the second release device includes a button that is movable laterally across the axis of the guide tube. Article 71. The system according to Clause 70, wherein the button includes a channel through which the guide tube extends, and the inner surface of the channel is configured to frictionally engage with the outer surface of the guide tube until the button engages and the inner surface of the channel retracts from the outer surface of the guide tube. Article 72. The system according to Clause 69, wherein the first and second release devices are spring-loaded to return the first and second release devices to the disengaged position when the user is not actively engaging them. Article 73. The first release device includes a release interlock. The guide tube includes a tube interlock which, in the retracted position, engages with a release interlock to prevent movement of the needle actuator until a first release device is engaged. The system described in Article 69. Article 74. The system according to Clause 73, wherein the release interlock includes a projection, and the tube interlock includes a recess configured to receive the projection. Article 75. The system according to Clause 73, wherein the guide tube includes an inclined channel configured to guide the release interlock and engage the tube interlock in response to the needle actuator being moved to a retracted position without the user engaging the first release device. Article 76. The system according to Clause 69, wherein the second release device is configured to present a stop to prevent the needle actuator from advancing from the ready position to the picking position until the second release device is engaged. Article 77. The steps include engaging a first release device to release the needle actuator from a retracted position at the end of a guide tube, such that the distal end of the needle is retracted into the distal end of a sheath that can be positioned adjacent to the tissue to be harvested, The steps include: advancing the needle actuator to a ready position in order to advance the distal end of the needle adjacent to the distal end of the sheath; The steps include engaging a second release device to release the needle actuator from the ready position, Steps include: advancing the needle actuator to advance the distal end of the needle into the tissue to be harvested; Methods that include... Article 78. The method according to Clause 77, wherein the step of advancing the needle actuator from the retracted position to the ready position includes advancing the needle actuator until the guide tube engages with a ready stop presented by the second release device. Article 79. The method according to clause 77, further comprising the step of continuing to engage a second release device in order to enable the continuous movement of the needle actuator. Article 80. The steps include re-engaging the second release device, The steps include: retracting the needle actuator until it reaches the retracted position, The steps include re-engaging the first release device to release the needle actuator from the retracted position, Steps to remove the needle actuator from the guide tube and The method described in Article 77, further including the method described in Article 77. Fifth Embodiment Article 81. A guide tube defining a lumen configured to slidably transport a needle from the proximal end of the guide tube to the distal end of the guide tube, wherein the proximal end of the guide tube includes an asymmetrical outer cross-section, A needle actuator configured to be coupled to the proximal end of a needle, the needle actuator includes an asymmetric distal opening configured to receive a guide tube in response to the needle actuator being oriented so that the distal end of the needle faces a desired direction, and A device equipped with the following features. Article 82. The apparatus according to Clause 81, wherein the guide tube is coupled with an insertion device configured to transport the needle to a position adjacent to the tissue to be harvested. Article 83. The apparatus according to Clause 81, wherein the distal end of the needle is oriented so that it moves outward toward the tissue to be harvested from the distal opening of the insertion device, thereby directing the distal end of the needle in a desired direction. Article 84. The apparatus according to Clause 81, wherein the guide tube includes a first recess along an asymmetric outer cross section configured to receive a projection extending inward from an asymmetric distal opening of a needle actuator, and the needle actuator is configured to receive the distal end of the guide tube in accordance with the acceptance of the first projection within the first recess. Article 85. The apparatus according to Clause 84, wherein the first recess is located at the end of a first channel extending longitudinally along the outer surface of the guide tube, and the first channel is configured to maintain the orientation of the needle as the needle actuator moves along the guide tube. Article 86. The apparatus according to Clause 81, wherein the guide tube includes a second projection along an asymmetrical outer cross section configured to engage a second recess with the circumference of an asymmetrical distal opening of a needle actuator, and the needle actuator is configured to receive the distal end of the guide tube in response to the second projection being received by the second recess. Article 87. The apparatus according to Clause 86, wherein the second recess is located at the end of a second channel that extends longitudinally along the inner surface of the needle actuator and is configured to maintain the orientation of the needle as the needle actuator moves along the guide tube. Article 88. The apparatus according to Clause 81, wherein the guide tube includes a molded outer surface configured to engage with a molded inner surface of the needle actuator in order to maintain the orientation of the needle as the needle actuator moves along the guide tube. Article 89. The apparatus according to Clause 88, wherein the molded outer surface includes at least one protrusion configured to be received in at least one indentation at the distal opening of the needle actuator, and the needle actuator accepts the distal end of the guide tube only if at least one protrusion is received within at least one indentation. Article 90. A needle that defines the first lumen, A sampling device configured to be coupled to an insertion device configured to deliver a needle to the tissue to be sampled, A guide tube defining a second lumen configured to slidably transport a needle from the proximal end of the guide tube to the distal end of the guide tube, wherein the proximal end of the guide tube includes an asymmetrical outer cross-section, A needle actuator configured to be coupled to the proximal end of a needle, the needle actuator including an asymmetric distal opening configured to receive a guide tube in response to the needle actuator being oriented so that the distal end of the needle faces a desired direction, and A system that includes these features. Article 91. The system according to Clause 90, wherein the guide tube is coupled with an insertion device configured to transport the needle to a position adjacent to the tissue to be harvested. Article 92. The system according to Clause 90, wherein the distal end of the needle is oriented so that it moves outward toward the tissue to be harvested from the distal opening of the insertion device, thereby directing the distal end of the needle in a desired direction. Article 93. The system according to Clause 90, wherein the guide tube includes a first recess along an asymmetric outer cross section configured to receive a projection extending inward from an asymmetric distal opening of a needle actuator, and the needle actuator is configured to receive the distal end of the guide tube in accordance with the acceptance of the first projection within the first recess. Article 94. The system according to Clause 93, wherein the first recess is located at the end of a first channel extending longitudinally along the outer surface of the guide tube, and the first channel is configured to maintain the orientation of the needle as the needle actuator moves along the guide tube. Article 95. The system according to Clause 90, wherein the guide tube includes a second projection along an asymmetrical outer cross section configured to receive a second recess in the circumference of the asymmetrical distal opening of the needle actuator, and the needle actuator is configured to receive the distal end of the guide tube in accordance with the second projection being received by the second recess. Article 96. The system according to Clause 95, wherein the second recess is located at the end of a second channel that extends longitudinally along the inner surface of the needle actuator and is configured to maintain the orientation of the needle as the needle actuator moves along the guide tube. Article 97. The system according to Clause 90, wherein the guide tube includes a molded outer surface configured to engage with a molded inner surface of the needle actuator in order to maintain the orientation of the needle as the needle actuator moves along the guide tube. Article 98. The system according to Clause 97, wherein the molded outer surface includes at least one protrusion configured to be received in at least one indentation within the distal opening of the needle actuator, and the needle actuator accepts the distal end of the guide tube only when at least one protrusion is received in at least one indentation. Article 99. It is a method, A step of inserting the distal end of a needle into a guide tube configured to define the lumen and transport the distal end of the needle to the tissue to be harvested, wherein the needle is fixedly coupled to a needle actuator; A step of presenting the distal opening of a needle actuator to the proximal end of a guide tube, wherein the distal opening of the needle actuator is configured to slidably receive the proximal end of the guide tube in response to the needle actuator being directed in a desired direction to orient the distal end of the needle in a desired direction, The steps include: sliding the distal opening of the needle actuator on the outer surface of the guide tube when the needle actuator is oriented in the desired direction; Methods that include... Article 100. The method according to clause 99, further comprising the step of rotating the needle actuator until the distal opening of the needle actuator is configured to slidably receive the proximal end of the guide tube. Sixth Embodiment Article 101. It is a device, A buckling prevention device comprising at least one movable support bracket, wherein at least one bracket is A substantially planar member having an inner orifice and an outer edge configured to movably engage with the inner surface of a channel, wherein the planar member is configured to provide lateral support to an elongated instrument selected from one of a needle and a probe that are extendable through the inner orifice, in response to an elongated instrument driven through the channel by an actuator receivable within the channel. A positioning member extending from a planar member, wherein the positioning member is configured to prevent the planar member from twisting with respect to the axis of the channel, and the positioning member is configured to move relative to the distal end of the actuator so as not to obstruct the movement of the actuator toward the distal end of the channel, and Buckling prevention devices, including A device equipped with the following features. Article 102. The apparatus according to Clause 101, wherein the internal orifice of the planar member is sized to allow the movement of an elongated instrument along the axis and to restrict the movement of an elongated instrument across the axis. Article 103. The apparatus according to Clause 101, wherein the planar member includes an outer edge configured to engage with at least a portion of the inner surface of the channel to restrict the movement of the planar member across the axis. Article 104. The apparatus according to Clause 101, wherein the bracket is configured to be held in a first position within the channel until the actuator advances at least toward the distal end of the channel. Article 105. The apparatus according to Clause 101, wherein the bracket is configured to stop in a second position within the channel in response to the actuator retracting toward the proximal end of the channel. Article 106. The apparatus according to Clause 101, wherein the positioning member is further configured to slidably engage with a guide extending along the inner surface of the channel parallel to the axis of the channel, and the planar member is maintained in a direction substantially perpendicular to the axis of the channel in accordance with the engagement of the alignment member with the guide. Article 107. The apparatus according to Clause 101, wherein the positioning member is configured to be received in a recessed recess between the actuator and the side surface of the actuator, thereby allowing the positioning member to slide beyond the distal end of the actuator in response to the distal end of the actuator advancing toward the distal end of the channel. Article 108. The buckling prevention device includes multiple brackets. The first positioning member of the first bracket is configured to be received in a first recessed recess between the actuator and the first side surface of the channel. The apparatus according to Clause 107, wherein the second positioning member of the second bracket is configured to be received in a second recessed recess between the actuator and the second side surface of the channel. Article 109. The apparatus according to clause 101, wherein a positioning member is movably coupled to an actuator. Article 110. It is a system, A slender instrument selected from either a needle or a probe, A control device that is movably coupled to an elongated instrument and configured to extend and retract the elongated instrument, the control device includes a buckling prevention device comprising at least one movable support bracket, the at least one bracket is A substantially planar member having an inner orifice and an outer edge configured to movably engage with the inner surface of a channel, wherein the substantially planar member is configured to provide lateral support to an elongated instrument extending through the inner orifice in response to an elongated instrument driven through the channel by an actuator receivable within the channel, A positioning member extending from a planar member, configured to prevent the planar member from twisting with respect to the channel axis, and configured to move relative to the distal end of the actuator so as not to obstruct the actuator's movement toward the distal end of the channel, and Control devices including A system that includes these features. Article 111. The system described in Clause 110, wherein the internal orifice of the planar member is sized to allow the movement of an elongated instrument along the axis and to restrict the movement of an elongated instrument across the axis. Article 112. The system according to Clause 110, wherein the planar member includes an outer edge configured to engage with at least a portion of the inner surface of the channel to restrict the movement of the planar member across the axis. Article 113. The system according to Clause 110, wherein the bracket is configured to be held in a first position within the channel until the actuator advances at least toward the distal end of the channel. Article 114. The system according to Clause 110, wherein the bracket is configured to stop in a second position within the channel in response to the actuator retracting toward the proximal end of the channel. Article 115. The system according to Clause 110, wherein the positioning member includes an adjustment member configured to slidably engage with a guide extending along the inner surface of the channel parallel to the axis of the channel, and the planar member is maintained in a direction substantially perpendicular to the axis of the channel in accordance with the engagement of the alignment member with the guide. Article 116. The system according to Clause 110, wherein the positioning member is configured to be received in a recessed recess between the actuator and the side surface of the actuator, thereby allowing the positioning member to slide beyond the distal end of the actuator in response to the distal end of the actuator advancing toward the distal end of the channel. Article 117. The buckling prevention device includes multiple brackets. The first positioning member of the first bracket is configured to be received in a first recessed recess between the actuator and the first side surface of the channel. The system according to Clause 116, wherein the second positioning member of the second bracket is configured to be received in a second recessed recess between the actuator and the second side surface of the channel. Article 118. The system according to Clause 110, wherein a positioning member is movably coupled to an actuator. Article 119. It is a method, A step of engaging an actuator slidably received within a channel, wherein the actuator is configured to move from the proximal end of the channel toward the distal end of the channel in order to advance an elongated instrument selected from one of a needle and a probe through a distal opening at the distal end of the channel, The steps include employing a planar member to support an elongated instrument away from the inner surface of the channel at a point between the distal end of the actuator and the distal end of the channel, A step of employing a positioning member to prevent the planar member from twisting within the channel, The step of ensuring that at least a portion of the positioning moves beyond the distal end of the actuator as the distal end of the actuator advances toward the distal end of the channel, so that part of the positioning does not obstruct the movement of the distal end of the actuator toward the distal end of the channel. Methods that include... Article 120. The method according to Clause 119, further comprising the step of movably supporting an elongated instrument so as to move away from the inner surface of a channel at multiple points between the distal end of an actuator and the distal end of a channel.

[0093] The above detailed description is essentially illustrative, and it will be understood that any variation that does not deviate from the essence and / or spirit of the claimed subject matter is intended to be within the scope of the claims. Such variations should not be considered a deviation from the spirit and scope of the claimed subject matter. [Explanation of symbols]

[0094] 100 control systems 102 Long and slender instrument 111, 530, 621, 653, 661, 712, 1111, 1171, 1181, 1572, 1576 Distal end 110 Fittings 112 Actuator 113, 530, 612, 623, 714, 1177 Proximal end 114, 250, 710 Housing 120, 820 proximal ports 130 Guide Tube 140 Needle Actuator 150 orientation interface 160 End Caps 190 Insertion Devices 170 Release mechanism 210 Seal System 211, 223, 824 External surface 212 Bush 214 First sealing member 216, 814, 1818 Inner 224 Second sealing member 225 Slope 252 Outer housing 2541450 slot 276 contoured slots 260 Cowl 270 Locking mechanism 272, 298 base 274 Locking component 278 Wide section 279 Legs 280 Narrow part 284 Latch 290 ports 292, 552, 1710 openings 294 Connectors 296 Flange 412 Mounting hardware 550 Cap, Rotatable Cap 554 Flat surface 560, 660 sockets 564 Flat edge 610, 1574 sheath 614 First lumen 616 Second lumen 620 Flexible Gasket 630 Main Unit 650 Imaging Probe 652 Outward threaded surface 660 Mounting Socket 662 Inward threaded surface 670, 1570, 1571 Collection needle 680, 810 Stylet 812 Stylet Mount 916 Grooves, recesses 926 Ridge 1016 Inward thread 1026 Outward thread 1050 First release device, first release mechanism 1060 Second release device 1101 Organization 1152 First release interlock 1153 First unlocked slot 1154 First Interface 1156 First Channel 1158 Protrusion 1172 Lock recess Channels 1174, 1750, and 1816 1176 Lamp 1262 Second release interlock 1263 Second unlock slot 1264 Second Interface 1266 Second Channel 1301 Tissue sample 1310 Makogen 1410 Asymmetric distal orifice 1430, 1730 Asymmetrical Guide Tubes 1440, 1740 protruding structure 1572 Deflectable distal end 1573 Asymmetrical distal end 1575 Collection Orifice 1577 Side view 1578 direction 1750 channels 1801 axis 1810, 1812 Buckling prevention device, buckling prevention member 1816 Channel 1850, 1852 Recessed recess 1880 Stop 1885 Guide 1920 Planar Member 1930 Internal orifice 1940 Outer edge 1950, 2050, 2152 Positioning members 1960 Linkage mechanism 2000, 2100 distance

Claims

1. A fitting configured to connect a control device for an elongated instrument to a port of an insertion device, wherein the insertion device is configured to transport the elongated instrument to a target position, and the elongated instrument includes a sheath defining at least one lumen, from which at least one elongated member is extendable, A bush extending from the joint and configured to be inserted into the opening of the port of the insertion device, wherein the elongated device is movably extendable through the bush, A first sealing member disposed on the outer surface of the bush and configured to seal the outer surface of the bush against the inner surface of the opening of the port, the first sealing member including an inclined surface that sealably engages with the opening of the port, A second sealing member is disposed on the outer surface of the elongated device and configured to movably seal the outer surface of the elongated device, wherein the second sealing member is separated from the first sealing member, A device equipped with the following features.

2. The apparatus according to claim 1, wherein the first sealing member includes a gasket disposed on the outer surface of the bush.

3. The apparatus according to claim 1, wherein the second sealing member includes an O-ring, and the O-ring is configured to allow the elongated instrument to slide within the inner diameter of the O-ring.

4. The aforementioned joint, An outer housing configured to extend on an adapter extending from the aforementioned insertion device, A locking mechanism configured to secure the outer housing to the adapter, wherein the locking mechanism is configured to prevent the fitting from being removed from the insertion device without the locking mechanism being released, The apparatus according to claim 1, including the following:

5. The adapter includes a shaft having a first outer diameter and a distal flange having a second outer diameter larger than the first outer diameter. The locking mechanism includes a locking member configured to engage with the shaft, the locking member preventing the outer coupling from separating from the distal flange without the locking member being removed from the shaft. The apparatus according to claim 4.

6. The apparatus according to claim 5, wherein the locking member is slidably fixed to the outer housing between a first position in which the locking member does not engage with the shaft and a second position in which the locking member engages with the shaft.

7. The apparatus according to claim 6, wherein the locking member includes at least one fixing mechanism configured to hold the locking member in the second position until released.

8. It is a system, A long, slender instrument, A control device movably coupled to the elongated apparatus, the control device configured to extend and retract the elongated apparatus, A fitting configured to connect a control device for the elongated instrument to a port of an insertion device, wherein the insertion device is configured to transport the elongated instrument to a target position, the elongated instrument includes a sheath defining at least one lumen, from which at least one elongated member is extendable, and the insertion device includes a port for receiving the elongated instrument, A bush extending from the joint and configured to be inserted into the opening of the port of the insertion device, wherein the elongated device is movably extendable through the bush, A first sealing member disposed on the outer surface of the bush and configured to seal the outer surface of the bush against the inner surface of the opening of the port, the first sealing member including an inclined surface that sealably engages with the opening of the port, A second sealing member is disposed on the outer surface of the elongated device and configured to movably seal the outer surface of the elongated device, wherein the second sealing member is separated from the first sealing member, A system that includes these features.

9. The system according to claim 8, wherein the first sealing member comprises a gasket disposed on the outer surface of the bush.

10. The system according to claim 8, wherein the second sealing member includes an O-ring, and the O-ring is configured to allow the elongated device to slide within the inner diameter of the O-ring.

11. The system according to claim 8, wherein the elongated instrument includes a sheath defining at least one lumen, from which at least one elongated member is extendable.

12. The aforementioned joint, An outer housing configured to extend on an adapter extending from the aforementioned insertion device, A locking mechanism configured to secure the outer housing to the adapter, wherein the locking mechanism is configured to prevent the fitting from being removed from the insertion device without the locking mechanism being released, The system according to claim 8, including the system described in claim 8.

13. The adapter includes a shaft having a first outer diameter and a distal flange having a second outer diameter larger than the first outer diameter. The system according to claim 12, wherein the locking mechanism includes a locking member configured to engage with the shaft, the locking member preventing the outer coupling from separating from the distal flange without the locking member being removed from the shaft.

14. The system according to claim 13, wherein the locking member is slidably fixed to the outer housing between a first position in which the locking member does not engage with the shaft and a second position in which the locking member engages with the shaft.

15. The system according to claim 14, wherein the locking member comprises at least one fixing mechanism configured to hold the locking member in the second position until the at least one fixing mechanism is released.

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