Method and apparatus for advancing an instrument along an arbitrary path

Abstract

An endoscope with guiding apparatus is described herein. A steerable endoscope is described having an elongate body with a manually or selectively steerable distal portion, an automatically controlled portion, a flexible and passively manipulated proximal portion, and an externally controlled and manipulatable tracking rod or guide. The tracking rod or guide is positioned within a guide channel within the endoscope and slides relative to the endoscope. When the guide is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can then be selectively rigidized to assume that curve or path. Once set, the endoscope can be advanced over the rigidized guide in a monorail or “piggy-back” fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS [0001] This application is a continuation-in-part of U.S. patent application Ser. No. 10 / 087,100 entitled “Endoscope with Guiding Apparatus” filed Mar. 1, 2002, which is a continuation-in-part of U.S. patent application Ser. No. 09 / 969,927 entitled “Steerable Segmented Endoscope and Method of Insertion” filed Oct. 2, 2001, which is a continuation-in-part of U.S. patent application Ser. No. 09 / 790,204 entitled “Steerable Endoscope and Improved Method of Insertion” filed Feb. 20, 2001, which claims the benefit of priority to U.S. Provisional Patent Application Ser. No. 60 / 194,140 entitled the same and filed Apr. 3, 2000, all of which are incorporated herein by reference in their entirety.FIELD OF THE INVENTION [0002] The present invention relates generally to endoscopes and endoscopic procedures. More particularly, it relates to a method and apparatus to facilitate insertion of a flexible endoscope along a tortuous path, such as for colonoscopic...

AI Technical Summary

Benefits of technology

"The patent describes an improved endoscopic apparatus for examining the colon and other internal bodily cavities with minimal interference to bodily organs. The apparatus includes a steerable endoscope with a manually or selectively steerable distal portion, an automatically controlled portion, and a flexible and passively manipulated proximal portion. A shortened guide is preloadable through the endoscope or the handle, and the guide can be rigidized for better stability. The guide can be advanced distally through the endoscope or along its length, and it can be withdrawn from the endoscope at any time. The technical effects of this invention include improved access and visualization of the colon with reduced discomfort and minimized damage to bodily organs."

Problems solved by technology

Insertion of the colonoscope is complicated by the fact that the colon represents a tortuous and convoluted path.

Considerable manipulation of the colonoscope is often necessary to advance the colonoscope through the colon, making the procedure more difficult and time consuming and adding to the potential for complications, such as intestinal perforation.

However, as the colonoscope is inserted farther and farther into the colon, it becomes more difficult to advance the colonoscope along the selected path.

Friction and slack in the colonoscope build up at each turn, making it more and more difficult to advance, withdraw, and loop the colonoscope.

In addition, the force against the wall of the colon increases with the buildup of friction.

In cases of extreme tortuosity, it may become impossible to advance the colonoscope all of the way through the colon.

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