Systems and methods for continuous insufflation with alternating pressure sensing lines in an endoluminal platform

Abstract

An insufflation system is provided. The insufflation system comprises: a plurality of lumens connected to a gas source; a controller operably coupled to a plurality of switches to switch the plurality of lumens between an insufflation state and a sensing state such that a first lumen is sensing state and a second lumen is in an insufflation state concurrently.

Description

Attomey Docket No. 55441-736601SYSTEMS AND METHODS FOR CONTINUOUS INSUFFLATION WITH ALTERNATING PRESSURE SENSING LINES IN AN ENDOLUMINAL PLATFORMCROSS-REFERENCE

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 723,247, filed on November 21, 2024, which is entirely incorporated herein by reference.BACKGROUND

[0002] In endoluminal surgeries, insufflation may be involved by the use of gas to create space in the body for visualization and surgical manipulation during an endoscopic procedure. In minimally invasive surgeries, such as endoscopic and robotic procedures, maintaining stable insufflation pressure within the surgical cavity is essential for visibility, precision, and patient safety. For example, pressure may be controlled by employing continuous closed loop control of insufflation flow rate. Certain traditional insufflation systems may rely on two fluidic channels: a static pressure-sensing channel for sensing the pressure, and a second channel for the flow of gas (e.g., CO2) into the cavity. However, obstruction of the pressure sensing line with liquids from the surgical cavity can result in inaccurate pressure readings and malfunctions of the system. Issues such as fluid buildup in the sensing lines can lead to inaccurate pressure measuring, requiring the operator to manually intervene to clear obstructions, which can increase procedural time and complexity.

[0003] Some existing insufflation systems may provide capability of clearing the blockage in the pressure-sensing channel by connecting the pressure-sensing channel to the gas source and alternate between an insufflation state and non-insufflation state (sensing state). This can allow for fluid obstruction in the lumen (for both sensing and insufflation) getting purged when gas pressurizes it to insufflate. However, alternating between halting gas flow and the noninsufflation state, leading to potential issues such as pressure fluctuations or "billowing." In complex surgical environments, traditional systems often lack real-time adaptability and fail to dynamically respond to sudden changes in pressure requirements due to the interrupted pressure sensing (during sensing line purging to clear obstruction). These interruptions and the potential for obstructions in pressure-sensing lines can compromise the accuracy of pressure readings, disrupt the surgical field, and increase the risk of unintended tissue expansion.SUMMARY

[0004] Recognized herein is a need for an improved insufflation system with the capability of continuous pressure sensing, continuous insufflation as well as the capability ofAttomey Docket No. 55441-736601 clearing any obstruction in the sensing line during operation in an automated fashion. As described above, existing insufflation systems (e.g., such as those shown in FIGs. 1A, IB, 2A, and 2B), may not be able to provide continuous insufflation with disrupted gas flow or may rely on static pressure-sensing lines that lack the capability of automatic removing of obstructions. These limitations can lead to intermittent pressure measuring, fluctuations in cavity pressure, and increased risks of unintended tissue expansion, all of which compromise the stability and efficiency required during intricate surgical procedures.

[0005] The present disclosure addresses these challenges by providing insufflation systems and methods that may permit continuous, closed-loop control of gas flow based on realtime pressure sensing, and continuous insufflation with improved sensing capability. In some embodiments, the systems and methods disclosed herein may improve the pressure sensing capability by employing a coordinated multi-lumen setup and an automated purging switch mechanism for the pressure sensing and insufflation. In some cases, the coordinated multi-lumen setup may comprise two or more sensing lumens that, at any point in time, at least one of the lumens is sensing the pressure and at least one of the lumens is purging gas into the cavity. The pressure sensing and purging gas may alternate between the multiple lumens with an automated switch mechanism such that when one of the lumens is in the state of purging gas, it serves as both clearing any obstruction in the lumen and insufflation, while the other lumen is sensing the pressure in the cavity (i.e., cavity where the endoluminal device is placed) where the automated switch ensures a continuous pressure sensing in the cavity. The insufflation may be controlled using a closed-loop control mechanism to purge gas into the cavity through the alternating gas delivery and maintain the cavity pressure based on the pressure measured by the sensor alternated between the multiple lumens. The systems herein may alternate gas delivery across the two or more lumens by an automated switch allowing for precise uninterrupted pressure control, maintain uninterrupted gas flow and stabilized pressure inside a subject / cavity.

[0006] In alternative embodiments, the multi-lumen setup may comprise two or more pressure sensing lumens with controlled switches configured to continuously sense pressure while detecting an obstruction in the sensing lumens based on a difference in the multiple sensor readings in the two or more pressure sensing lumens. In the case of detection of an obstruction in any of the sensing lumens, the automated purging mechanism may be activated to purge gas into the respective sensing lumen to clear the obstruction while the unobstructed sensing lumen may continuously function to sense the pressure. In some cases, during the obstruction removal process, an insufflation line may continue to function to purge gas into the cavity to maintain the cavity pressure based on the pressure measured by the unobstructed sensing lumen. ThisAttomey Docket No. 55441-736601 beneficially allows for precise uninterrupted pressure control, maintain uninterrupted gas flow and stabilized pressure inside a subject.

[0007] In an aspect, an insufflation system is provided. The system comprises a plurality of lumens connected to a gas source at one end and a fluidic interface at an endoscopic system at the other end; and a controller operably coupled to a plurality of switches to switch the plurality of lumens between an insufflation state and a sensing state such that a first lumen from the plurality of lumens is in a sensing state and a second lumen from the plurality of lumens is in an insufflation state concurrently.

[0008] In some embodiments, each of the plurality of lumens comprises a pressure sensor configured to sense a pressure when the respective lumen is in the sensing state. In some embodiments, each of the plurality of lumens is controlled to switch between the insufflation state and the sensing state by controlling the plurality of switches.

[0009] In some embodiments, the first lumen and the second lumen are controlled to switch between the insufflation state and the sensing state in an alternating fashion. In some cases, the controller is further configured to detect an obstruction in one of the plurality of lumens and trigger a purging action to clear the obstruction. In some instances, the obstruction is detected based at least in part on a pressure monitored by the respective pressure sensor.

[0010] In some embodiments, the endoscopic system is a robotic endoscopic system comprising a robotic endoscope and a mobile tower supporting the robotic endoscope. In some cases, the fluidic interface is located at the mobile tower.

[0011] In some embodiments, the plurality of lumens comprise a third lumen such that at any given point in time, at least one of the plurality of lumens is in the sensing state, and at least one of the plurality of lumens is in the insufflation state. In some cases, each of the plurality of lumens is switchable between the sensing state, the insufflation state and a purging state.

[0012] In another aspect, a method for continuous insufflation control is provided. The method comprises: (a) receiving, by a controller, pressure sensing data from a first pressure sensor located at a first lumen from a plurality of lumens; (b) concurrently with (a), controlling by the controller, a second lumen from the plurality of lumens to insufflate gas into a fluidic interface located at an endoscopic system; (c) triggering a first switch associated with the first lumen, by the controller, to switch the first lumen to insufflate gas into the fluidic interface; and (d) triggering a second switch associated with the first lumen, by the controller, to acquire pressure sensing data from a second pressure sensor located at the second lumen.Atorney Docket No. 55441-736601

[0013] In some embodiments, the plurality of lumens are connected to a gas source. In some embodiments, each of the plurality of lumens is switchable between an insufflation state and a sensing state at least by controlling a respective switch by the controller. In some cases, each of the plurality of lumens comprises a pressure sensor configured to sense a pressure when the respective lumen is in the sensing state.

[0014] In some embodiments, the first lumen and the second lumen are controlled to switch between the insufflation state and the sensing state in an alternating fashion. In some cases, the alternating fashion comprises a predetermined schedule for the switching between the insufflation state and the sensing state.

[0015] In some embodiments, the method further comprises detecting an obstruction in one of the plurality of lumens and triggering a purging action to clear the obstruction in the one of the plurality of lumens. In some cases, the obstruction is detected based at least in part on a pressure monitored by the respective pressure sensor.

[0016] In some embodiments, the plurality of lumens comprise a third lumen such that at any given point in time, at least one of the plurality of lumens is in a sensing state, and at least one of the plurality of lumens is in an insufflation state. In some cases, each of the plurality of lumens is switchable between the sensing state, the insufflation state and a purging state.

[0017] It should be noted that the provided insufflation system, insufflation console, components and methods can be used in various endoluminal, or minimally invasive surgical procedures, therapeutic or diagnostic procedures that involve various types of tissue including heart, bladder and lung tissue, and in other anatomical regions of a patient’s body such as a digestive system, including but not limited to the esophagus, liver, stomach, colon, urinary tract, or a respiratory system, including but not limited to the bronchus, the lung, and various others. The devices and systems can be used in any subject that may or may not involve human body, animal, or tissue.INCORPORATION BY REFERENCE

[0018] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. To the extent publications and patents or patent applications incorporated by reference contradict the disclosure contained in the specification, the specification is intended to supersede and / or take precedence over any such contradictory material.Attorney Docket No. 55441-736601BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings (also “Figure” and “FIG.” herein), of which:

[0020] FIGs. 1A and IB show examples of existing insufflation systems.

[0021] FIGs. 2A and 2B show examples of existing insufflation systems.

[0022] FIGs. 3A, 3B, and 3C illustrate a first example of an insufflation control system that may operate in various fluidics console states, in accordance with some embodiments of the present disclosure.

[0023] FIGs. 4A, 4B, and 4C illustrate a second example of an insufflation control system that may operate in various fluidics console states, in accordance with some embodiments of the present disclosure.

[0024] FIGs. 5A and 5B illustrate a third example of an insufflation control system that may operate in various fluidics console states, in accordance with some embodiments of the present disclosure.

[0025] FIG. 6 illustrates an example of an insufflation component, configured for integration with various insufflation control systems, in accordance with some embodiments of the present disclosure.

[0026] FIG. 7 illustrates a first example of an endoscope shaft cross-section, configured to work with various insufflation control systems, in accordance with some embodiments of the present disclosure.

[0027] FIG. 8 illustrates an operational flow diagram of an insufflation control method, in accordance with some embodiments of the present disclosure.

[0028] FIG. 9 illustrates a second example of an endoscope shaft cross-section, configured to work with various insufflation control systems, in accordance with some embodiments of the present disclosure.

[0029] FIG. 10 shows an example of a handle portion of a flexible robotic endoscope, in accordance with some embodiments of the present disclosure.

[0030] FIG. 11 shows examples of user input devices, in accordance with some embodiments of the present disclosure.Attomey Docket No. 55441-736601

[0031] FIG. 12A-12C shows an example of a flexible robotic endoscope handle, in accordance with some embodiments of the present disclosure.

[0032] FIG. 13 shows an example of a distal tip of the robotic endoscope, in accordance with some embodiments of the present disclosure.

[0033] FIG. 14 shows an example of a robotic support system with an instrument driving mechanism, in accordance with some embodiments of the present disclosure.

[0034] FIG. 15 shows examples of an instrument driving mechanism at a robotic end effector, in accordance with some embodiments of the present disclosure.

[0035] FIG. 16 shows an example of a robotic arm mounted to a robotic mount base, in accordance with some embodiments of the present disclosure.

[0036] FIG. 17 shows an example of an instrument driving mechanism for driving robotic endoscope and robotic instruments at a robotic end effector, in accordance with some embodiments of the present disclosure.

[0037] FIG. 18 shows examples of an instrument driving mechanism for driving robotic instruments at a robotic end effector, in accordance with some embodiments of the present disclosure.

[0038] FIG. 19 shows an example of a treatment control system or a robotic cart, in accordance with some embodiments of the present disclosure.

[0039] FIG. 20A - 20C illustrate a fourth example of an insufflation control system that may operate in various fluidics console states, in accordance with some embodiments of the present disclosure.

[0040] FIG. 21 shows an example of a user console, in accordance with some embodiments of the present disclosure.DETAILED DESCRIPTION

[0041] While various embodiments of the invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions may occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed.

[0042] As described above, existing insufflation systems (e.g., such as those shown in FIGs. 1A, IB, 2A, and 2B), may not be able to provide continuous insufflation with disrupted gas flow or may rely on static pressure-sensing lines that lack the capability of automaticAttomey Docket No. 55441-736601 removing of obstructions. Recognized herein is a need for an improved insufflation system for endoluminal, minimally invasive surgeries or any other surgical operations where insufflation is required.

[0043] The present disclosure provides systems and methods for insufflation control configured to facilitate surgical and diagnostic procedures with stable pressure management, minimized risk of obstructions, and adaptability to the dynamic requirements of minimally invasive surgeries. Unlike traditional systems that alternate between states, temporarily stopping insufflation to measure pressure, the systems disclosed herein may involve automated purging mechanism to alternate gas delivery across multiple sensing lumens, allowing for consistent pressure measuring without halting gas flow. In some cases, the flexible configuration of the systems and methods disclosed herein help minimize pressure fluctuations, can actively purge obstructions, and may create a stable surgical environment adaptable to the evolving requirements of minimally invasive procedures, thereby enhancing procedural efficiency and patient safety.

[0044] The present disclosure provides insufflation systems and methods that may permit continuous, closed-loop control of gas flow based on real-time pressure sensing, and continuous insufflation with improved sensing capability. In some embodiments, the systems and methods disclosed herein may improve the pressure sensing capability by employing a coordinated multilumen setup and an automated purging switch mechanism for the pressure sensing and insufflation. In some cases, the coordinated multi-lumen setup may comprise two or more sensing lumens that, at any point in time, at least one of the lumens is sensing the pressure and at least one of the lumens is purging gas into the cavity. The pressure sensing and purging gas may alternate between the multiple lumens with an automated switch mechanism such that when one of the lumens is in the state of purging gas, it serves as both clearing any obstruction in the lumen and insufflation, while the other lumen is sensing the pressure in the cavity (i.e., cavity where the endoluminal device is placed) where the automated switch ensures a continuous pressure sensing in the cavity. The insufflation may be controlled using a closed-loop control mechanism to purge gas into the cavity through the alternating gas delivery and maintain the cavity pressure based on the pressure measured by the sensor alternated between the multiple lumens. The systems herein may alternate gas delivery across the two or more lumens by an automated switch allowing for precise uninterrupted pressure control, maintain uninterrupted gas flow and stabilized pressure inside a subject / cavity.

[0045] In alternative embodiments, the multi-lumen setup may comprise two or more pressure sensing lumens with controlled switches configured to continuously sense pressureAttorney Docket No. 55441-736601 while detecting an obstruction in the sensing lumens based on a difference in the multiple sensor readings in the two or more pressure sensing lumens. In the case of detection of an obstruction in any of the sensing lumens, the automated purging mechanism may be activated to purge gas into the respective sensing lumen to clear the obstruction while the unobstructed sensing lumen may continuously function to sense the pressure. In some cases, during the obstruction removal process, an insufflation line may continue to function to purge gas into the cavity to maintain the cavity pressure based on the pressure measured by the unobstructed sensing lumen. This beneficially allows for precise uninterrupted pressure control, maintain uninterrupted gas flow and stabilized pressure inside a subject.

[0046] While exemplary embodiments will be described to be incorporated into or used in device or system for colonoscope or gastroscope, one of skill in the art will appreciate that this is not intended to be limiting, and the devices described herein may be used for any surgical procedures, platforms or any other therapeutic or diagnostic procedures and in various anatomical regions of a patient’s body. For instance, endoluminal device or system incorporated with the insufflation system herein can be utilized in urology, gynecology, rhinology, otology, laryngoscopy, gastroenterology with the endoscopes, combined devices including endoscope and instruments, endoscopes with localization functions, one of skill in the art will appreciate that this is not intended to be limiting, and the devices described herein may be used for other therapeutic or diagnostic procedures and in other anatomical regions of a patient’s body, such as such as brain, heart, lungs, intestines, eyes, skin, kidney, liver, pancreas, stomach, uterus, ovaries, testicles, bladder, ear, nose, mouth, soft tissues such as bone marrow, adipose tissue, muscle, glandular and mucosal tissue, spinal and nerve tissue, cartilage, hard biological tissues such as teeth, bone and the like, as well as body lumens and passages such as the sinuses, ureter, colon, esophagus, lung passages, blood vessels and throat, and various others, in the forms of: NeuroendoScope, EncephaloScope, Ophthalmoscope, OtoScope, RhinoScope, LaryngoScope, GastroScope, EsophagoScope, BronchoScope, ThoracoScope, PleuroScope, AngioScope, MediastinoScope, NephroScope, GastroScope, DuodenoScope, CholeodoScope, CholangioScope, LaparoScope, AmioScope, UreteroScope, HysteroScope, CystoScope, ProctoScope, ColonoScope, ArthroScope, SialendoScope, Orthopedic Endoscopes, and others, in combination with various tools or instruments.

[0047] The embodiments disclosed herein can be combined in one or more of many ways to provide improved diagnosis, therapy, or surgical operations to a patient. It is to be understood that any one or more of the structures and steps as described herein can be combined with any one or more additional structures and steps of the methods and apparatus as described herein, the drawings and supporting text provide descriptions in accordance with embodiments.Attomey Docket No. 55441-736601

[0048] Although the treatment planning and definition of diagnosis or surgical procedures as described herein are presented in the context of diagnosis or surgery in lower and upper gastroenterology clinical conditions, the methods and apparatus as described herein can be used to treat any tissue of the body and any organ and vessel of the body such as brain, heart, lungs, intestines, eyes, skin, kidney, liver, pancreas, stomach, uterus, ovaries, testicles, bladder, ear, nose, mouth, soft tissues such as bone marrow, adipose tissue, muscle, glandular and mucosal tissue, spinal and nerve tissue, cartilage, hard biological tissues such as teeth, bone and the like, as well as body lumens and passages such as the sinuses, ureter, colon, esophagus, lung passages, blood vessels and throat.

[0049] Whenever the term “at least,” “greater than,” or “greater than or equal to” precedes the first numerical value in a series of two or more numerical values, the term “at least,” “greater than” or “greater than or equal to” applies to each of the numerical values in that series of numerical values. For example, greater than or equal to 1, 2, or 3 is equivalent to greater than or equal to 1, greater than or equal to 2, or greater than or equal to 3.

[0050] Whenever the term “no more than,” “less than,” or “less than or equal to” precedes the first numerical value in a series of two or more numerical values, the term “no more than,” “less than,” or “less than or equal to” applies to each of the numerical values in that series of numerical values. For example, less than or equal to 3, 2, or 1 is equivalent to less than or equal to 3, less than or equal to 2, or less than or equal to 1.

[0051] As used herein a processor encompasses one or more processors, for example a single processor, or a plurality of processors of a distributed processing system for example. A controller or processor as described herein generally comprises a tangible medium to store instructions to implement steps of a process, and the processor may comprise one or more of a central processing unit, programmable array logic, gate array logic, or a field programmable gate array, for example. In some cases, the one or more processors may be a programmable processor (e.g., a central processing unit (CPU) or a microcontroller), digital signal processors (DSPs), a field programmable gate array (FPGA) and / or one or more Advanced RISC Machine (ARM) processors. In some cases, the one or more processors may be operatively coupled to a non-transitory computer readable medium. The non-transitory computer readable medium can store logic, code, and / or program instructions executable by the one or more processors unit for performing one or more steps. The non-transitory computer readable medium can include one or more memory units (e.g., removable media or external storage such as an SD card or random access memory (RAM)). One or more methods or operations disclosed herein can beAttomey Docket No. 55441-736601 implemented in hardware components or combinations of hardware and software such as, for example, ASICs, special purpose computers, or general purpose computers.

[0052] As used herein, the terms distal and proximal may generally refer to locations referenced from the apparatus, and can be opposite of anatomical references. For example, a distal location of an endoscope or catheter may correspond to a proximal location of an elongate member of the patient, and a proximal location of the endoscope or catheter may correspond to a distal location of the elongate member of the patient.

[0053] An endoluminal system as described herein, includes an elongate portion or elongate member such as a catheter. The terms “elongate member”, and “catheter” are used interchangeably throughout the specification unless contexts suggest otherwise. The terms “endoscope,” “scope,” “gastroscope,” and “colonoscope” are used interchangeably throughout the specification unless contexts suggest otherwise. The elongate member can be placed directly into the body lumen or a body cavity through natural orifice. In some embodiments, the system may further include a support apparatus such as a robotic manipulator (e.g., robotic arm) to drive, support, position or control the movements and / or operation of the elongate member.Alternatively or in addition to, the support apparatus may be a hand-held device or other control devices that may or may not include a robotic system. In some embodiments, the system may further include peripheral devices and subsystems such as imaging systems that may assist and / or facilitate the navigation of the elongate member to the target site in the body of a subject.

[0054] As used herein, the term "substantially" generally refers to the specified value, condition, or result being achieved to a degree that is nearly complete but may include minor deviations, variations, or adjustments, as understood by one of skill in the art. The term "substantially" allows for minor differences or tolerances that do not materially affect the intended outcome, function, or purpose of the described feature or process.

[0055] As used herein, the term "billowing" generally refers to an unintended fluctuation such as in cavity pressure within the context of an insufflation system, often resulting in the temporary expansion and contraction of tissue within the surgical cavity. For example, "billowing" may occur when the insufflation flow is momentarily interrupted, such as during a switching state or a pause in gas flow for pressure measurement, leading to a brief drop in cavity pressure. This effect can cause soft tissues within the surgical cavity to collapse and then reexpand when gas flow resumes.

[0056] As used herein, the term "puff generally refers to distinct operational scenarios within the context of the insufflation system, each addressing a specific system need or response. For example, a "purge puff pertains to a specific operational state characterized by a pulse of aAttorney Docket No. 55441-736601 set duration and flow rate, primarily configured to rectify obstructions or anomalies in the pressure sensing lines following a failed cross-check. In contrast, the term "insufflation puff describes an adaptable operational state during the insufflation process. Unlike a purge puff, an insufflation puff adjusts its duration and flow rate based on factors such as site pressure and leak rates, effectively maintaining the desired pressure within the surgical cavity amidst changing conditions.

[0057] As used herein, the term “sneeze feature”, “sneeze function,” or “sneeze” generally refers to an operational mechanism within the insufflation system that may clear obstructions from one or more lumens while maintaining gas delivery to the surgical site. In some embodiments, the sneeze feature may dynamically alternate gas flow between lumens, each controlled by dedicated switch (e.g., valve). For example, if an obstruction, such as fluid buildup, is detected in a lumen, the system may close the associated valve and redirect gas flow through an alternate lumen, creating a pressurized burst that helps to dislodge the obstruction. Once the lumen is cleared, the system may return to a balanced configuration with gas flow through both lumens to stabilize insufflation pressure. This feature may help ensure reliable pressure measuring, continuous gas delivery, and consistent pressure stability throughout the procedure.

[0058] As used herein, the terms "state," "mode," "configuration," and "stage" are interchangeable and generally refer to a specified operational arrangement, condition, or function within the system. Each term may encompass the positioning, activation, or deactivation of various components, including but not limited to switches, valves, sensors, flow channels, and other flow management elements, as well as adjustments for gas flow or pressure measuring operations. For example, a "state," "mode," "configuration," or "stage" may denote the system's setup for continuous insufflation, purging, or precise pressure sensing, depending on procedural requirements. In further examples, any of these terms may describe the active organization and function of system components to maintain stable insufflation conditions, clear obstructions, or support dynamic responses based on real-time feedback, enhancing the system’s adaptability and responsiveness. As used herein, the term normal procedure state generally refers to an operational mode within an insufflation system configured to maintain continuous and stable insufflation gas flow to the surgical cavity under standard procedural conditions. In some embodiments, the normal procedure state may comprise a state where all valves, lumens, and sensors are arranged and activated to provide uninterrupted gas flow and real-time pressure measuring without purging or corrective interventions. In some cases, this state may support closed-loop control, with feedback mechanisms permitting precise pressure regulation within a specified target range (e.g., about 2 mmHg to about 25 mmHg) with a tolerance, for example, of ±2 mmHg. For example, the normal procedure state may involve continuous data collection fromAttomey Docket No. 55441-736601 one or more pressure sensors, allowing the system to adjust gas flow automatically and maintain a consistent insufflation environment throughout a surgical procedure. In further examples, this state may be set as the default mode of operation when there are no detected anomalies, obstructions, or deviations in the system's pressure or flow requirements.Systems and Methods

[0059] The disclosed systems and methods may provide closed-loop insufflation flow control based at least in part on real-time pressure measurements from one or more pressure sensors, ensuring adaptive and precise pressure management throughout the procedure. The systems and methods disclosed herein may address issues such as billowing commonly seen in traditional systems and methods, thereby enhancing procedural efficiency and safety.

[0060] FIGs. 1A, IB, 2A, and 2B show examples of traditional systems and methods which may disrupt gas flow or rely solely on single or static pressure-sensing lumen setups vulnerable to obstruction. Some traditional systems may alternate between sensing and purging states which can remove obstruction of the pressure sensing line (obstruction with liquids from the surgical cavity can result in inaccurate pressure readings and malfunctions of the system. For example, in a single-lumen fluidic setup, in purging state 102 in FIG. 1A, CO2 flows through an insufflation line 104, and in the sensing state 106 in FIG. IB, insufflation gas flow halts to allow pressure measuring via a single pressure sensor 105. While obstruction can be cleared from the sensing line, the state-switching mechanism can introduce periodic stops that may lead to pressure drops or "billowing" due to fluctuating cavity pressure with each transition.

[0061] FIGs. 2A and 2B shows other examples of existing insufflation console 200. These systems may provide continuous closed loop control of insufflation flow rate to maintain a specific internal pressure in a surgical cavity for endoluminal or minimally invasive surgery and such continuous pressure control is achieved by incorporating at least two fluidic lines: one static channel 206 that enables sensing the pressure, and another channel 207 for flow of CO2 204 into the cavity. For example, as shown in FIG. 2A, the fluidics console is in state 1 201 where the sensing line 206 measures static pressure by the pressure sensor 1 203, and the insufflation line 207 performs continuous insufflation. When the fluidics console switches to state 202 as shown in FIG. 2B, insufflation (e.g., CO2 204) may stop and both the static pressure sensing line 206, and the insufflation line 207 may be in the sensing mode. The redundant pressure sensor 2 205 may be used to detect any obstruction in the static pressure sensing line 206 such as by comparing the two pressure sensors’ readings. A difference of the two pressure sensor readings may indicate obstruction in the static pressure sensing line and the system may enter into an intermittent mode until manual clearance of the obstruction. However, such systems lackAtorney Docket No. 55441-736601 capability of automatic removing of obstructions (e.g., capability to purge the liquid ingress from the static sensing line).

[0062] The present disclosure addresses the aforementioned drawbacks by providing systems and methods with a multi-lumen or dual-lumen configuration. In some cases, an insufflation gas is coupled to each lumen, and each lumen may serve in both insufflation and pressure-sensing roles in a controlled alternating fashion. For example, each lumen may switch between a sensing and insufflation state by a switching mechanism regulated by a control logic. In some cases, the alternating functionality in this multi-lumen or dual-lumen setup actively purges any fluid buildup in the lumens, allowing continuous and precise pressure readings.

[0063] In some embodiments, the system and methods disclosed herein may comprise a switching mechanism configured to maintain a continuous gas flow by dynamically alternating gas delivery between multiple lumens. In some cases, the continuous flow, achieved without halting insufflation, minimizes pressure fluctuations and reduces the risk of unintended tissue expansion, ensuring stable cavity conditions and adapting to real-time procedural demands. In some instances, the coordinated dual-lumen approach permits stable, accurate pressure maintenance and promotes a reliable surgical environment in minimally invasive and endoluminal procedures, enhancing overall procedural efficiency and patient safety. The insufflation mechanism and methods of the present disclosure may provide continuously pressure sensing and insufflation with the capability of clearing obstruction in the sensing line without interrupting pressure sensing. For instance, the systems and methods may ensure that at any given point in time, at least one of the multiple lumens is sensing pressure and at least one of the lumens has gas flow to maintain a desired cavity pressure.

[0064] FIGS. 3A, 3B, and 3C illustrate an example of an insufflation control system 300 that may operate in various fluidics console states to deliver insufflation gas and measure pressure during surgical procedures. The system 300 may comprise a fluidics console 310, an insufflation gas (e.g., CO2) source 303, a primary insufflation conduit 309, pressure sensors 302 and 304, switches (e.g, vales) 305 and 306, and lumens 307 and 308.

[0065] In some cases, the primary insufflation conduit 309 may be insufflation gas (e.g, CO2) to device lumens 307 and device lumen 308 via regulated valves 305 and 306. The device lumens 307 and 308 may have any suitable diameter and length to provide a fluidic channel for delivery gas into a surgical site. For instance, the lumen may have a diameter of about 0.5 mm to about 2.0 mm having a proximal end connected to the fluidics console 310 and a distal end connected to an endoluminal device at the surgical site. In some instances, the device lumens 307 and 308 may be connected to a fluidic port at a handle of an endoscope and gas may be purgedAttomey Docket No. 55441-736601 out of a port at the distal end of the endoscope (e.g., insufflation line 603 in FIG. 6). For example, the surgical device may comprise an endoscope or colonoscope. In some instances, the device lumens 307 and 308 may be associated with pressure sensors 302 and 304, respectively.

[0066] In some cases, the fluidics console 310 may comprise a dual-lumen setup with lumens 307 and 308. In some instances, each pressure sensor, 302 and 304, can independently and simultaneously measure the pressure in its respective lumen, providing two real-time and / or substantially real-time data points for comparison. In some instances, the dual-lumen setup enhances precision and redundancy in pressure measuring by allowing cross-verification between the sensors; any discrepancy in readings can prompt immediate adjustments. For example, if an obstruction or anomaly occurs in one lumen, the alternate lumen and its sensor can continue to measure pressure, (e.g., thereby ensuring reliable feedback and minimizing disruptions to realtime pressure control).

[0067] FIG. 3A illustrates an insufflation control system 300 with a fluidics console 310 in a first state 301 (e.g., normal procedure state). In some cases, in the first state 301, both valve 305 and valve 306 are open. In some instances, the fluidics console 310 configuration in state 301, with both valve 305 and valve 306 open may permit concurrent insufflation gas (e.g., CO2) flow through device lumens 307 and 308. For example, the fluidics console 310 configuration in state 301 may provide stable and continuous insufflation by maintaining uninterrupted gas flow across both lumens. In further examples, the setup in state 301 may allow for continuous pressure adjustments and feedback through real-time, closed-loop measuring at the surgical site, as the dual -lumen configuration may provide redundant, consistent pressure readings that permit the system to respond promptly to any pressure fluctuations.

[0068] In some embodiments, the system 300 comprises at least one insufflation gas supply line 309. In some cases, the at least one insufflation gas supply line 309 comprises at least one CO2 line connected to a pressurized insufflation gas (e.g., CO2) tank 303. In some instances, the at least one CO2 line 309 comprises an inline flow sensor for measuring flow rate. In some cases, the at least one insufflation gas supply line 309 comprises at least one regulator within the fluidics console. In some instances, the at least one regulator is configured to adjust the flow rate based on feedback from the inline flow sensor. For example, the at least one insufflation gas supply line 309 may be configured to deliver insufflation gas (e.g., CO2) at a specific, controlled flow rate to maintain stable insufflation pressure. In further examples, the flow rate control mechanism is configured to adjust dynamically in response to real-time data from the inline flow sensor. As an example, this configuration may allow the system to maintain precise pressure levels within a predetermined threshold during surgical procedures.Attomey Docket No. 55441-736601

[0069] In some embodiments, the system comprises at least one set of device lumens. In some cases, the at least one set of device lumens comprises at least one device lumen connected to the surgical site at its distal end. In some instances, the at least one device lumen connected to the surgical site comprises device lumen 307 and device lumen 308. In some cases, the at least one set of device lumens comprises at least one device lumen connected to the fluidics console at its proximal end. In some instances, the at least one device lumen connected to the fluidics console comprises device lumen 307 and device lumen 308. For example, the at least one set of device lumens may be configured to facilitate the delivery of insufflation gas and pressure measuring from the fluidics console 310 to the surgical site. In further examples, the device lumen configuration is configured to ensure consistent and stable gas delivery for controlled insufflation. As an example, this setup provides real-time pressure adjustments based on feedback received from sensors within the fluidics console.

[0070] In some embodiments, the system comprises at least one set of pressure sensors. In some cases, the at least one set of pressure sensors comprises at least one pressure sensor including a feedback mechanism. In some instances, the at least one pressure sensor with a feedback mechanism comprises pressure sensor 302 and / or pressure sensor 304. In some cases, the at least one set of pressure sensors comprises at least one additional pressure sensor for redundant measuring. In some instances, the at least one additional pressure sensor comprises pressure sensor 302 and / or pressure sensor 304. For example, the at least one set of pressure sensors may be configured to provide continuous or substantially real-time feedback to the insufflation control system 300 for measuring and regulating the pressure within the surgical cavity. In further examples, the feedback mechanism continuously measures the surgical cavity pressure and transmits data to a control module within the fluidics console 310.

[0071] In some embodiments, the system comprises at least one valve mechanism. In some cases, the at least one valve mechanism comprises at least one solenoid valve. In some instances, the at least one solenoid valve comprises a normally open or normally closed configuration. In some cases, the at least one valve mechanism comprises at least one additional control component. In some instances, the at least one additional control component comprises an electrical control interface configured to manage the operational state of the solenoid valves. For example, the at least one valve mechanism may be configured to regulate gas flow by receiving electrical signals to open or close as required. In further examples, the use of electrically controlled solenoid valves is configured to enhance precise control over gas delivery within the system. As an example, this setup allows the system to modulate insufflation pressure dynamically based on real-time procedural demands.Attomey Docket No. 55441-736601

[0072] The insufflation control system 300 may be configured to have two alternating states allowing for purging / clearing any liquid ingress or obstruction from both lumens by alternating the flow of the insufflation line between the two lines 307, 308. Each lumen or each line of the two lines 307, 308 may be switchable between a purging / insufflation mode and a sensing mode. The set of two lines may be controlled to alternate the states such that one line is sensing whereas the other line is purging, and the two lines may switch the modes substantially concurrently such at each line can be cleared by purging. FIG. 3B illustrates an insufflation control system 300 with a fluidics console 310 in a second state 320 (e.g., purge mode). In some embodiments, the system 300 comprises at least one insufflation control configuration. In some cases, the at least one insufflation control configuration comprises at least one fluidics console state. In some instances, the at least one fluidics console state comprises a second state 320, configured to support continuous insufflation gas delivery and reliable pressure measuring. In some cases, the at least one insufflation control configuration comprises at least one valve. In some instances, the at least one valve comprises valve 305, which may be configured to close in state 320 to isolate device lumen 307. For example, in state 320, the at least one valve, such as valve 306, may remain open to direct insufflation gas (e.g., CO2) flow exclusively or substantially exclusively through device lumen 308. In further examples, this configuration in state 320 is configured to allow the system to deliver insufflation gas continuously to the surgical site while maintaining dedicated pressure measuring through device lumen 307 and pressure sensor 302. As an example, such a setup in state 320 may enhance procedural efficiency by ensuring stable cavity pressure and uninterrupted measuring.

[0073] In some cases, the system 300 may comprise at least one purge mechanism. In some instances, the at least one purge mechanism comprises a timed purge cycle. In some cases, the fluidics console in state 320 comprises at least one device lumen 308, which may be purged at specified intervals (e.g., every about 5 seconds to every about 30 seconds) to apply positive pressure for clearing any residual fluid or obstructions. For example, the at least one purge mechanism may be configured to operate independently of the continuous insufflation flow, allowing the system 300 to maintain stable pressure and uninterrupted insufflation gas delivery to the surgical site. In further examples, the real-time measuring process is configured to allow pressure sensor 302 to provide feedback on surgical cavity pressure, permitting the system to measure and adjust pressure as needed to stay within target parameters. As an example, this continuous feedback loop may support dynamic adjustments, ensuring stable pressure and optimal gas delivery throughout the procedure.

[0074] In some cases, the system comprises at least one pressure management mechanism. In some cases, the at least one pressure management mechanism comprises at leastAttorney Docket No. 55441-736601 one corrective response module. In some instances, the at least one corrective response module comprises a pressure relief valve or an alternate venting pathway configured to release gas until the target pressure is restored. In some cases, the at least one pressure management mechanism comprises at least one gas flow control element. In some instances, the at least one gas flow control element may be configured to reduce or pause insufflation gas flow through lumen 308 temporarily to allow pressure to decrease naturally. For example, the at least one pressure management mechanism may be configured to initiate a controlled purge cycle, releasing pressure in calibrated bursts to support gradual pressure stabilization. In further examples, the purge cycle is configured to reverse gas flow through one or more lumens to safely reduce pressure within the surgical cavity. As an example, if excessive pressure persists, the system may generate alerts or notifications for manual intervention, permitting the insufflation control system 300 to dynamically adapt and maintain safe, consistent pressure conditions that support procedural efficiency and patient safety.

[0075] FIG. 3C illustrates an insufflation control system 300 with a fluidics console 310 in a third state 330. The second state and third state may be alternating states. In some cases, the at least one valve mechanism comprises valve 306, configured to close in state 330, thereby isolating device lumen 308 from insufflation flow. In some cases, the fluidics console 310 in state 330 further comprises at least one purging mechanism. In some instances, the fluidics console 310 in state 330 comprises valve 305 open to permit insufflation gas (e.g., CO2) flow through lumen 307. For example, the fluidics console 310 may be configured to initiate a purge cycle in state 330, removing at least part of any potential obstruction in lumen 307. In further examples, the purge process is configured to clear lumen 307 to an extent that permits pressure sensor 302 to obtain an accurate pressure reading within a predetermined threshold. As an example, the predetermined threshold may represent an acceptable range to maintain stable insufflation conditions, ensuring that lumen 307 is adequately prepared for precise and reliable pressure measuring throughout the procedure.

[0076] In some embodiments, the fluidics console 310 in state 330 may comprise at least one purging mechanism. In some cases, the at least one purging mechanism comprises a mechanism configured to operate at timed intervals, for example, between about every 5 seconds to about every 30 seconds, or in response to sensor feedback (e.g. pressure sensor). In some instances, the at least one fluidics console comprises at least one pressure sensor. In some instances, the at least one pressure sensor configured to provide real-time feedback to the purging mechanism. For example, the at least one fluidics console may be configured to initiate purging cycles based on pressure sensor data to maintain clear lumens 308 e.g., as well as 307). In further examples, the purging process is configured to support accurate pressure sensing andAttomey Docket No. 55441-736601 stable insufflation conditions by ensuring both lumens remain substantially free of obstructions. As an example, the timed purging intervals may be dynamically adjusted based on sensor input to permit precise pressure control and stability throughout the procedure.

[0077] In some embodiments, the system comprises at least one switching mechanism. In some cases, the at least one switching mechanism comprises at least one purge control function. In some instances, the at least one purge control function comprises an alternating purge mode configured to manage transitions between states 301, 320 and 330. In some cases, the at least one switching mechanism comprises at least one dynamic control component. In some instances, the at least one dynamic control component comprises a mechanism configured to alternate insufflation gas flow between lumens 307 and 308. For example, the at least one switching mechanism may be configured to alternate gas flow in a manner that dynamically clears potential obstructions from each lumen while allowing real-time pressure measuring. In further examples, this alternating purge mode is configured to clear each lumen sequentially, permitting both lumens to deliver accurate and unobstructed pressure feedback. As an example, once a stable and consistent pressure is reestablished, the at least one switching mechanism may revert to a normal procedure state 301 by opening both valves 305 and 306 to maintain uninterrupted gas flow and stable pressure throughout the remainder of the procedure.

[0078] In some cases, the insufflation control system comprises at least one dual-lumen setup. In some instances, the at least one dual-lumen setup comprises two dedicated lumens, each connected to a respective pressure sensor. In some cases, the insufflation control system comprises at least one purging mechanism. In some instances, the at least one purging mechanism comprises a timed operation to clear potential obstructions from each lumen and maintain optimal sensing pathways. For example, the at least one dual-lumen setup may be configured to deliver insufflation gas through one lumen while simultaneously measuring pressure through the other, thereby supporting continuous, real-time feedback. In further examples, the alternating functionality within the dual-lumen setup is configured to actively reduce the risk of obstructions, ensuring accurate pressure readings and stable cavity conditions. As an example, this dual-lumen configuration may enhance procedural stability, allowing for uninterrupted insufflation flow and improved accuracy in pressure measuring throughout minimally invasive surgeries.

[0079] In some cases, the at least one dual-lumen setup comprises at least one mechanism for flexible switching between lumens, purging potential obstructions, and maintaining continuous or closed-loop pressure regulation in real-time. In some instances, each lumen of the dual-lumen setup comprises a dedicated valve, permitting the system to alternate insufflation gasAttomey Docket No. 55441-736601 flow between lumens. For example, the at least one dual-lumen setup may be configured to manage gas delivery and pressure measuring by controlling the independent flow paths of each lumen. In further examples, the alternating flow between lumens is configured to support uninterrupted pressure measuring and maintain clear pathways.

[0080] In some embodiments, the dual-lumen setup may comprise a sneeze feature. In some cases, the sneeze feature may be configured to temporarily redirect insufflation gas through one lumen while purging the other lumen in response to an obstruction. For example, when fluid buildup is detected, the system may close the valve of the obstructed lumen and open the valve of the alternate lumen, creating a pressurized burst that dislodges any debris. In some instances, once the obstruction is cleared, the system may revert to a balanced configuration where both lumens contribute to stable insufflation gas delivery and pressure measuring. As an example, the alternating cycle may maintain each pathway clear, permitting continuous gas flow to the surgical site without interruption. In some cases, each of the two lumens may be switchable between a sensing mode, a insufflation mode and a purging mode. In some cases, the purging mode is triggered upon detection of a clog or obstruction (e.g., based on monitored pressure compared to a predetermined threshold). Alternatively, purging is performed according to a predetermined schedule. In some cases, the obstruction is detected based on a difference between pressure readings from two different lumens. When the two different lumens are in alternating modes (one lumen is sensing and the other one is in insufflation mode), the pressure readings from the two different lumens may be acquired at different points in time. Alternatively, when the different lumens are both in sensing mode (e.g., an embodiments two or more lumens are employed), the pressure readings from the two different lumens may be acquired simultaneously. Details about detecting an obstruction are described later herein.

[0081] In some embodiments, the dual-lumen setup may connect to the surgical site with one or more pressure sensors integrated within the fluidics console to measure and maintain pressure within a predetermined threshold. In some cases, the dual-lumen arrangement permits real-time cross-checking of pressure readings, ensuring that pressure remains within a consistent range. For example, one lumen may deliver gas while the other measures pressure independently or participates in a purge cycle if needed. In further examples, this coordinated operation may maintain precise pressure levels within the predetermined threshold, reducing the risk of overexpansion. As an example, by employing a continuous feedback loop and permitting immediate purging of obstructions, the system provides accurate and responsive insufflation adaptable to the specific requirements of minimally invasive procedures.Atorney Docket No. 55441-736601

[0082] In some embodiments, the insufflation control system comprises one or more pressure sensors. For example, the insufflation control system may be configured to measure cavity pressure, regulate insufflation gas flow, or assess environmental parameters within the surgical cavity.

[0083] In some cases, the surgical environment may include one or more components of the surgical equipment, insufflation system, surgical cavity, and associated elements configured for conducting a medical procedure. In some instances, the surgical equipment may comprise surgical or robotic instruments, insufflation gas sources, fluidics consoles, and devices configured for minimally invasive procedures, including endoscopic, bronchoscopic, laparoscopic, and gastrointestinal surgeries. For example, the surgical cavity may refer to the internal area within the body where the surgical procedure is performed, requiring precise pressure control and fluid management to maintain optimal conditions.

[0084] In some instances, the pressure measuring system comprises at least one strategic sensor placement location. In some instances, the at least one strategic sensor placement location may include the proximal end of a fluidics console or any location prior to the device lumens. For example, the at least one environmental measuring system may be configured to measure realtime surgical environment parameters such as pressure, or other parameters such as flow rate, or temperature. In further examples, this real-time measuring may permit adaptive control to maintain stable insufflation conditions and responsive system adjustments during procedures. As an example, strategic placement of sensors may allow the environmental measuring system to provide immediate feedback for continuous pressure regulation.

[0085] In some cases, the at least one strategic sensor placement location may be along paths in fluidic communication with the surgical cavity, such as adjacent to flow regulators, inline flow sensors, or near the insufflation gas (e.g., CO2) entry point within the fluidics console. In further examples, the one or more pressure measuring sensors may be positioned on the exterior of the console, including areas such as the outer casing, control interfaces, connector ports, and ventilation outlets, or at distal ends of external tubing, along the overtube, or at the endoscope tip.

[0086] In some instances, the one or more pressure sensors may include disposable components to support hygiene and easy replacement. For example, disposable pressure sensors may be placed externally on the fluidics console or positioned at the endoscope tip or overtube, facilitating accurate pressure readings near the surgical site. In further examples, pressure sensors located at the proximal end or on lines connected to insufflation lumens and pressure-sensing lines may continuously measure cavity pressure, providing real-time data to an insufflationAttomey Docket No. 55441-736601 control component to permit continuous feedback and responsive pressure adjustments for stable insufflation conditions.Surgical Environmental Management Components

[0087] In some embodiments, the insufflation control system may comprise one or more environmental management components configured to control one or more environmental parameters of the insufflation control system. In some cases, the one or more environmental parameters may comprise one or more of pressure, insufflation gas (CO2) flow rate, temperature, humidity, and gas concentration within the insufflated cavity.

[0088] In some cases, the one or more environmental management components comprises at least one pressure management component. In some instances, the at least one pressure management component comprises at least one flow regulator regulating the cavity pressure based on closed-loop control. For example, the at least one flow regulator may comprise one or more valves. In further examples, the one or more valves may comprise one or more proportional valves, electronic pressure regulators, mechanical flow control valves, pneumatic regulators, or solenoid valves.

[0089] In some instances, the at least one pressure management component comprises at least one flow control mechanism. For example, the at least one flow control mechanism may be configured to receive one or more environmental measurements. In further examples, the one or more environmental measurements may comprise one or more of pressure, CO2 flow rate, temperature, humidity, and gas concentration within the one or more surgical sites. In some cases, the flow control may be based on real-time pressure measurement as feedback.

[0090] In some instances, the at least one pressure control mechanism may be configured to compare the one or more environmental measurements to one or more environmental measurement thresholds. For example, the flow control mechanism may include one or more environmental measuring sensors (e.g., such as pressure sensors, temperature sensors, or flow rate sensors), which continuously measure the insufflation environment. In some instances, the at least one flow control mechanism may determine that at least one environmental measurement is above a predetermined environmental measurement threshold. In some instances, the at least one flow control mechanism may determine that at least one environmental measurement is below a predetermined environmental measurement threshold. In some instances, the at least one flow control mechanism may determine that at least one environmental measurement is at or near a predetermined environmental measurement threshold. In some instances, the predetermined environmental measurement threshold may comprise a set value or range for one or more environmental parameters, such as pressure, temperature, humidity, CO2 concentration, or flowAttomey Docket No. 55441-736601 rate, beyond which corrective action or adjustments are triggered within the insufflation control system to maintain improved operating conditions.

[0091] In some embodiments, the insufflation control system may comprise two or more lumens. In some embodiments, each of the two or more lumens may be switchable between a sensing mode, a purging mode and an insufflation mode. The two or more lumens may be controlled such that at any given moment in time during operation, at least one of the two or more lumens is in a sensing mode, at least one of the two or more lumens is in insufflation mode thereby maintaining continuous sensing and at least one of the two or more lumens is in insufflation mode. FIGs. 4A, 4B, and 4C illustrate an example of an insufflation control system 400 in various modes. In some embodiments, the system 400 comprises at least one insufflation control component. In some cases, the system 400 comprises at least one fluidics console 410. In some instances, the fluidics console 410 comprises a connection to one or more insufflation gas sources 405. In some cases, the at least one insufflation control component comprises at least one lumen. In some instances, the at least one lumen extends from the fluidics console to a surgical device and / or surgical environment. For example, the at least one fluidics console may be configured with a plurality of valves, pressure sensors, or other equipment to regulate insufflation gas (e.g., CO2) delivery and measure pressure levels within the surgical site. In further examples, the insufflation control system operates in multiple stages, as shown in FIGS. 4A-4C, to manage insufflation gas flow, maintain accurate pressure readings, and purge obstructions from the lumens. As an example, the multi-stage operation may support stable and consistent insufflation control, controlling insufflation gas flow and pressure regulation in real-time to suit the demands of the surgical environment.

[0092] In some embodiments, the system comprises at least one insufflation control component. In some cases, the at least one insufflation control component comprises at least one fluidics console. In some instances, the at least one fluidics console comprises at least one insufflation gas source. In some cases, the at least one insufflation control component comprises at least one pressure measuring component. In some instances, the at least one pressure measuring component comprises at least one pressure sensor. For example, as illustrated in FIG. 4A, in stage 401, the fluidics console 410 directs insufflation gas (e.g., CO2) 405 through insufflation line 411, regulated by valve 408, to the surgical site. In further examples, in stage 401, the at least one pressure sensor may include pressure sensor 402, which is configured to measure pressure via a static pressure sensing line 403, supporting stable insufflation pressure. As an example, the static pressure sensing line 403, paired with pressure sensor 402, may provide real-time measuring capabilities to maintain target pressure. In further examples, a purging function, such as the “sneeze” function, may be activated to clear static pressure sensing line 412,Attomey Docket No. 55441-736601 removing or preventing obstructions and ensuring uninterrupted feedback. As an example, while pressure sensor 407 remains inactive and valve 406 and valve 409 remains open, the system 400 may purge static pressure sensing line 412 to allow unimpeded sensing by pressure sensor 407, thereby supporting consistent and reliable pressure measuring.

[0093] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one fluidics console. In some instances, the at least one fluidics console comprises at least one valve. In some cases, the at least one fluidics console comprises at least one insufflation line. In some instances, the at least one insufflation line comprises a regulated pathway for insufflation gas delivery.

[0094] In some cases, as shown in FIG. 4B, the system 400 transitions from stage 401 to stage 403. In some instances, valve 406 may control the flow of insufflation gas to both static pressure sensing lines 403 and 412, adjusting the pathways for measuring and gas delivery. In stage 413, the fluidics console 410 may comprise a modified configuration in which pressure sensor 407 measures pressure via static pressure sensing line 412, thereby allowing real-time measuring capabilities. As an example, in stage 413, insufflation line 411, regulated by valve 408, comprises a pathway for insufflation gas (e.g., CO2) delivery to the surgical site. In further examples, during the transition from stage 401 to stage 413, valve 404 may open to allow insufflation gas flow through pressure sensing line 403, while valve 409 may close to switch pressure sensing to static pressure sensing line 412 from line 403. In some instances, the system 400 may activate a sneeze function to purge static pressure sensing line 403. For example, the purge function may clear static pressure sensing line 403 to remove or prevent obstructions, ensuring unobstructed sensing by pressure sensor 402. In some instances, the alternate purging configuration in stage 413 supports consistent pressure feedback, allowing for adaptive adjustments in insufflation gas (e.g., CO2) delivery in response to real-time conditions within the surgical environment.

[0095] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one fluidics console. In some instances, the at least one fluidics console comprises at least one valve. In some cases, the at least one fluidics console comprises at least one pressure sensing line. In some instances, the at least one pressure sensing line comprises a pathway for delivering insufflation gas and measuring pressure within the surgical cavity.

[0096] In some cases, as shown in FIG. 4C, the system 400 transitions from stage 413 to stage 414. In some instances, during the transition from stage 413 to stage 414, valve 404 remains open to allow insufflation gas flow through pressure sensing line 403, while valve 409Attomey Docket No. 55441-736601 remains closed to maintain pressure measuring via static pressure sensing line 412 through pressure sensor 407. In some instances, the system 400 may activate a sneeze function to purge static pressure sensing line 403. For example, the sneeze function may purge static pressure sensing line 403 to clear any obstructions, ensuring unobstructed pressure sensing by pressure sensor 402. In further examples, the alternate purging configuration in stage 414 facilitates consistent pressure feedback, allowing for real-time adaptive adjustments in insufflation gas (e.g., CO2) delivery to match the changing needs of the surgical environment. As an example, this setup may help maintain stable insufflation pressure and prevent interruptions in gas flow or measuring accuracy, supporting continuous procedural stability.

[0097] In some cases, before, during, and after the transition from stage 413 to stage 414, the at least one pressure sensor may be configured to provide continuous real-time measuring of pressure via the at least one static pressure sensing line. In further examples, the at least one static pressure sensing line may also be configured to deliver insufflation gas throughout the transition process, ensuring continuous and uninterrupted gas flow. As an example, this setup facilitates stable pressure measuring and gas delivery, allowing for responsive adjustments based on real-time feedback, ultimately supporting consistent insufflation conditions within the surgical environment.

[0098] In some cases, before, during and / or after the transition from stage 413 to stage 414 valve 408 remains open and is configured to supply insufflation gas (CO2 to the surgical cavity) via insufflation line 411. In some instances, the fluidic console 410 may comprise an insufflation pressure sensing line 415 in fluidic communication with the insufflation line 411. In some instances, the insufflation pressure sensing line 415 may comprise pressure sensor 416. For example, the insufflation line 411 may supply insufflation gas to the surgical cavity and the insufflation pressure sensing line 415 may switch to pressure sensing state to measure pressure via the pressure sensor 416.

[0099] In some cases, the at least one insufflation gas supply line comprises insufflation line 411. In some instances, the at least one fluidics console comprises at least one insufflation pressure sensing line. For example, the at least one insufflation pressure sensing line may comprise insufflation pressure sensing line 415. In further examples, before, during, and / or after the transition from stage 413 to stage 414, valve 408 may remain open and be configured to deliver insufflation gas (e.g., CO2) to the surgical cavity through insufflation line 411. In some examples, the insufflation pressure sensing line 415 may include a pressure sensor, such as pressure sensor 416, positioned in fluidic communication with the insufflation line 411 to continuously measure pressure levels within the surgical cavity. As an example, thisAttomey Docket No. 55441-736601 configuration may allow insufflation line 411 to provide a steady flow of insufflation gas, and the insufflation pressure sensing line 415 may switch to a pressure sensing state, through pressure sensor 416, offers ongoing real-time pressure measuring, supporting stable and controlled insufflation conditions in the surgical environment. In some cases, the valve 408 may switch the pressure sensing line between an insufflation state and a pressure sensing state. For instance, when the valve 408 is open, the pressure sensing line 415 may switch to insufflation state and when the valve is closed, the pressure sensing line may switch to pressure sensing state.

[0100] In some cases, the at least one insufflation line comprises insufflation line 411. In some instances, the insufflation line 411 may further comprise an insufflation pressure sensing line. For example, the insufflation line 411 may be configured to function both as an active supply of insufflation gas to the surgical cavity and as a pressure measuring line via pressure sensor 416 of the insufflation pressure sensing line 415. In further examples, the system may alternate the functionality of the insufflation line 411 between insufflation gas delivery and pressure measuring based on procedural requirements. As an example, this dual-function configuration may support adaptable insufflation control, allowing the system to dynamically respond to real-time surgical needs while maintaining stable pressure conditions within the cavity. In some cases, the valve 408 may switch the pressure sensing line between an insufflation state and a pressure sensing state. For instance, when the valve 408 is open, the pressure sensing line 415 may switch to insufflation state and when the valve is closed, the pressure sensing line may switch to pressure sensing state.

[0101] In some cases, the at least one valve comprises valve 408. In some instances, the at least one fluidics console comprises at least one pressure sensor. In some cases, the at least one pressure sensor comprises pressure sensor 416. For example, before, during, and / or after the transition from stage 413 to stage 414, valve 408 may close, and the system may activate pressure sensor 416. In further examples, when activated, pressure sensor 416 may provide additional real-time pressure data from the insufflation pressure sensing line 415, permitting continuous measuring of pressure changes within the lumen 411. As an example, pressure sensor 416 may transmit real-time data to a control module configured to make precise adjustments in insufflation gas flow or pressure, thereby maintaining a stable and optimal surgical environment. In further examples, pressure sensor 416 may cross-reference its readings with those of pressure sensor 402, identifying deviations from predetermined pressure thresholds and initiating compensatory actions to stabilize cavity pressure quickly and effectively. In some cases, the pressure sensing may be temporarily paused when it is in the insufflation state (i.e., purging gas through the lumen that is in fluidic communication with the pressure sensor).Attomey Docket No. 55441-736601Detection of Obstruction in Lumen

[0102] In some embodiments, the system may comprise a controller configured to detect obstructions based on comparative pressure measurement data. A difference may be compared against a threshold to determine the presence of an obstruction. The threshold may be determined based on empirical data to determine an existence of obstruction. The threshold may be manually set by a user.

[0103] In some cases, the system may comprise a multi-lumen setup. In some instances, the multi-lumen setup may comprise two or more pressure sensing lumens with controlled switches. For example, the two or more pressure sensing lumens may be configured to continuously sense pressure while detecting an obstruction in one or more sensing lumens based on a difference in the multiple sensor readings in the two or more pressure sensing lumens. In some instances, in the case of detection of an obstruction in any of the sensing lumens, the automated purging mechanism may be activated to purge gas into the respective sensing lumen to clear the obstruction while the unobstructed sensing lumen may continuously function to sense the pressure. In some cases, during the obstruction removal process, an insufflation line may continue to function to purge gas into the cavity to maintain the cavity pressure based on the pressure measured by the unobstructed sensing lumen. In some instances, this beneficially allows for precise uninterrupted pressure control, maintain uninterrupted gas flow and stabilized pressure inside a subject.

[0104] In some cases, upon detection of a mismatch between two pressure readings from the two pressure sensing lines, purging may be automatically triggered, and both the sensor lines may be purged with gas until the sensor reading difference drops below the threshold. In some cases, the two pressure readings may be compared and when the difference is beyond the threshold, the higher pressure associated sensing line may be determined to have an obstruction and only the obstructed sensing line may be purged with gas while the other un-obstructed (higher pressure) sensing line may continuously sense the pressure In some cases, the threshold may comprise deviations beyond a preferred tolerance, such as ±1 mmHg, ±2 mmHg or ±3 mmHg. Alternatively, instead of or in addition to comparing between the two readings from the two pressure sensing lines, the pressure readings may be compared to a reading from a third pressure sensing to determine an obstruction. For instance, each of the two pressure readings may be compared against a third sensor reading acquired by a third pressure sensing line and a mismatch may indicate an obstruction.

[0105] In some cases, the system comprises at least one environmental measuring component. In some instances, the at least one environmental measuring component determinesAttomey Docket No. 55441-736601 whether an environmental measurement is within a target environment measurement range. In some instances, the target environment measurement range comprises a user-defined target range. In further examples, the user-defined target range comprises a pressure between about 2 mmHg to about 25 mmHg.

[0106] In some instances, when at least one environmental measurement is above a target environment measurement range, the at least one flow control mechanism may be configured to modulate one or more environmental management components. For example, if the detected pressure exceeds the target environment measurement range, the at least one flow control mechanism may adjust the flow management component to reduce insufflation gas (e.g., CO2 input). As an example, the at least one flow control mechanism may be configured to close the insufflation gas inlet and / or valve in fluidic communication with a lumen connecting the insufflation gas to the surgical cavity at least partially (e.g., CO2) to lower the pressure within the insufflation environment.

[0107] In some instances, when at least one environmental measurement is below a target environment measurement range, the at least one flow control mechanism may be configured to modulate one or more environmental management components. For example, if the detected pressure falls below the target environment measurement range, the at least one flow control mechanism may adjust the flow management component to increase insufflation gas (e.g., CO2) input. As an example, the at least one flow control mechanism may be configured to open the insufflation gas inlet and / or valve in fluidic communication with a lumen connecting the insufflation gas to the surgical cavity at least partially (e.g., CO2) to raise the pressure within the insufflation environment.

[0108] In some instances, when at least one environmental measurement is at a target environment measurement range, the at least one flow control mechanism may be configured to maintain one or more environmental management components in a stable state. For example, if the detected pressure is precisely at the target environment measurement range, the at least one flow control mechanism may hold the flow management component at its current setting to sustain insufflation gas (e.g., CO2) input at a steady rate. As an example, the at least one flow control mechanism may ensure that the insufflation gas (e.g., CO2) inlet and / or valve in fluidic communication with a lumen connecting the insufflation gas to the surgical cavity remains unchanged to maintain consistent pressure within the insufflation environment.

[0109] FIGS. 5A and 5B depict an example of an insufflation control system 500 with fluidics console 506 in various operational states.Atorney Docket No. 55441-736601

[0110] In some cases, the insufflation control system 500 comprises at least one fluidics console. In some instances, the at least one fluidics console comprises a pump-driven configuration configured to dynamically regulate insufflation gas and fluid flow during surgical procedures. In some cases, the at least one fluidics console comprises at least one pump. In some instances, the at least one pump comprises pump 503.

[0111] In some cases, the insufflation control system 500 may include fluidics console506, which incorporates pump 503, pressure sensors 501 and 505, and directional gates (Gate 1,507, and Gate 2, 508) to facilitate controlled and responsive insufflation. In further examples, Gate 1 507 is paired with Lumen 502 and sensor 501, while Gate 2 508 is paired with lumen 504, pump 503, and sensor 505. As an example, this configuration allows selective flow control, where closing Gate 1 507 blocks sensor 501, and closing Gate 2 508 blocks sensor 505. As an example, this arrangement permits the system 500 to adjust flow paths based on sensed pressure conditions, ensuring accurate measuring, and permitting targeted delivery or clearing of obstructions as needed. In further examples, the system 500 may alternate between different flow paths, as shown in FIGS. 5A and 5B, supporting continuous measuring and adaptive flow adjustments to maintain stable insufflation parameters during procedures.

[0112] In some embodiments, FIGS. 5A and 5B illustrate a fluidics system 500 that includes fluidics console 506, configured to alternate between two operational states (510 and 520) for fluid flow management and pressure measuring. In some cases, the fluidics system 500 may include pump 503, pressure sensors 501 and 505, and lumens 502 and 504, each paired with a respective gate — Gate 1 507 with lumen 502 and sensor 501, and Gate 2 508 with lumen 504, pump 503, and sensor 505. In some instances, this configuration may permit the system to dynamically switch between sensors and manage fluid flow, supporting adaptable and responsive insufflation control throughout surgical procedures.

[0113] As shown in FIG. 5A, the system 500 may comprise the fluidics console 506 in state 510. In some cases, the fluidics console 506 in state 510 may comprise at least one active sensor. In some instances, the at least one active sensor comprises sensor 1 501. In some instances, the at least one operational state comprises at least one fluid pathway. In some instances, the at least one fluid pathway comprises lumen 502. For example, the lumen 502 may be configured to receive a return insufflation gas flow to measure pressure in the surgical cavity.

[0114] In some cases, the fluidics console 506 in state 510 may be configured to measure pressure exclusively through sensor 501 while maintaining focused flow conditions. In some instances, the fluidics console 506 in state 510 is configured to isolate other components. For example, lumen 504 and sensor 505 are isolated to prevent interference with active measuring.Attomey Docket No. 55441-736601

[0115] As an example, in state 510 shown in FIG. 5A, gate 507 directs fluid through Lumen 502, allowing Pump 503 to regulate flow along a primary pathway. In this state, Gate 2 508 remains closed, allowing insufflation gas delivery via lumen 504 and keeping sensor 2 505 in standby mode, thereby permitting sensor 1 501 to provide real-time feedback on system pressure without disruption from secondary pathways or additional sensors.

[0116] In some cases, the at least one sensor comprises sensor 505 positioned for active pressure measuring. In some instances, the insufflation control system 500 may be configured to dynamically reconfigure fluid flow pathways to activate sensor 505 for real-time pressure measuring in response to surgical requirements. In further examples, the system may alternate sensor setups to maintain continuous fluid management and accurate pressure feedback. As an example, in state 520 shown in FIG. 5B, the system reconfigures such that gate 507 isolates sensor 501 from fluidic communication with pump 503, while gate 508 isolates pump 503 from sensor 505 to direct fluid flow through lumen 504, facilitating pressure measuring by sensor 505.

[0117] In some cases, while in state 520, insufflation gas delivery may occur through lumen 502, while pressure in the surgical cavity is continuously measured by sensor 505, which remains in fluidic communication with lumen 504. In some instances, the gate 508 isolates sensor 505 from lumen 502. In some instances, the configuration 520 provides adaptive control, allowing the system to manage pressure accurately by dynamically selecting between sensors based on the operational state, thus ensuring consistent measuring and stable insufflation conditions throughout the procedure.

[0118] In some cases, the at least one operational configuration comprises at least one multi-state control mechanism. In some instances, the at least one multi-state control mechanism comprises state 510 and state 520. For example, the at least one operational configuration may be configured to toggle between multiple states to maintain clear flow paths and prevent obstructions within the lumens. In further examples, the multi-state operation is configured to support effective and responsive control over fluid flow and pressure, providing adaptable measuring and regulated pressure control to meet procedural requirements. As an example, the fluidics system 500 alternates between state 510 and state 520 to facilitate precise flow management, ensuring that each lumen remains unobstructed and pressure measuring remains accurate throughout the surgical procedure.

[0119] FIG. 20A and FIG. 20B illustrate an Insufflation control system 2000, which may operate in two distinct states — Fluidics console state (FIG. 20A) 2002 and fluidics console state 2 (FIG. 20B) 2012 — to control one or more of insufflation gas delivery, pressure measuring, and purging cycles.Attomey Docket No. 55441-736601

[0120] In some embodiments, the system comprises at least one fluidics console. In some cases, the at least one fluidics console comprises at least one insufflation gas source. In some instances, the at least one insufflation gas source comprises a pressurized CO2 source configured to deliver insufflation gas to the surgical site. In some cases, the at least one fluidics console comprises at least one lumen. In some instances, the at least one lumen comprises a dedicated insufflation pathway that connects to surgical instruments. For example, the at least one fluidics console may be configured to integrate with various surgical instruments for endoluminal or minimally invasive procedures, including endoscopes, robotic cutters, graspers, laser tools, or other electrosurgical devices. In further examples, the system may include channels and ports specifically designed for insufflation, irrigation, and suction, facilitating precise fluid management and controlled pressure within the surgical cavity. As an example, dedicated lumens within the endoscopic system may allow for accurate delivery of insufflation gas, with real-time measuring and adjustment capabilities managed by the fluidics console. In some instances, pressure sensors integrated within the lumens can provide continuous feedback to the fluidics console, permitting dynamic adjustments to gas flow or pressure to maintain stable surgical conditions.

[0121] In some embodiments, the system comprises at least one alternating mechanism. In some cases, the at least one alternating mechanism comprises at least one lumen clearing feature. In some instances, the at least one lumen clearing feature comprises an alternating gas flow mechanism. In some cases, the at least one alternating mechanism comprises at least one obstruction management component. In some instances, the at least one obstruction management component comprises a mechanism configured to reduce fluid obstruction within a plurality of lumens in system. For example, the at least one alternating mechanism may be configured to clear obstructions, such as liquids from the surgical cavity, which may interfere with pressure sensors within the insufflation system. In further examples, the alternating mechanism is configured to prevent unintended tissue expansion, such as billowing, by switching gas flow between multiple lumens to eliminate fluid buildup that may impact pressure measurements. As an example, the alternating function between the plurality of lumens may prevent localized gas buildup and promote consistent pressure regulation within the surgical cavity, enhancing overall procedural stability and safety.

[0122] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one insufflation gas source. In some instances, the at least one insufflation gas source comprises at least one gas supply configured to deliver insufflation gas at a controlled flow rate to a surgical site. In some cases, the at least one insufflation gas source comprises at least one type of gas. For example, theAttomey Docket No. 55441-736601 at least one insufflation gas source may include CO2, air, nitrogen, or other medically appropriate gases suitable for surgical applications. In further examples, the at least one insufflation gas source may support various functions, including continuous insufflation and periodic purging. As an example, the at least one insufflation gas source may connect to the at least one fluidics console to direct and control gas flow to the surgical site as needed for the procedure.

[0123] In some cases, the at least one fluidics console may be positioned between the insufflation gas source and a plurality of lumens, facilitating the regulated delivery of insufflation gas to the surgical site via these lumens.

[0124] In some embodiments, the system comprises at least one fluidics console state. In some cases, the at least one fluidics console state comprises at least one operational configuration for insufflation. In some instances, the at least one operational configuration comprises a predetermined insufflation gas flow rate. For example, in fluidics console state 2002, the at least one insufflation gas source may be configured to deliver insufflation gas at a steady rate, maintaining pressure within a target range, such as ±2 mmHg. In further examples, in fluidics console state 2012, the at least one insufflation gas source may adjust gas flow specifically for controlled purging of any obstructions in the system. As an example, this alternating control over gas flow between steady insufflation and targeted purging is configured to support consistent cavity pressure and real-time adjustments based on procedural needs.

[0125] In some cases, the at least one fluidics console comprises at least one component configured for insufflation gas delivery, pressure regulation, and real-time measuring. In some instances, the at least one component comprises at least one pressure sensor.

[0126] In some cases, the at least one fluidics console comprises at least one additional component. In some instances, the at least one additional component comprises at least one valve or a plurality of lumens. For example, fluidics console 2000 in state 2002 may direct insufflation gas via insufflation line 2007 through an open valve 2006, allowing continuous flow to the surgical site.

[0127] In some cases, as shown in FIG. 20B, in fluidics console state 2012, the insufflation control system may initiate a purge cycle by intermittently adjusting valve 2009 effectively rebalancing pressure as needed. As an example, the fluidics console 2000 may be configured to respond to changing pressure conditions in the system in real-time, supporting adaptive control for stable insufflation throughout the procedure.

[0128] In some embodiments, the system comprises at least one insufflation control component. In some cases, the at least one insufflation control component comprises at least one static pressure sensing line. In some instances, the at least one static pressure sensing line comprises static pressure sensing lines 2004 and 2011. In some cases, the at least one insufflationAttomey Docket No. 55441-736601 control component comprises at least one additional component. In some instances, the at least one additional component comprises one or more pressure sensors configured to transmit realtime pressure data to the at least one fluidics console 2000. For example, static pressure sensing line 2004 may be connected to Pressure Sensor 2003, while static pressure sensing line 2011 may be connected to Pressure Sensor 2010. In some instances, the at least one insufflation control component may be configured to manage CO2 flow through valve 2009, which may regulate the distribution of CO2 to both static pressure sensing lines 2004 and 2011.

[0129] As an example, in fluidics console state 2002 (e.g., normal procedure state), valve 2009 may remain closed and static pressure sensing lines 2004 and 2011 may function as part of a closed-loop system to ensure continuous pressure measuring. In some cases, if a discrepancy in pressure readings between the lines is detected, the system may automatically transition to fluidics console state 2012 (e.g., purge mode), initiating a purge cycle to equalize pressure levels in the sensing lines and maintain stable system conditions.

[0130] In some embodiments, the system comprises at least one fluidic control component. In some cases, the at least one fluidic control component comprises at least one static pressure sensing line. In some instances, the at least one static pressure sensing line comprises static pressure sensing lines 2004 and 2011.

[0131] In some cases, the at least one fluidic control component comprises at least one additional component. In some instances, the at least one additional component comprises a connection mechanism that allows for fluidic communication between the two static pressure sensing lines, 2004 and 2011, to permit direct comparison of pressure levels along both lines. For example, the at least one fluidic control component may be configured to facilitate real-time pressure equalization by maintaining fluidic communication between the static pressure sensing lines and the at least one insufflation gas source 2005. In further examples, this connection supports purge cycles as needed to restore balanced pressure levels across the lines if discrepancies are detected. As an example, if a pressure difference arises, the system 2000 may automatically shift to fluidics console state 2012 (e.g., purge mode), where a purge cycle is initiated to re-equalize pressure within the static pressure sensing lines, maintaining stable operating conditions.

[0132] In some embodiments, the system comprises at least one insufflation control component. In some cases, the at least one insufflation control component comprises at least one insufflation line 2007. In some instances, the at least one insufflation line 2007 comprises a gas transport pathway from the at least one insufflation gas source 2005 to the surgical site.

[0133] In some cases, the at least one insufflation control component comprises at least one operational mode. In some instances, the at least one operational mode comprises continuousAttomey Docket No. 55441-736601 insufflation, intermittent insufflation, or purge mode, each configured to control gas delivery based on real-time pressure data. For example, the at least one insufflation line 2007 may be configured to operate in continuous mode, delivering a steady flow of gas independent of the static pressure sensing lines 2004 and 2011, to maintain a target pressure range within the surgical site (e.g., within ±2 mmHg). In further examples, the at least one insufflation line 2007 is configured for direct fluidic communication with the at least one gas source 2005, permitting precise and consistent gas delivery tailored to different surgical requirements.

[0134] As an example, the at least one insufflation line 2007 may ensure adaptable gas flow by switching modes as needed — allowing continuous insufflation for stable conditions, intermittent insufflation for targeted delivery, or purge mode to rapidly stabilize pressure when deviations occur.

[0135] In some cases, during Fluidics console state (e.g., normal procedure state) 2002, the at least one insufflation line 2007 may deliver insufflation gas at a controlled rate configured to maintain target pressure levels within the surgical site. In some instances, the system 2000 is configured to sustain a continuous and steady flow of gas, independent of variations in pressure that may be detected by other measuring components. For example, by configuring the insufflation line 2007 separately from the static pressure sensing lines 2004 and 2011, the system 2000 may be configured for uninterrupted gas delivery and independent, real-time pressure measuring. This separation may minimize interference between the continuous flow of insufflation gas and the pressure sensing functions, allowing the system 2000 to dynamically respond to pressure changes in real-time while maintaining stable insufflation conditions in the surgical site.

[0136] In some embodiments, the system comprises at least one pressure measuring component. In some cases, the at least one pressure measuring component comprises at least one pressure sensor. In some instances, the at least one pressure sensor comprises pressure sensors 2003, 2008, and 2010.

[0137] In some cases, the at least one pressure measuring component comprises a pressure stability verification mechanism. In some instances, the pressure stability verification mechanism comprises pressure sensor 2003 configured to measure pressure within static sensing line 2004 and pressure sensor 2010 configured to measure pressure within static sensing line 2011. For example, in fluidics console state 2002 (e.g., normal procedure state), pressure sensors 2003 and 2010 may continuously measure and verify pressure stability across both static sensing lines 2004 and 2011, ensuring stable operating conditions within the surgical site. In further examples, if discrepancies between the pressure readings are detected, the system mayAttomey Docket No. 55441-736601 automatically transition to fluidics console state 2012 (e.g., purge mode) to address the imbalance and restore consistent pressure levels.

[0138] As an example, during State 2012, pressure sensor 2008 may provide intermittent pressure readings from the at least one insufflation line 2007 to assist in rebalancing and maintaining consistent pressure within the surgical cavity site, enhancing the reliability of the insufflation control system.

[0139] In some embodiments, the system comprises at least one flow control component. In some cases, the at least one flow control component comprises at least one valve. In some instances, the at least one valve comprises valve 2006 and valve 2009.

[0140] In some cases, the at least one flow control component comprises a gas regulation mechanism. In some instances, the gas regulation mechanism comprises valve 2006 and valve 2009 configured to regulate the flow of insufflation gas from the at least one gas source 2005. For example, in fluidics console state 2002 (e.g., Normal Procedure State), valve 2006 may remain open to support continuous flow of insufflation gas through the at least one insufflation line 2007, thereby helping maintain stable pressure within the surgical site. In further examples, while valve 2006 remains open to ensure steady insufflation, valve 2009 may stay closed to prevent gas flow through the pressure sensing lines 2004 and 2011, isolating them for dedicated pressure measuring.

[0141] As an example, this configuration permits stable insufflation and focused pressure regulation, ensuring that the surgical site maintains optimal gas flow and pressure levels for safe and effective operation.

[0142] In some embodiments, the system comprises at least one valve configuration. In some cases, the at least one valve configuration comprises at least one valve positioned strategically along fluidic pathways. In some instances, the at least one valve comprises valve 2006 and valve 2009.

[0143] In some cases, the at least one valve configuration comprises a network of valves configured to regulate gas flow and fluidic communication. In some instances, valve 2006 may be positioned between the gas source 2005 and the insufflation line 2007, configured specifically to control the insufflation gas flow rate. Additionally, valve 2009 may be positioned between the gas source 2005 and the static pressure sensing lines 2004 and 2011, allowing selective fluidic communication with these lines for precise purging and pressure equalization.

[0144] For example, the valve network may control fluidic communication between the insufflation line 2007 and at least one of the static pressure sensing lines 2004 or 2011, or all three lines (2004, 2007, and 2011) to support operational modes such as continuous insufflation, intermittent insufflation, or purge cycles. In further examples, by configuring valves along theseAttomey Docket No. 55441-736601 pathways, the system 2000 may dynamically adjust fluidic communication based on real-time pressure data to meet procedural requirements. As an example, valve 2006 may maintain fluidic communication with the gas source 2005 and the insufflation line 2007 to provide continuous insufflation during fluidics console state 1. In further examples, valve 2009 may maintain fluidic communication with the gas source 2005 and both static pressure sensing lines 2004 and 2011, permitting it to initiate a purge cycle as needed.

[0145] In some embodiments, the system comprises at least one control mechanism. In some cases, the at least one control mechanism comprises at least one valve configuration. In some instances, the at least one valve configuration comprises valve 2006 and valve 2009.

[0146] In some cases, the at least one control mechanism comprises a feedback-permitted response system configured to detect and address pressure discrepancies. In some instances, upon detecting a pressure discrepancy between static pressure sensing lines 2004 and 2011, the system 2000 may close valve 2006 to halt continuous insufflation and initiate alternating cycles with valve 2009. For example, valve 2009 may be alternated between open and closed states, initiating a purge cycle designed to equalize pressure across the static pressure sensing lines. For example, the alternating function of valve 2009 may allow the system to respond dynamically to real-time pressure variations, ensuring that insufflation conditions remain consistent and controlled. In further examples, this approach supports stable pressure management by facilitating rapid adjustments to maintain optimal surgical conditions. As an example, initiating the purge cycle through valve 2009 may ensure both static lines remain clear and aligned within the target pressure range, maintaining accurate feedback for continuous pressure control.

[0147] In some embodiments, the system comprises at least one insufflation control mechanism. In some cases, the at least one insufflation control mechanism comprises at least one insufflation mode. In some instances, the at least one insufflation mode comprises continuous insufflation mode 2002.

[0148] In some cases, the at least one insufflation control mechanism comprises at least one gas source and a corresponding delivery line. In some instances, the at least one gas source comprises insufflation gas source 2005, and the delivery line comprises continuous insufflation line 2007. For example, during continuous insufflation mode 2002, the at least one insufflation gas source 2005 may be configured to deliver a stable and uninterrupted flow of gas through the continuous insufflation line 2007 to maintain target pressure levels at the surgical site. In further examples, the continuous insufflation mode 2002 may be configured to support real-time measuring and verification of pressure conditions. As an example, while Valve 2006 remains open to facilitate this uninterrupted gas flow, pressure sensors 2003 and 2010 may cross-check pressure readings within static pressure sensing lines 2004 and 2011. In some instances, theseAttomey Docket No. 55441-736601 continuous readings ensure that the system 2000 remains in continuous insufflation mode 2002, provided that the pressure readings align within a specified range, thereby maintaining stable operating conditions.

[0149] In some embodiments, the system comprises at least one operational mode. In some cases, the at least one operational mode comprises at least one state configured to regulate insufflation gas delivery and pressure within the surgical site. In some instances, the at least one state comprises fluidics console state 2002 (e.g., normal procedure state).

[0150] In some cases, the system 2000 may further comprise at least one pressure comparison mechanism. In some instances, the at least one pressure comparison mechanism comprises at least one sensor configured to compare pressure readings from pressure sensor 2003 and pressure sensor 2010 against a predetermined threshold. For example, if the discrepancy between pressure sensors 2003 and 2010 exceeds this threshold, the system 2000 may automatically transition to fluidics console state 2012 (e.g., purge mode) to restore pressure equilibrium.

[0151] In further examples, the discrepancy between pressure readings from sensors 2003 and 2010 may indicate an obstruction or blockage along one of the static pressure sensing lines, triggering a purge cycle to address the imbalance. As an example, in purge mode 2012, both valve 2009 and valve 2006 may open, establishing a flow pathway through the static pressure sensing lines for purging, thereby equalizing pressure across the lines and removing any blockages causing the discrepancy.

[0152] In some instances, the purging sequence may be configured to operate at specified intervals or for a set duration to ensure a complete pressure reset. For example, the purge cycle may activate every 10 seconds, with each cycle lasting between 2 to 5 seconds. In some cases, the purging cycle may be repeated three times within a 30-second interval or until pressure readings stabilize. In further examples, the purging sequence may continue if the discrepancy between sensors 2003 and 2010 persists. As an example, the system may dynamically adjust the interval or duration of each purge cycle based on real-time feedback from the pressure sensors until the discrepancy is reduced to within the predetermined threshold, ensuring precise pressure management and system stability.

[0153] In some embodiments, the system comprises at least one operational phase. In some cases, the at least one operational phase comprises at least one purge mode configured to address discrepancies in pressure measurements. In some instances, the at least one purge mode comprises an intermittent measuring phase, activated if a discrepancy between pressure sensor 2003 and pressure sensor 2010 persists after several purging cycles.Attomey Docket No. 55441-736601

[0154] In some cases, during the intermittent measuring phase, valve 2009 may close, and valve 2006 may alternate between open and closed states. For example, this intermittent measuring phase may allow the system to assess pressure intermittently, with pressure sensor 2008 providing periodic pressure readings for real-time validation. In further examples, each time valve 2006 closes, pressure sensor 2008 may record the isolated surgical cavity pressure, capturing accurate measurements without continuous gas flow.

[0155] As an example, when valve 2006 reopens, the system may refill the surgical cavity with insufflation gas based on the most recent pressure reading from sensor 2008. This reading may guide the system in adjusting the insufflation gas delivery, ensuring that surgical cavity pressure remains within the target range. For instance, this alternating operation may permit the system 2000 to maintain stable pressure within the surgical site by modulating gas flow according to real-time requirements.

[0156] In some instances, once consistent pressure alignment is achieved between pressure sensors 2003 and 2010 during intermittent measuring, the system 2000 may automatically transition back to fluidics console state 2002. This transition may reinstate continuous insufflation, with valve 2006 open and valve 2009 closed, facilitating steady gas flow to maintain the target pressure range within the surgical site and supporting stable insufflation conditions for the procedure.

[0157] In some embodiments, the system comprises at least one control mechanism. In some cases, the at least one control mechanism comprises at least one predictive algorithm. In some instances, the at least one predictive algorithm comprises an artificial intelligence (AI)- driven predictive algorithm for dynamic pressure regulation. For example, the Al-driven predictive algorithm may analyze data from prior procedures, considering factors such as cavity size and typical pressure fluctuations, to predict configured pressure adjustments in real time. In some cases, if the algorithm detects an upward trend in pressure, it may proactively reduce gas flow from the insufflation gas source 2005, ensuring precision and enhancing patient safety by minimizing reactive purging cycles. In further examples, the system 2000 may also incorporate adaptive feedback control algorithms that process real-time data from the pressure sensors, permitting fine-tuned adjustments to insufflation gas flow based on immediate feedback. For example, the combination of predictive and adaptive control mechanisms may allow the system 2000 to maintain target pressure dynamically, adjusting to current conditions while anticipating future requirements.

[0158] As an example, the Al-driven predictive algorithm may be configured to prevent overinflation by recognizing pressure trends associated with overinflation risks. If the system detects sensor data patterns matching previous overinflation indicators, the algorithm mayAttomey Docket No. 55441-736601 automatically activate fluidics console state 2012, ensuring rapid response to potential risks and enhancing procedural safety by preemptively adjusting gas flow.

[0159] FIG. 20C illustrates an insufflation control system 2000 with a fluidics console 2000 in a third state 2020 (e.g., standby mode). In some embodiments, the system comprises at least one operational state mechanism. In some cases, the at least one operational state mechanism comprises at least one fluidics console state. In some instances, the at least one fluidics console state comprises standby mode 2020, illustrated in FIG. 20C. For example, in standby mode 2020, both valve 2009 and valve 2006 may be closed, effectively isolating the continuous insufflation line 2007 and static pressure sensing lines 2004 and 2011 from the CO2 supply 2005. In some cases, this state halts all insufflation and purging activities, creating stable conditions within the system. In further examples, static pressure sensing lines 2004 and 2011 may remain connected to pressure sensor 2003 and pressure sensor 2010, allowing these sensors to continue providing real-time pressure readings without active gas flow.

[0160] In some cases, the insufflation control system 2000 may be configured to perform a cross-check between pressure sensors 2003, 2008 and 2010 prior to commencement of a state transition. In some instances, the insufflation control system 2000 may switch from a first state 2020 to a second state 2002 or a third state 2012 upon confirmation that the pressure sensing lumens 2004 and / or 2011 are substantially clear from obstructions. In some instances, the insufflation control system 2000 may commence the cross-check following a system startup (e.g., 806).

[0161] As an example, in standby mode 2020, the system may measure pressure discrepancies that indicate a need to transition to another operational mode, such as an active insufflation or purge cycle. In some instances, valve 2006 may stay closed in this mode, conserving the CO2 supply by isolating the continuous insufflation line 2007 until further insufflation is configured. In further examples, standby mode 2020 may act as a holding phase, maintaining system equilibrium by minimizing fluctuations and preparing for active operations when required. For example, the system's ability to enter a controlled standby state enhances efficient management of insufflation resources, ensuring system readiness to address pressure changes based on real-time sensor feedback.

[0162] In some embodiments, the system comprises at least one pressure measuring subsystem. In some cases, the at least one pressure measuring subsystem comprises at least one set of pressure sensing lines. In some instances, the at least one set of pressure sensing lines comprises two static pressure sensing lines configured for continuous cross-checking to maintain pressure stability. In some cases, the at least one pressure measuring subsystem comprises additional valves to facilitate controlled purging and measuring. For example, the at least oneAttomey Docket No. 55441-736601 pressure measuring subsystem may be configured to detect discrepancies between the pressure sensing lines. In further examples, if a pressure difference is detected between these lines, the system may initiate a purge sequence, releasing gas through both lines to equalize the pressure. This purging process may occur multiple times to restore balance across the pressure sensors. As an example, if at least two pressure sensors do not match after repeated purging, the system may automatically transition to an "Intermittent Mode," activating an alternative sensor for more precise measuring. In some cases, in intermitted mode a valve is configured to remain closed, isolating the primary pathway, while the opposite valve alternates between open and closed states. For example, when the opposite valve closes, a corresponding pressure sensor is activated that reads the surgical cavity pressure, providing an updated measurement of the current conditions. When the opposite valve reopens, the system adjusts the gas flow to refill the surgical cavity based on the recent reading from the corresponding pressure sensor, ensuring that the target pressure is consistently maintained. In further examples, Intermittent Mode provides a cycle of controlled measuring and refilling, allowing for highly responsive pressure adjustments. This mode operates as a structured sequence, with the system alternating between reading pressure and replenishing the cavity to maintain stability and accuracy under varying conditions.Integration with other Systems

[0163] In some embodiments, any of the insufflation control systems (e.g., 300, 400, 500, 600, 700, and 2000) may be configured to connect to various surgical systems. In some cases, the various surgical systems may comprise one or more minimally invasive surgical systems. In some instances, the various surgical systems may include one or more of the following: gastroenterology, endoscopic, bronchoscopy, laparoscopic, urologic, gynecologic, thoracoscopic, and arthroscopic systems. For example, the insufflation control systems may connect to gastrointestinal endoscopes, bronchoscopes for pulmonary procedures, laparoscopes for abdominal surgeries, or thoracoscopes for chest surgeries. In further examples, these systems may also support robotic-assisted surgical platforms or hybrid systems that integrate multiple modalities for complex surgical interventions.

[0164] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one gas flow regulation mechanism. In some instances, the at least one gas flow regulation mechanism comprises an insufflation gas source configured for precise control of gas flow to a surgical site. In some cases, the insufflation control system comprises at least one pressure measuring component. In some instances, the at least one pressure measuring component comprises one or more pressure sensors configured to provide real-time pressure readings to maintain stable conditions within the surgical cavity. For example, the insufflation control system may be configured to directlyAttomey Docket No. 55441-736601 interface with endoscopic instruments, such as robotic surgical tools, to deliver regulated insufflation gas flow and manage fluid levels effectively during minimally invasive procedures. In further examples, the system may facilitate dynamic adjustments to insufflation parameters based on sensor feedback to optimize conditions for the surgical procedure. As an example, any of the insufflation control systems (e.g., 300, 400, 500, 600, 700, and 2000) may support fluid management by regulating gas flow and pressure levels, enhancing procedural efficiency, and maintaining a stable environment at the surgical site.

[0165] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one connection interface for endoscopic instruments. In some instances, the at least one connection interface comprises one or more fluidics ports. In some cases, the insufflation control system comprises at least one fluid delivery mechanism. In some instances, the at least one fluid delivery mechanism comprises a controlled flow pathway for insufflation gas or other surgical fluids. For example, the insufflation control system may be configured to deliver insufflation gas precisely through designated ports on endoscopic instruments, such as a robotic cutter. In further examples, this system may support consistent and controlled gas or fluid flow to facilitate optimal surgical conditions.

[0166] As an example, as shown in FIG. 10, the insufflation control system may connect to the handle portion 1000 of the robotic cutter via fluidics ports 1005. This connection permits regulated gas or fluid delivery through specific lumens within the robotic cutter, providing direct and accurate delivery of insufflation gas or fluids to the surgical site as required.

[0167] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one auxiliary port for endoscopic device integration. In some instances, the at least one auxiliary port comprises one or more instrument or sensor connection points. In some cases, the insufflation control system comprises at least one flexible attachment interface. In some instances, the at least one flexible attachment interface comprises an auxiliary port for accessory devices. For example, the insufflation control system may be configured to expand operational capabilities by integrating with auxiliary ports on endoscopic devices to accommodate a variety of instruments or sensors. In further examples, these ports permit the connection of additional instruments or sensors, enhancing the system's adaptability.

[0168] As an example, as shown in FIG. 10, the robotic cutter 1000 includes Instrument Ports 1003-1 and 1003-2, which are configured to support the integration of supplementary instruments or sensors. Additionally, Auxiliary Port 1001 offers further adaptability by allowingAttomey Docket No. 55441-736601 the attachment of accessory devices, increasing the flexibility of the robotic cutter in complex surgical environments.

[0169] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one fluidics console. In some instances, the at least one fluidics console comprises at least one fluidics port configured to interface with endoscopic instruments. In some cases, the insufflation control system comprises at least one measuring sensor. In some instances, the at least one measuring sensor comprises a pressure sensor for real-time cavity pressure measuring. For example, the insufflation control system may be configured to interface with endoscopic instruments to support both controlled gas delivery and continuous pressure measuring. In further examples, connecting the insufflation control system to an endoscopic device permits precise regulation of gas flow, which helps maintain a stable pressure environment within the surgical cavity. As an example, the Insufflation Control System 2000, when connected to the handle portion 1000 of a robotic cutter, allows precise management of insufflation gas delivery and real-time pressure measuring. As illustrated in FIG. 10, this setup permits the fluidics console within the insufflation control system 2000 to control gas flow through the Fluidics Port 1005 on the robotic cutter's handle, thereby helping to maintain stable cavity pressure during the procedure.

[0170] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one robotic interface. In some instances, the at least one robotic interface comprises at least one endoscopic instrument. In some cases, the insufflation control system comprises at least one adaptive control mechanism. In some instances, the at least one adaptive control mechanism comprises a real-time pressure measuring sensor.

[0171] For example, the insufflation control system may be configured to interact with robotic endoscopic instruments to support both real-time pressure measuring and adaptive gas delivery. In further examples, integrating the insufflation control system with endoscopic instruments, such as the Robotic Cutter 1000 illustrated in FIG. 10, may permit the system to efficiently measure pressure and adjust gas flow in response to surgical conditions, contributing to effective and safe surgical procedures.

[0172] As an example, the system's integration with robotic endoscopic instruments may allow dynamic adaptation to changing surgical conditions, ensuring stable cavity pressure while accommodating additional instruments or accessories through the robotic cutter’s versatile ports. This flexibility enhances the functionality of the insufflation control system across various surgical settings, contributing to patient safety and procedural accuracy.Atorney Docket No. 55441-736601

[0173] In some embodiments, the system comprises at least one insufflation control system. In some cases, the insufflation control system comprises at least one fluidics console. In some instances, the at least one fluidics console comprises one or more device lumens. In some cases, the at least one fluidics console comprises at least one control mechanism.

[0174] For example, the one or more device lumens may be configured to connect the fluidics console to fluidics ports on an endoscopic instrument, such as fluidics port 1005 on the handle of a robotic cutter. In further examples, the device lumens may facilitate the precise delivery of insufflation gas through the cutter’s distal tip, ensuring targeted gas flow directly to the surgical site.

[0175] As an example, in fluidics console state (e.g., purge mode) 2012, the system may be configured to adjust gas flow by closing Valve 2009 and alternating Valve 2006 based on realtime pressure feedback from Pressure Sensor 2008. This setup may permit both continuous and intermittent insufflation modes, allowing the system to respond dynamically to specific procedural requirements and maintain stable cavity pressure. For instance, this configuration enhances flexibility, allowing the system to adapt gas delivery in real-time to support optimal insufflation conditions across a variety of surgical scenarios.

[0176] In some embodiments, the system comprises at least one insufflation component. In some cases, the at least one insufflation component comprises at least one gas delivery element. In some instances, the at least one gas delivery element comprises an insufflation line. In some cases, the at least one insufflation component comprises at least one pressure-sensing element. In some instances, the at least one pressure-sensing element comprises one or more pressure-sensing lumens. For example, the insufflation component 600, as illustrated in FIG. 6, may be configured for integration with any of the insufflation control systems (e.g., 300, 400, 500, 600, 700, and 2000) to interface with surgical instruments, such as endoscopic and robotic tools, facilitating controlled insufflation gas delivery and precise pressure measuring at the surgical site. In further examples, the at least one insufflation line, such as insufflation line 603, may be dedicated for directed CO2 or other insufflation gas flow. As an example, multiple insufflation lumens, such as lumens 602 and 604, may ensure continuous and stable gas distribution within the surgical cavity. In some instances, the at least one pressure-sensing element may include two pressure-sensing lumens 601, each approximately 1 mm in diameter, positioned for redundant pressure feedback. This configuration may enhance the reliability of pressure readings, supporting real-time adjustments to maintain optimal conditions during surgical procedures.

[0177] In some embodiments, the system comprises at least one insufflation component. In some cases, the at least one insufflation component comprises at least one specializedAttomey Docket No. 55441-736601 endoscope tip or scope attachment. In some instances, the at least one specialized endoscope tip or scope attachment comprises one or more attachments configured to connect with an insufflation control system. In some cases, the at least one insufflation component comprises at least one gas delivery pathway. In some instances, the at least one gas delivery pathway comprises an insufflation line. For example, the insufflation component 600 illustrated in FIG. 6 may be configured with an insufflation line 603, designed to deliver insufflation gas (e.g., CO2) or other insufflation gases directly to the surgical site, supporting stable cavity pressure throughout the procedure. In further examples, the component may comprise one or more insufflation lumens, such as lumens 602 and 604, to facilitate controlled gas distribution within the surgical cavity, enhancing consistent pressure delivery across the surgical area and minimizing pressure fluctuations during the procedure. As an example, the component may include two pressure-sensing lumens 601, providing redundant, real-time pressure measuring to ensure accurate feedback for maintaining a specified target pressure range. In some instances, these features may make the insufflation component adaptable for various minimally invasive procedures, such as gastrointestinal, bronchial, or laparoscopic surgeries, where precise insufflation control and continuous measuring are essential.

[0178] In some embodiments, the system comprises at least one insufflation component. In some cases, the at least one insufflation component comprises at least one pressure-sensing lumen. In some instances, the at least one pressure-sensing lumen comprises pressure-sensing lumens configured to provide feedback to a control module. In some cases, the at least one insufflation component comprises at least one gas delivery pathway. In some instances, the at least one gas delivery pathway comprises an insufflation line.

[0179] For example, the pressure-sensing lumens 601 may connect to corresponding pressure sensors within a fluidics console, allowing continuous measuring and rapid response to any variations in pressure at the surgical site. In further examples, the configuration of multiple insufflation lumens 602, in addition to the primary insufflation line 603, may permit the system to maintain a stable insufflation environment by effectively distributing gas throughout the surgical cavity and accommodating procedural variations in gas demand.

[0180] As an example, the additional insufflation lumens 604 may enhance the uniformity of gas flow, supporting improved pressure control and consistent cavity expansion. In further examples, the component 600 demonstrates the benefits of integrating redundant pressure-sensing lumens 601 with a multi-lumen insufflation setup for surgical applications requiring precise gas flow and pressure stability. The coordinated operation of these lumens, in conjunction with the fluidics console, permits the insufflation system to dynamically maintainAttomey Docket No. 55441-736601 target pressure, respond promptly to any obstructions or anomalies, and provide a controlled environment suited for a wide range of surgical procedures.

[0181] In some embodiments, the system comprises at least one endoscopic instrument. In some cases, the at least one endoscopic instrument comprises at least one channel. In some instances, the at least one channel comprises at least one Instrum ent / Working Channel. In some cases, the at least one endoscopic instrument comprises at least one auxiliary channel. In some instances, the at least one auxiliary channel comprises an additional pathway for delivering insufflation gas or other fluids. For example, FIG. 13 provides a detailed view of the distal end of a robotic endoscope, illustrating multiple Instrum ent / Working Channels 1301 configured for delivering insufflation gases or introducing surgical tools directly to the surgical site. In further examples, the auxiliary channel 1315 may serve as an additional pathway for insufflation gas or other fluids, further expanding the endoscope’s capabilities in targeted insufflation to maintain cavity pressure and visibility.

[0182] As an example, the forward irrigation channel 1317 may provide directed irrigation at the surgical site, supporting functions such as lens cleaning, cooling, or supplemental insufflation as required. In some cases, in conjunction with the lens cleaning port 1319, these channels may help maintain clear visualization by reducing debris accumulation on the lens surface during procedures.

[0183] In some instances, the endoscope may include one or more LEDs 1311 and Image Sensors 1313 configured to provide illumination and capture high-resolution images. For example, the LED lights may ensure adequate illumination within the surgical cavity, while the image sensors provide real-time visual feedback to assist the surgical team with accurate navigation and tissue manipulation. As an example, this configuration illustrated in FIG. 13 demonstrates how the insufflation control system may integrate with channels and ports, such as Auxiliary Channel 1315 and Instrum ent / Working Channels 1301, to deliver insufflation gas, irrigation, or other fluids in a controlled manner. In further examples, this setup may permit precise insufflation and fluid management, supporting a stable surgical environment, optimizing visualization, and facilitating efficient and safe operation in endoscopic procedures.

[0184] In some embodiments, the system comprises at least one robotic cart or robotic tower system. In some cases, the at least one robotic cart system comprises at least one fluidics control component. In some instances, the at least one fluidics control component comprises an integrated CO2 (insufflation) source. In some cases, the at least one robotic cart system comprises at least one electronics module. In some instances, the at least one electronics module comprises control units, sensors, and feedback systems configured to power and coordinate various cart components. For example, FIG. 19 illustrates an integrated robotic cart system 1900 designed toAttomey Docket No. 55441-736601 support endoscopic and surgical procedures by housing advanced insufflation, imaging, and robotic control components in a centralized hub. In further examples, the insufflation gas (e.g., CO2) source 1903 may provide a regulated supply of insufflation gas to the surgical site through the integrated fluidics system, ensuring stable cavity pressure during procedures.

[0185] As an example, the robotic arm 1907 mounted on the cart may allow precise manipulation of endoscopic instruments, enhancing control over positioning and movement within the surgical site. In some cases, the Instrument Docking Module (IDM) on the robotic arm may secure and align endoscopic tools or instruments, supporting accurate deployment and retraction as required.

[0186] In further examples, the Colonoscope Camera Display 1910 may offer real-time visualization of the endoscopic feed, allowing the surgical team to measure the procedure closely. The imaging feed may connect to image sensors on the endoscope, providing continuous visual feedback essential for precise navigation and tissue manipulation.

[0187] As an example, the robotic cart system 1900 consolidates essential components for an endoscopic procedure, potentially integrating insufflation, fluidics, robotic control, and visualization into a single mobile unit. This configuration may permit efficient deployment and management of endoscopic and surgical instruments, supporting stable insufflation, clear visualization, and precise instrument control throughout the procedure.

[0188] In some embodiments, the system comprises at least one endoscope shaft. In some cases, the at least one endoscope shaft comprises at least one insufflation line. In some instances, the at least one insufflation line comprises an insufflation line configured to deliver insufflation gas (e.g., CO2) or another insufflation gas directly to the surgical area, maintaining stable pressure within the surgical cavity. In some cases, the at least one endoscope shaft comprises at least one pressure-sensing line. In some instances, the at least one pressure-sensing line comprises two pressure-sensing lines, positioned for redundant measuring of cavity pressure to ensure consistent and accurate pressure feedback.

[0189] For example, FIG. 7 illustrates a cross-sectional view of the endoscope shaft 700 integrated with any of the insufflation control systems (e.g., 300, 400, 500, 600, 700, and 2000). In further examples, the organized layout within the cross-sectional area of the shaft 700 may facilitate efficient gas distribution and pressure measuring within the confined space of the endoscope. As an example, the close integration of insufflation line 702 and pressure-sensing lines 701 may permit the system to provide seamless pressure feedback and dynamically adjust gas flow based on real-time sensor data. In some instances, this configuration is beneficial in minimally invasive procedures, such as gastrointestinal or bronchial applications, where precise control over gas delivery and pressure maintenance is essential in restricted anatomical spaces. InAttomey Docket No. 55441-736601 further examples, the optimized internal structure of the endoscope shaft 700 may accommodate multiple functional lines, supporting consistent maintenance of target pressure ranges, immediate response to pressure fluctuations, and an uninterrupted insufflation environment throughout complex procedures.

[0190] In some embodiments, the system comprises at least one component. In some cases, the at least one component comprises at least one insufflation component. In some instances, the at least one insufflation component comprises a component configured for integration within any of the insufflation control systems (e.g., 300, 400, 500, 600, 700, and 2000). In some cases, the at least one component comprises at least one sensing element. In some instances, the at least one sensing element comprises one or more pressure-sensing lines integrated within component to provide continuous pressure measuring at the surgical site.

[0191] For example, FIG. 9 presents a perspective view of an example component 900, demonstrating how it may facilitate controlled gas delivery and support reliable pressure feedback. In further examples, the organized configuration of component 900 may support effective coordination between insufflation and sensing lines, allowing for precise control of gas flow based on real-time pressure data. As an example, the setup may be configured to integrate efficiently with various surgical instruments, ensuring stable pressure conditions and continuous feedback during minimally invasive procedures, enhancing procedural control and patient safety.

[0192] FIG. 8 illustrates an example of an operational flow diagram of an insufflation control method 800. In some embodiments, the method 800 initiates with a brief pulse or 'puff 801, (e.g. lasting for a predetermined duration such as about 0.1 seconds), to deliver an initial insufflation or purge action. In some cases, the system may implement two distinct cross-check stages, XI 802 and X2 803. The first cross-check stage, XI 802, may involve comparing pressure readings from two pressure-sensing lines pressure sensing line 1 (e.g., Plnsl) and pressure sensing line 2 e.g., Plns2), with a permissible tolerance. In some instances, the permissible tolerance may comprise ±1 mmHg to maintain stable and accurate pressure levels. In some cases, the second cross-check stage X2 803 may comprise comparing the pressure readings from Plnsl and Plns2 against a third reading from a continuous insufflation line sensor (e.g., Irmp). In some instances, the permissible tolerance may comprise ±1 mmHg to maintain stable and accurate pressure levels. For example, the X2 803 cross-check may be implemented at predetermined intervals. In further examples, the predetermined intervals may comprise every 10 seconds and / or any interval configured to ensure reliable operation.

[0193] In some cases, the operational sequence may transition the system from a standby state to an active state 806 upon power-on 805, followed by a startup phase 807, during which the system may utilize a sensor in the continuous insufflation line for initial pressure assessment.Attomey Docket No. 55441-736601In some instances, the control method 800 may allow for customization in various aspects, such as adjusting the volume and frequency of the 'puff for refined control over insufflation.

[0194] In some cases, the system may be configured to implement a first puff and a second puff. In some instances, the first puff may serve be configured to purge the pressure sensor lines. In some instances, the system may set, after a failed cross-check, a puff duration and flow rate for the first puff configured to clear obstructions from the pressure sensing lines. In some instances, the second puff may be configured to purge the insufflation sensor lines. For example, the second puff may provide active insufflation through the insufflation line. In some instances, the system may adjust the duration and flow rate of the second puff (e.g., the active insufflation 'puff) dynamically based on one or more of a surgical cavity pressure, leak rates, and / or any other parameters configured to ensuring that the system maintains the target pressure range effectively.

[0195] In some cases, the method may comprise implementing an evaluation process for alarm responses and maintain operational efficiency by minimizing unconfigured alerts. In some instances, the method may evaluate the accuracy of the XI cross-checks e.g., which maintaining consistent pressure during the insufflation process). In some instances, the system may either calculate average values from sensors for a more accurate overall pressure reading or utilize the average values in the cross-check process itself (e.g., thereby enhancing the precision of pressure regulation). For example, the method may comprise determining the improved equalization time following each puff. In further examples, the method may comprise identifying the correct waiting period post-puff to allow for pressure stabilization before subsequent measurements or adjustments. As an example, the interval may be configured to ensure that the system can maintain the correct pressure consistently across varying conditions, providing precise control throughout the insufflation procedure.

[0196] In some cases, the method may include entering a Startup phase 807, utilizing the continuous insufflation line sensor to establish an initial stable pressure environment. In some instances, this phase is followed by a 'Maintain (Intermittent)' phase 808. For example, during 808 the continuous insufflation line sensor may continuously measure pressure levels to guide flow rate adjustments for consistent pressure control.

[0197] In some cases, the method may comprise initiating a 'puff 809 at the start of and at specific intervals to reinforce stable pressure maintenance within the surgical cavity. In some instances, the 'puff may deliver a brief gas pulse, stabilizing pressure fluctuations that may arise during initial cavity expansion or as needed throughout the procedure. In some instances, the workflow may alternate between operational modes, adjusting dynamically based on real-time pressure feedback, which permits the system to respond flexibly to changing pressure conditions.Attomey Docket No. 55441-736601

[0198] In some embodiments, the method may comprise performing a sequence of crosschecks, XI 810 and X2 811 to confirm pressure stability within the surgical cavity. In some cases, the method may involve conducting XI cross-checks every second 813 during a continuous maintenance phase 812 while measuring pressure levels continuously at 250- millisecond intervals. In some instances, this measuring frequency ensures that no 'puff adjustments are initiated unless a cross-check fails, maintaining stable cavity conditions with minimal gas intervention.

[0199] In some instances, if both XI and X2 checks pass, the system may automatically transition to maintain continuous mode 812, which sustains a consistent pressure environment without additional gas delivery actions. In further examples, if one or both cross-checks fail, the method may initiate a sequence of corrective puffs 814, each delivering a brief 0.1 -second pulse of gas to recalibrate pressure to the target range (e.g., see intervals at 816, 818, and 820). As an example, this approach allows the system to adjust dynamically, triggering only as many 'puffs' as needed to restore pressure stability, optimizing both gas usage and control precision.

[0200] In some embodiments, the method may comprise implementing tailored adjustments based on cavity size to manage pressure effectively. In some cases, the method may include measuring pressure deviations specific to the surgical cavity's size. In some instances, the method may employ techniques such as timed pressure relief to stabilize conditions.Additionally, the method may involve activating a pressure relief valve (Psol) based on predefined pressure thresholds. For example, the method may comprise activating Psol for 0.5 seconds if a deviation of 1 mmHg persists for 3 seconds in smaller cavities, addressing minor overpressurization promptly. In further examples, if this deviation remains or reaches 5 mmHg over a period of 5 seconds, the Psol function may reactivate for another 0.5 seconds, allowing for incremental pressure adjustments until stabilization. As an example, for larger cavities, the method may comprise triggering both the pressure relief valve (Psol) and an evacuation function (Evac) when similar deviations are detected, permitting a faster response to overpressurization events.

[0201] In some embodiments, the method may comprise transitioning through specific operational stages to maintain pressure stability within an insufflation system. In some cases, the method may involve measuring pressure or sensor data parameters displayed along a y-axis over time progression along an x-axis. In some instances, the method may employ specific actions or techniques, such as brief pressure increases or adjustments.

[0202] As illustrated by graph 822, the method may include a 'puff phase that momentarily raises pressure, represented by an elevated point on the y-axis, which is followed by stages labeled XI and X2. These stages may represent phases of pressure adjustment orAttorney Docket No. 55441-736601 stabilization. In further instances, each stage is structured to incrementally adjust or stabilize pressure following the initial increase introduced by the 'puff phase. For example, the method may involve visualizing these stages on a graph 822, such as the 'Maintain (Int)' phase, which illustrates specific state changes within the system as it dynamically manages and adjusts pressure. In further examples, graph 822 provides insights into how the system sustains stability in response to varying insufflation requirements, demonstrating a structured approach to pressure management. As an example, the sequential progression through the 'puff,' XI, and X2 phases ensures that any temporary deviations in pressure are corrected, thereby supporting a consistent operational state.

[0203] As illustrated by graph 823, the method comprises a structured approach to sustaining pressure stability within an insufflation system over a continuous phase, referred to as the 'Maintain (Cont)' phase 823. In some embodiments, the method includes an initial 'puff phase to temporarily increase pressure, followed by repeated XI checks to confirm pressure consistency. In some instances, the method is visualized on a flowchart (e.g., such as 823) which depicts transitions to stages labeled 'Pint,' 'XI,' and 'X2,' shown at lower points on the graph, indicating systematic adjustments to maintain pressure stability. These transitions highlight the system's capacity to cycle through various stages based on real-time pressure feedback, thereby ensuring a stable and controlled environment within the surgical cavity throughout the procedure.

[0204] It should be noted that the time period for purging (e.g., 3 seconds, 5 seconds, etc.) and the gas flow rate can be determined based on empirical data, the specific cavity size, and various other factors. For instance, the time period for switching the state and the gas flow rate may be dynamically adjusted based on the cavity size.

[0205] The intermitted mode as described in FIG. 8 above is optional. This cross-check can be activated or triggered during the beginning, middle, and / or at the end of any operation to determine if any obstruction is present and / or if the pressure sensors are properly calibrated.Examples of Endoluminal Platform or Robotic Scope Incorporating the Insufflation System

[0206] The insufflation systems and methods can be applied to any endoluminal devices where insufflation is desired. As an example, endoluminal surgical platform or the robotic scope system herein may comprise a robotic colonoscope / gastroscope (e.g., steerable catheter assembly) and a robotic support system, for supporting or carrying the robotic colonoscope. The steerable catheter assembly can be a colonoscope. FIG. 12 shows an example of a robotic colonoscope or steerable catheter assembly 1200. In some embodiments, the steerable catheter assembly may be a single-use robotic colonoscope / gastroscope. In some embodiments, the robotic scope system may comprise an instrument driving mechanism (e.g., IDM 1420 in FIG. 14) that is attached to the arm of the robotic support system (e.g., robotic arm 1410 in FIG. 14)Attomey Docket No. 55441-736601 and the steerable catheter assembly may be releasably attached to the IDM. The instrument driving mechanism (IDM) may be provided by a suitable controller device that includes a robotic system. Alternatively, the instrument driving mechanism may be provided by any suitable controller device (e.g., hand-held controller) that may not include a robotic system. The instrument driving mechanism may provide mechanical and electrical interface to the steerable catheter assembly 1200. The mechanical interface may allow the steerable catheter assembly 1200 to be releasably coupled to the instrument driving mechanism. For instance, a handle portion 1201 of the steerable catheter assembly can be attached to the instrument driving mechanism via quick install / release means, such as magnets, spring-loaded levers and the like. In some cases, the steerable catheter assembly may be coupled to or released from the instrument driving mechanism manually without using a tool.

[0207] The steerable catheter assembly 1200 may comprise a handle portion 1201 that may include components configured to process image data, provide power, or establish communication with other external devices. For instance, the handle portion 1200 may include a circuitry and communication elements that permits electrical communication between the steerable catheter assembly 1200 and the instrument driving mechanism, and any other external system or devices. In another example, the handle portion 1201 may comprise circuitry elements such as power sources for powering the electronics (e.g., camera and LED lights) of the endoscope. In some cases, the handle portion may be in electrical communication with the instrument driving mechanism via an electrical interface (e.g., printed circuit board) so that image / video data and / or sensor data can be received by the communication module of the instrument driving mechanism and may be transmitted to other external devices / sy stems. Alternatively or in addition to, the instrument driving mechanism may provide a mechanical interface only. The handle portion may be in electrical communication with a modular wireless communication device or any other user device (e.g., portable / hand-held device or controller) for transmitting sensor data and / or receiving control signals.

[0208] As shown in FIG. 12A-12C, the flexible robotic endoscope 1200 may comprise a handle / proximal portion 1201 and a flexible elongate member to be inserted inside of a subject. The flexible elongate member may comprise at least a distal tip portion 1207, a bending section 1205 and a shaft 1203. In some cases, the flexible robotic endoscope 1200 may also be referred to as steerable catheter assembly as described elsewhere herein. In some cases, the flexible robotic endoscope may be a single-use robotic endoscope. In some cases, the entire catheter assembly may be disposable. In some cases, at least a portion of the catheter assembly may be disposable. In some cases, the entire endoscope may be released from an instrument drivingAttomey Docket No. 55441-736601 mechanism and can be disposed of. In some embodiments, the endoscope may contain varying levels of stiffness along the shaft, as to improve functional operation.

[0209] The endoscope or steerable catheter assembly 1200 may comprise a handle portion 1201 that may include one or more components configured to process image data, provide power, or establish communication with other external devices. For instance, the handle portion may include a circuitry and communication elements 1215 that permits electrical communication between the steerable catheter assembly and an instrument driving mechanism, and any other external system or devices. In another example, the handle portion 1201 may comprise circuitry elements such as power sources for powering the electronics (e.g., camera, electromagnetic sensor, and LED lights) of the endoscope. The one or more components located at the handle may be optimized such that expensive and complicated components may be allocated to the robotic support system (e.g., 1400 in FIG. 14), a hand-held controller or an instrument driving mechanism (e.g., IDM 1420 in FIG. 14) thereby reducing the cost and simplifying the configure of the disposable endoscope.

[0210] The handle portion or proximal portion 1201 may provide an electrical interface 1215 and mechanical interface 1213 to allow for electrical communication and mechanical communication with the instrument driving mechanism (e.g., IDM 1420 in FIGs. 14 and 15). As shown in FIG. 15, the instrument driving mechanism 1420 for controlling the endoscope may comprise a set of motors 1521 that are actuated to rotationally drive a set of pull wires 1217 of the catheter. The handle portion of the catheter assembly may be mounted onto the instrument drive mechanism so that its pulley / capstans assemblies 1213 are driven by the set of motors 1521 via the output shaft 1523. In some embodiments, instead of or in addition to a rotary interface, the IDM may have a linear interface. The number of pulleys may vary based on the pull wire configurations. In some cases, one, two, three, four, or more pull wires may be utilized for articulating the flexible endoscope or catheter.

[0211] The handle portion 1201 may be configured allowing the flexible robotic endoscope to be disposable at reduced cost. For instance, classic manual and robotic endoscopes may have a cable in the proximal end of the endoscope handle. The cable may comprise illumination fibers, camera video cable and the like. In some cases, the cables may comprise other sensors fibers or cables such as electromagnetic (EM) sensors, or shape sensing fibers. Such complex cable can be expensive adding to the cost of the endoscope. The provided flexible robotic endoscope may have an optimized configure such that simplified structures and components can be employed while preserving the mechanical and electrical functionalities. InAttomey Docket No. 55441-736601 some cases, the handle portion of the robotic endoscope may employ a cable-free configure while providing a mechanical / electrical interface to the catheter as described later herein.

[0212] The electrical interface (e.g., printed circuit board 1215) may allow image / video data and / or sensor data to be received by the communication module of the instrument driving mechanism (e.g., IDM 1420 in FIG. 14) and may be transmitted to other external devices / systems. In some cases, the electrical interface may establish electrical communication without cables or wires. For example, the interface may comprise pins soldered onto an electronics board such as a printed circuit board (PCB) 1215. For instance, a receptacle connector e.g., the female connector) 1525 is provided on the instrument driving mechanism as the mating interface. This may beneficially allow the endoscope to be quickly plugged into the instrument driving mechanism or robotic support without utilizing extra cables. Such type of electrical interface may also serve as a mechanical interface such that when the handle portion is plugged into the instrument driving mechanism, both mechanical and electrical coupling is established. Alternatively or in addition to, the instrument driving mechanism may provide a mechanical interface only. The handle portion may be in electrical communication with a modular wireless communication device or any other user device (e.g., portable / hand-held device or controller) for transmitting sensor data and / or receiving control signals.

[0213] In some cases, the handle portion 1201 may comprise one or more mechanical control modules for controlling irrigation system / aspiration system, or mechanical structures 1210-1, 1219-2 for guiding or aligning one or more working channels with an inserting trajectory of the robotic endoscope FIG. 10 shows an example of the handle portion. The handle portion can be the same as those described above. For example, the handle portion may comprise one or more mechanical control modules such as luer, or fluidics ports 1005 for interfacing the irrigation system / aspiration system. The robotic endoscope may comprise fluidics channels for insufflation (e.g., CO2), camera rinse, forward irrigation and / or smoke evacuation. For example, Carbon dioxide (CO2) insufflation may be provided using of CO2 gas to inflate a space, such as the abdomen or digestive tract, for a variety of medical procedures.

[0214] FIG. 13 shows an example of a distal tip of the robotic endoscope including a forward irrigation fluidics channel 1317 and a lens cleaning fluidics channel 1319. Irrigation system may be coupled to the fluids channels via the one or more fluidics ports 1005. In some cases, such insufflation and smoke exhaust functionalities or the fluidics channels may be in the clearance between the endoscope shaft(s) and working channel(s). In some cases, the robotic endoscope may comprise one or more nozzles for clearing a camera view. For instance, the distal tip may comprise one or more irrigation ports such as a forward irrigation nozzle 1317 and aAttomey Docket No. 55441-736601 window cleaning nozzle for providing a clear camera view. For example, an irrigation and aspiration system may connect to the fluidics channels and / or the working channel for the robotic endoscope through the fluidics ports 1005. The irrigation system can inject fluids such as saline and the aspiration system may aspire mucus or saline or other material out of the airways. In some cases, the fluidics channels may be the same as the instrument channels, where the fluidics functions may be operable with or without an instrument present. For instance, fluidics (e.g., insufflation, forward irrigation, or suction) may be performed through an instruments channel.

[0215] The handle portion 1201 may further comprise mechanical structures as a working channel guidance system for aligning one or more of the working channels of the robotic colonoscope / gastroscope with an insertion trajectory of one or more robotic instruments when both the colonoscope / gastroscope and the robotic instruments are coupled to the robotic IDMs. The robotic colonoscope / gastroscope may comprise one or more working channels or instrument channels 1301. The working channel (e.g., working channels or instrument channels 1301) may be configured to provide protection for the internal components such as flexible robotic instruments (e.g., suturing instrument, forceps, etc.). When flexible robotic instruments pass through a conventional working channel, they may be obstructed by the working channel due to kinking, ovalizing and / or high friction force. The working channel herein may provide a high hoop strength and a capability of achieving low bend radius. The working channel may also be configured to provide low friction in the inner surface. One or more robotic instrument e.g., suturing instrument, cutter, forceps, grasper, needle delivery tool and the like) may be passed through the working channel and advanced over the distal tip of the endoscope or retracted back into the working channel. The various robotic instruments may be independently steerable from the robotic endoscope. Details about the robotic instruments are described later herein.

[0216] As shown in FIG. 10, the handle portion may comprise one or more instrument ports 1003-1, 1003-2 for receiving the robotic instrument. In some embodiments, the robotic endoscope may comprise at least one working channel(s) for the robotic instruments. In some embodiments, any of the one or more working channels may also be used for fluidic transport. The handle portion may comprise working channel seals for minimizing fluid egress.

[0217] As shown in FIG. 13, in some embodiments, the one or more working channels 1301 may exit the distal tip 1207 of the robotic endoscope in a direction that diverges from a primary axis of the robotic endoscope tip. The exit or the exit port of the working channel may be located at the distal portion allowing the robotic instruments to have triangulation by making the arms spread out or divert away from the base as they exit the distal portion of the primary sheath. FIG. 12 shows an example of robotic instruments extended through the exit ports of the workingAttomey Docket No. 55441-736601 channels to perform endoluminal operations. As shown in the example, the exit ports may allow the robotic instruments to have triangulation by making the arms spread out or divert away from the base as they exit the distal portion of the primary sheath distal portions and then be steered back toward each other and utilized to apply capturing and / or compressive loads to a subject tissue structure, and the like, with the field of view of the image capture device 1313 preferably capturing such activity from any desired location relative to the robotic instruments (e.g., grasper, cutter). In some embodiments, a location of the exit port of the working channel may be substantially at a circumferential side of the distal tip closer to the front end. In some cases, the location of the exit port may be located at the edge where a side and a front end of the distal tip meets. As shown in FIG. 12, the two instrument exit ports may be located on substantially opposite sides of the port for the endoscope. This configuration may allow for surgical triangulation with the distal portions of the robotic instrument assemblies (e.g., grasper 1300, cutter 1000).

[0218] In some embodiments, the robotic colonoscope / gastroscope may comprise at least one auxiliary channel 1315 for receiving a non-robotic instrument. A non-robotic instrument may be any flexible instrument without robotic control features. The non-robotic instrument may be inserted through the auxiliary channel such as for delivering material or tools to the distal tip or perform other function without the need to be robotically controlled. The handle portion may comprise an auxiliary channel port 1001 for inserting the non-robotic instrument. In some cases, the auxiliary channel can be configurable for either non-robotic instrument or as an additional fluid delivery. For example, the auxiliary channel port 1001 may be connected to an irrigation system when additional fluidics is desired.

[0219] In the illustrated example, the distal tip 1207 of the robotic endoscope is configured to be articulated / bent in two or more degrees of freedom to provide a desired camera view or control the direction of the endoscope. As illustrated in FIG. 13, imaging device 1313 (e.g., camera), position sensors e.g., electromagnetic sensor) may be embedded in the distal tip of the catheter or endoscope shaft. For example, line of sight of the camera may be controlled by controlling the articulation of the active bending section 1205. In some instances, the angle of the camera may be adjustable such that the line of sight can be adjusted without or in addition to articulating the distal tip of the catheter or endoscope shaft. For example, the camera may be oriented at an angle (e.g., tilt) with respect to the axial direction of the tip of the endoscope with the aid of an optical component.

[0220] The distal tip 1207 may be a rigid component that allows for imaging devices (e.g., camera) and other electronic components 1311 (e.g., LED light source) being embedded atAttomey Docket No. 55441-736601 the distal tip. Depending on the type of the endoscope, the distal tip may comprise other sensors such as electromagnetic (EM) sensors or inertial measurement units embedded in the distal tip.

[0221] The robotic endoscope may or may not have real-time EM tracking capability. In some embodiments, the robotic endoscope may not have a positional sensor (electromagnetic sensor) for tracking a location of the distal tip of the endoscope during navigation while the live camera view may allow an operator to identify a location of the endoscope tip via visual feedback. Alternatively, when the robotic endoscope is embedded with EM sensor, the EM sensor comprising of one or more sensor coils embedded in one or more locations and orientations in the medical instrument (e.g., tip of the endoscopic tool) measures the variation in the EM field created by one or more static EM field generators positioned at a location close to a patient. The location information detected by the EM sensors is stored as EM data. The EM field generator (or transmitter) may be placed close to the patient to create a low intensity magnetic field that the embedded sensor may detect. The magnetic field induces small currents in the sensor coils of the EM sensor, which may be analyzed to determine the distance and angle between the EM sensor and the EM field generator. For example, the EM field generator may be positioned close to the patient during a procedure to locate the EM sensor position in 3D space or may locate the EM sensor position and orientation in 5D or 6D space. This may provide a visual guide to an operator when driving the endoscope towards the target site.

[0222] The robotic endoscope may have a dimension so that one or more electronic components can be integrated to the endoscope. For example, as shown in FIG. 13, the outer diameter of the distal tip 1207 may range from 3mm to 25 mm, and the diameter of the instrument channels 1301 may range from 2 mm to 8 mm such that one or more instruments can be removably inserted through the endoscope to the surgical site. However, it should be noted that based on different applications, the outer diameter can be in any range smaller than 3 mm or greater than 25 mm, and the diameter of the instrument channels 1301 can be in any range such as about 4 mm or 5 mm to allow the robotic instrument herein passing through. The space not occupied by fluidics or instrument pass throughs can be used to embed electronic components into the wall of the endoscope.

[0223] Due to the offset arrangement of the instrument channel (i.e., not along the central axis of the shaft), if a tension force is exerted to the distal tip of an instrument that is inserted through the instrument channel (e.g., needle retraction cable is attempting to maintain a tension to keep the needle retracted), the instrument tip may be biased up against the distal end of the bending section (e.g., tend to bend the bending section up). To ensure the instrument tip stays coupled to the distal end of the bending section while the length of the instrument flexible shaftAttomey Docket No. 55441-736601 in the bending section can change, a force exerted to the instrument tip (e.g., tension in the needle retraction cable) may be measured to keep the force (e.g., tension in cable) at a target range. For example, in the case of a needle instrument, a retraction cable is maintaining a tension, the motor controlling needle retraction may rotate to maintain tension. The target tension range may be maintained by providing wire slack if tension is too high, or removing wire slack if the tension is too low. In some cases, the maintenance of the target tension may provide an estimation of the bending degree, or bending orientation of the bending section. For example, an amount of angular rotation on the motor for driving the needle retraction cable may be correlated to the bending angle (direction and degree) of the bending section. In some cases, the bending section orientation or bending angle may be estimated based on the robotic control signal for articulating the bending section. In some cases, the bending section orientation or bending angle may be estimated based on motor current and angle change of the motor for driving a pull wire attached to the bending section.

[0224] The one or more electronic components may comprise an imaging device, illumination device or other optional sensors. In some embodiments, the imaging device may be a video camera 1313. The imaging device may comprise optical elements and image sensor for capturing image data. The image sensors may be configured to generate image data in response to wavelengths of light. A variety of image sensors may be employed for capturing image data such as complementary metal oxide semiconductor (CMOS) or charge-coupled device (CCD). The imaging device may be a low-cost camera. In some cases, the image sensor may be provided on a circuit board. The circuit board may be an imaging printed circuit board (PCB). The PCB may comprise a plurality of electronic elements for processing the image signal. For instance, the circuit for a CCD sensor may comprise A / D converters and amplifiers to amplify and convert the analog signal provided by the CCD sensor. Optionally, the image sensor may be integrated with amplifiers and converters to convert analog signal to digital signal such that a circuit board may not be required. In some cases, the output of the image sensor or the circuit board may be image data (digital signals) can be further processed by a camera circuit or processors of the camera. In some cases, the image sensor may comprise an array of optical sensors.

[0225] The illumination device may comprise one or more light sources 1311 positioned at the distal tip. The light source may be a light-emitting diode (LED), an organic LED (OLED), a quantum dot, or any other suitable light source. In some cases, the light source may be a miniaturized LED for a compact configure or Dual Tone Flash LED Lighting.

[0226] The imaging device and the illumination device may be integrated to the endoscope. For example, the distal portion of the endoscope may comprise suitable structuresAttorney Docket No. 55441-736601 matching at least a dimension of the imaging device and the illumination device. The imaging device and the illumination device may be embedded into the catheter. A camera may be located at the distal portion 1207. The distal tip may have a structure to receive the camera, and illumination device. For example, the camera may be embedded into a cavity at the distal tip of the catheter. The surgical cavity may be integrally formed with the distal portion of the surgical cavity and may have a dimension matching a length / width of the camera such that the camera may not move relative to the endoscope. The camera may be adjacent to one or more instrument channels 1301 of the endoscope to provide near field view of the tissue or the organs. In some cases, the viewing direction or orientation of the imaging device may be controlled by controlling a rotational movement (e.g., roll) of the endoscope.

[0227] The power to the camera may be provided by a wired cable. In some cases, the cable wire may be in a wire bundle providing power to the camera as well as illumination elements or other circuitry at the distal tip of the robotic endoscope. The camera and / or light source may be supplied with power from a power source located at the handle portion via wires, copper wires, or via any other suitable means running through the length of the catheter. In some cases, real-time images or video of the tissue or organ may be transmitted to an external user interface or display wirelessly. The wireless communication may be WiFi, Bluetooth, RF communication or other forms of communication. In some cases, images or videos captured by the camera may be broadcasted to a plurality of devices or systems. In some cases, image and / or video data from the camera may be transmitted down the length of the catheter to the processors situated in the handle portion via wires, copper wires, or via any other suitable means. The image or video data may be transmitted via the wireless communication component in the handle portion to an external device / system. In some cases, the system may be configured such that no wires are visible or exposed to operators.

[0228] In conventional endoscopy, illumination light 1311 may be provided by fiber cables that transfer the light of a light source located at the proximal end of the endoscope, to the distal end of the robotic endoscope. In some embodiments of the disclosure, miniaturized LED lights may be employed and embedded into the distal portion of the catheter to reduce the configure complexity. In some cases, the distal portion may comprise a structure having a dimension matching a dimension of the miniaturized LED light source. As shown in the illustrated example, two cavities may be integrally formed with the endoscope to receive two LED light sources 1311. For instance, the outer diameter of the distal tip may range from 3mm to 25 mm and diameter of the working channel of the endoscope may be around 4.5 or 6 mm such that two LED light sources may be embedded at the distal end. The outer diameter can be in any range smaller than 3 mm or greater than 25 mm, and the diameter of the instrument channelsAttomey Docket No. 55441-7366011301 can be in any range according to the tool's dimensional or specific application. Any number of light sources may be included. The internal structure of the distal portion may be configured to fit any number of light sources.

[0229] In some cases, each of the LEDs may be connected to power wires which may run to the proximal handle 1201. In some embodiments, the LEDs may be soldered to separated power wires that later bundle together to form a single strand. In some embodiments, the LEDs may be soldered to pull wires that supply power. In other embodiments, the LEDs may be crimped or connected directly to a single pair of power wires. In some cases, a protection layer such as a thin layer of biocompatible glue may be applied to the front surface of the LEDs to provide protection while allowing light emitted out. In some cases, an additional cover may be placed at the forwarding end face of the distal tip providing precise positioning of the LEDs as well as sufficient room for the glue. The cover may be composed of transparent material matching the refractive index of the glue so that the illumination light may not be obstructed.

[0230] The robotic endoscope may have a unique configure in the elongate member. In some cases, the active bending section 1205, and the shaft 1203 of the endoscope may consist of a single tube that incorporates a series of cuts (e.g., reliefs, slits, etc.) along its length to allow for improved flexibility, a desirable stiffness as well as the anti -prolapse feature e.g., features to define a minimum bend radius). In some cases, the shaft 1203 may comprise a composite structure including coils, braids, and polymers for constructing the shaft to meet a desired stiffness and compliance attributes.

[0231] As described above, the active bending section 1205 may be configured to allow for bending in two or more degrees of freedom (e.g., articulation). A greater bending degree such as 180 and 270 degrees (or other articulation parameters for clinical indications) can be achieved by the unique structure of the active bending section. In some cases, the active bending section may be fabricated separately as a modular component and assembled to the shaft. In some cases, the active bending section may comprise features or a construction at selected locations such that at least a minimum bend radius of the bending section may vary along the length. In some cases, a variable minimum bend radius along the axial axis of the elongate member may be provided. In some cases, features, such as reliefs, maybe formed into the active bending section via a wide variety of manufacturing techniques including, but not limited to, laser cutting, injection molding, casting, forming and other means that are known to those skilled in the art to vary the minimum bend radius, or stiffness. The construction of the active bending section may be achieved through various manufacturing methods such as additive manufacturing, injection molding, laser cutting or other techniques.Attomey Docket No. 55441-736601

[0232] The articulation of the endoscope may be controlled by applying force to the distal end of the endoscope via one or multiple pull wires 1217. The one or more pull wires may be attached to the distal end of the endoscope (e.g., at the distal end of the bending section 1205 or the proximal end of the tip 1207). In the case of multiple pull wires, pulling one wire at a time may change the orientation of the distal tip to pitch up, down, left, right or any direction needed. In some cases, the pull wires may be anchored at the distal tip of the endoscope, running through the bending section, and entering the handle where they are coupled to a driving component (e.g., pulley). This handle pulley 1213 may interact with an output shaft 1523 from the robotic system.

[0233] In some embodiments, the proximal end or portion of one or more pull wires 1217 may be operatively coupled to various mechanisms (e.g., gears, pulleys, capstans, etc.) 1213 in the handle portion of the catheter assembly. The pull wire may be a metallic wire, cable, or thread, or it may be a polymeric wire, cable, or thread. The pull wire can also be made of natural or organic materials or fibers. The pull wire can be any type of suitable wire, cable, or thread capable of supporting various kinds of loads without deformation, deformation, or breakage. The distal end / portion of one or more pull wires may be anchored or integrated to the distal portion of the catheter, such that operation of the pull wires by the control unit may apply force or tension to the distal portion which may steer or articulate e.g., up, down, pitch, yaw, or any direction inbetween) at least the distal portion (e.g., flexible section) of the catheter.

[0234] The pull wires may be made of any suitable material such as stainless steel (e.g., SS316), metals, alloys, polymers, nylons, or biocompatible material. Pull wires may be a wire, cable, or a thread. In some embodiments, different pull wires may be made of different materials for varying the load bearing capabilities of the pull wires. In some embodiments, different sections of the pull wires may be made of different material to vary the stiffness and / or load bearing along the pull. In some embodiments, pull wires may be utilized for the transfer of electrical signals.

[0235] In some embodiments, the provided robotic endoscope can be a single-use endoscope that may beneficially reduce cross-contamination between patients and infections. In some cases, the robotic gastroscope may be delivered to the medical practitioner in a presterilized package and are intended to be disposed of after a single use. The proximal configure may improve the reliability of the device without introducing extra cost allowing for a low-cost single-use endoscope. Alternatively, the robotic endoscope may be reusable.

[0236] The robotic endoscope 1200 may be attached to a robotic support system 1400 via the instrument driving mechanism 1420 as shown in FIG. 14. Alternatively, the robotic endoscope may be attached to a hand-held controller via an IDM on the hand-held controller. TheAttorney Docket No. 55441-736601 instrument driving mechanism (IDM) may be provided by any suitable controller device (e.g., hand-held controller) that may or may not include a robotic system. The instrument driving mechanism may provide mechanical and electrical interface to the steerable catheter assembly 1200. The mechanical interface may allow the steerable catheter assembly 1200 to be releasably coupled to the instrument driving mechanism as described elsewhere herein.

[0237] In some embodiments, the robotic support system 1400 may support one or more IDMs 1431, 1433 for driving operations of one or more robotic instruments and an IDM 1420 for driving operations of the robotic endoscope. In some embodiments, the robotic support system 1400 may comprise a robotic arm 1410 supporting the one or more IDMs as an end effector. FIGs. 18, 20 and 19 shows an example of a robotic arm 1410 mounted on top of a robot cart 1900 (e.g, a bed-side cart in a treatment control system) via a robot mount base 1600. The robotic arm may automatically position the end effector such as the one or more IDMs to any desired position. The end effector of the robotic arm such as the one or more IDMs may have at least three degrees of freedom (e.g, x, y, z translational movement). In some cases, the one or more IDMs may also have pitch, yaw, or roll movement with respect to the robot mount base 1600. For example, the roll movement of the one or more IDMs may be achieved through the IDM mount flange 1601. The robotic arm may position a robotic endoscope to an initial position (e.g., access point, natural orifice) to access the target tissue. In some embodiments, the robot arm can be passively moved by an operator. In such case, an operator can push the arm in any position and the arm compliantly moves (e.g., gravity compensation, admittance control, adaptive control, etc.). As shown in FIG. 14, in some embodiments, the robotic end effector of the robotic arm may comprise user interface feature 1450 for an operator to position the IDM to a desired location. The handle may allow for gross positioning of the IDMs relative to the patient. In some cases, the user interface feature 1450 may comprise a handle and one or more sensors (passive or active) that communicate to the controller of the robotic system when a user intends to position or reposition the robotic end effector. The robot arm can also be controlled in a compliant mode to improve human robot interaction. For example, the compliant motion control of the robot arm may employ a collision avoidance strategy and the position-force control may be configured to save unconfigured energy consumption while reducing impact of possible collisions. The arm may have redundant degrees of freedom allowing for its elbow to be algorithmically, or passively, moved into configurations that are convenient for an operator.

[0238] As described above, the robotic support system 1400 may support one or more IDMs for driving one or more robotic instruments and the robotic endoscope. For example, a proximal end 1107 of a flexible robotic instrument (e.g., suturing instrument) may comprise a mechanical interface to allow the suturing instrument to be releasably coupled to an instrumentAttomey Docket No. 55441-736601 driving mechanism as an end effector of a robotic support or a hand-held controller. The mechanical interfaces may comprise a set of actuators for communicating mechanical energy between the IDM and the robotic instrument for the steering or positioning of the end effector of the instrument end effectors within the surgical site.

[0239] FIGs. 15, 17, and 18 show examples of one or more instrument driving mechanisms (IDM) for one or more robotic instruments. The instrument driving mechanism (IDM) 1431, 1433 for robotic instruments may comprise a set of motors 1535 that are actuated to rotationally drive a set of pull wires of the elongate member of the robotic instrument to control an articulation of the bending section (e.g., bending section), as well as controlling an operation of the end effector such as the needle driver operations. The proximal end of a robotic instrument may be mounted onto the instrument drive mechanism 1431 or 1433 so that its pulley / capstans assemblies are driven by the set of motors 1535. FIG. 18 shows another example of a handle portion of a robotic instrument 1801 releasably coupled to an instrument IDM 1431. The number of pulleys may vary based on the pull wire configurations and / or the end effector operation. In some cases, one, two, three, four, or more pull wires may be utilized for articulating the flexible robotic instrument (e.g., bending section articulation in two or more degree of freedoms) and for driving the motion of the needle end effector. In some cases, one pull wire may be coupled to and driven by a pulley. In some cases, more than one wires may be coupled to a driven pulley. For example, two or more wires may be coupled to the same driven pulley antagonistically to drive the needle end effector motion such that rotation of the pulley provides tension to one wire(s) while slacking the other(s).

[0240] The mechanical actuator interfaces across the more IDMs for driving one or more robotic instruments and the robotic endoscope may be of the same type (e.g., uniform interface such as same set of motors, same geometries). Alternatively, the mechanical actuator interfaces across the more IDMs for driving one or more robotic instruments and the robotic endoscope may have different geometries, to different set of motors. As shown in FIG. 17, the IDM 1431, 1433 for the robotic instrument may have a geometry and a number of motors different from the geometry and motors of the IDM for the endoscope 1420. The IDM mechanical interfaces may be different depending on the system requirements including loads and displacements required at each actuator interface.

[0241] In some embodiments, the one or more instrument IDMs 1431, 1433 may be able to translate 1701 relative to the endoscope IDM 1420. Such translational motion may beneficially facilitate a robotic instrument insertion and retraction through the robotic endoscope e.g., robotic endoscope attached to the endoscope IDM 1420).Attomey Docket No. 55441-736601

[0242] In some embodiments, the robotic endoscope system may comprise a drape providing a sterile barrier that covers the robotic end effector 1907 (e.g., IDMs) and the robotic arm 1410 to maintain a sterile barrier as configured for given surgical procedures. The drape (e.g., drape 1440 in FIG. 14) may include interfaces for aligning with, coupling to, and facilitating exchange with the robotic scope and robotic instruments. As shown in FIG. 18, the one or more IDMs may have mechanical interfaces 1803 for locating and securing the drape and instrument handles 1801. These interfaces may beneficially resist the loads applied between the IDM and instruments while ensuring the electrical connections remain reliable throughout use.

[0243] In some cases, the robotic end effector and robotic arm (e.g, 1907 and 1610 in FIG. 19) may be draped prior to coupling the robotic endoscope and robotic instruments to the robotic end effector. For example, to prepare the robotic cart 1900 and surgeon console 1910, the robotic end effector 1907 and robotic arm 1410 on the robotic cart may be draped and be positioned relative to the patient and the operating room to facilitate a smooth transition to the robotic colonoscope.

[0244] FIG. 19 shows an example of a treatment control system or a robotic cart 1900. In some embodiments, the treatment control system 1900 may include or be integrated with a robotic support system 1600 including the robotic arm 1610, instrument driving mechanism 1907, robotic control unit 1905, and one or more peripheral equipment such as irrigation and aspiration systems 1901, 1903 for managing fluidics, insufflation and smoke evacuation and various other functions. For example, the carbon dioxide (CO2) insufflation 1903 may comprise an insufflator that is pressure-controlled to control flow of CO2 gas to inflate a space, such as the abdomen or digestive tract, for a variety of medical procedures. The insufflator 1903 may be connected to insufflation channels and sensor channels that run through the robotic endoscope for the insufflation process. For example, abdominal Insufflation (Pneumoperitoneum) laparoscopic surgery begins with intraabdominal placement of the robotic endoscope comprising the insufflation feature, followed by carbon dioxide (CO2) insufflation of the abdominal cavity to an intraabdominal pressure (LAP) of 12 to 15 mm Hg. It should be noted other types of gas (e.g, air) may be utilized depending on the medical procedure.

[0245] The mobile cart 1900 may include various elements 1905 such as rechargeable power supply in electrical communication with an electric panel providing charging ports for portable electronic devices, converters, transformers, and surge protectors for a plurality of AC and DC receptacles as power source for the on-board equipment including one or more computers storing application specific software for the treatment interface module.Attomey Docket No. 55441-736601

[0246] The robotic endoscope system herein may comprise a user interface and / or a user console for visualizing the surgical site (e.g., camera view provided by the endoscope camera), controlling delivery of electrosurgical capabilities (e.g., via foot pedals) and user interface devices (handles and positioning systems) for capturing surgeon inputs for robotic control. The user console may provide a user interface for a user to configure the console to the clinician including adjusting the position and orientation of the viewer, configuring the user input devices and arm rest relative to one another and globally. FIG. 19 shows an example of a user interface 1910 for visualizing the camera view or image / video captured by the colonoscope in real time. The user interface may be rendered at a display device 1910 mounted to the robotic cart 1900. The display may or may not be a touchscreen. The display may be a light-emitting diode (LED) screen, organic light-emitting diode (OLED) screen, liquid crystal display (LCD) screen, plasma screen, or any other type of screen. The display may be configured to show a user interface (UI), or a graphical user interface (GUI) rendered through a software application (e.g., via an application programming interface (API) executed on the system). In some cases, the live camera view may be overlaid with virtual renderings, e.g., augmented reality information.

[0247] FIG. 21 shows an example of a user console 2100. The user console may allow an operator or user to interact with the colonoscope remotely during surgical procedures. The user console may comprise one or more user input device such as foot pedals 2101 for a variety of controls including, but not limited to, electrosurgical energy delivery, needle firing (in the case of a purpose-build suturing device) and clutching (e.g., to reposition the robotic scope tip).

[0248] In some cases, the user console may comprise a treatment interface module 2103 configured to provide a user interface displaying information related to using of the colonoscope such as navigation information, user information (e.g., control parameters), robotic endoscope camera view, and the like. Users may view the live colonoscope information, or sensor data via any suitable user interface 2103 (e.g., a display, heads-in stereo viewer, immersive, virtual reality (VR) and augmented reality (AR), etc.). The user console or a component of the user console (e.g., treatment interface module) may be mounted to the robotic cart. Alternatively or in addition to, the user console or a component of the user console (e.g., treatment interface module) may be mounted to a separate mobile cart or a remote system.

[0249] Referring back to FIG. 21, in some cases, the user console may comprise one or more user input devices such as touchscreen measures, touchpad 2107, joysticks, keyboards and other interactive devices 2105 such as shown in the example of FIG. 21 and FIG. 11. In some embodiments, a user may be able to navigate and / or control the motion of the robotic arm and the movement of the robotic endoscope using a user input device 2105. In some embodiments, theAttomey Docket No. 55441-736601 user console may comprise a left user input device 2105 and a right user input device 2105 corresponding to the left hand and right hand movement.

[0250] In some cases, the user input device may be in the form of an ‘arm’ comprising a shoulder assembly, a wrist assembly, and a pincher for controlling the robotic instrument. FIG. 11 shows examples of user input devices 1100. The user input device may be utilized to control the robotic endoscope and / or the robotic instrument such as by capturing and translating the user’s hand input into an instrument output.

[0251] In some embodiments, each arm may comprise a series of links, joints actuated by motors for capturing a user’s hand movement in at least six degrees of freedom. For instance, the shoulder assembly may comprise a haptic arm 1103 for controlling translation movement. In some embodiments, the wrist assembly 1101 may control a distal orientation. In some embodiments, the pincher assembly 1105 may control an end effector movement of the instrument such as jaw movement and rotation. The haptic arm 1103 and wrist assembly 1101 may comprise a series of links and joints allowing for at least six degrees of freedom. In some cases, each arm may comprise 5, 6, 7, 8, or more motors. For example, an arm may comprise seven motors.

[0252] In some cases, the wrist assembly may comprise a precision grip handle for the clinician to grasp. The handle may comprise one or more gripper paddles which are used for controlling an operation of the instrument end effector. In some cases, a user’s input may be intuitively mapped to an operation of an end effector. For example, a user may use the one or more gripper paddles or pincher to open and close the jaws of an instrument in an intuitive manner. For instance, a pinch motion captured by the pincher may be mapped to the close motion of the jaws, and release of the pinch motion may be mapped to the open of the jaws. In some cases, the handle may comprise other input features such as a sliding button which may be used for a variety of purposes including, but not limited to, clutching, parking, swapping instruments, deploying, or stowing instruments within the surgical field.

[0253] While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.

Claims

Atorney Docket No. 55441-736601CLAIMSWHAT IS CLAIMED IS:

1. An insufflation system comprising: a plurality of lumens connected to a gas source at one end and a fluidic interface at an endoscopic system at the other end; and a controller operably coupled to a plurality of switches to switch the plurality of lumens between an insufflation state and a sensing state such that a first lumen from the plurality of lumens is in a sensing state and a second lumen from the plurality of lumens is in an insufflation state concurrently.

2. The insufflation system of claim 1, wherein each of the plurality of lumens comprises a pressure sensor configured to sense a pressure when the respective lumen is in the sensing state.

3. The insufflation system of claim 1, wherein each of the plurality of lumens is controlled to switch between the insufflation state and the sensing state by controlling the plurality of switches.

4. The insufflation system of claim 1, wherein the first lumen and the second lumen are controlled to switch between the insufflation state and the sensing state in an alternating fashion.

5. The insufflation system of claim 2, wherein the controller is further configured to detect an obstruction in one of the plurality of lumens and trigger a purging action to clear the obstruction.

6. The insufflation system of claim 5, wherein the obstruction is detected based at least in part on a pressure monitored by the respective pressure sensor.

7. The insufflation system of claim 1, wherein the endoscopic system is a robotic endoscopic system comprising a robotic endoscope and a mobile tower supporting the robotic endoscope.

8. The insufflation system of claim 7, wherein the fluidic interface is located at the mobile tower.

9. The insufflation system of claim 1, wherein the plurality of lumens comprise a third lumen such that at any given point in time, at least one of the plurality of lumens is in the sensing state, and at least one of the plurality of lumens is in the insufflation state.Atorney Docket No. 55441-73660110. The insufflation system of claim 9, wherein each of the plurality of lumens is switchable between the sensing state, the insufflation state and a purging state.

11. A method for continuous insufflation control, the method comprising:(a) receiving, by a controller, pressure sensing data from a first pressure sensor located at a first lumen from a plurality of lumens;(b) concurrently with (a), controlling by the controller, a second lumen from the plurality of lumens to insufflate gas into a fluidic interface located at an endoscopic system;(c) triggering a first switch associated with the first lumen, by the controller, to switch the first lumen to insufflate gas into the fluidic interface; and(d) triggering a second switch associated with the first lumen, by the controller, to acquire pressure sensing data from a second pressure sensor located at the second lumen.

12. The method of claim 11, wherein the plurality of lumens are connected to a gas source.

13. The method of claim 11, wherein each of the plurality of lumens is switchable between an insufflation state and a sensing state at least by controlling a respective switch by the controller.

14. The method of claim 13, wherein each of the plurality of lumens comprises a pressure sensor configured to sense a pressure when the respective lumen is in the sensing state.

15. The method of claim 11, wherein the first lumen and the second lumen are controlled to switch between the insufflation state and the sensing state in an alternating fashion.

16. The method of claim 15, wherein the alternating fashion comprises a predetermined schedule for the switching between the insufflation state and the sensing state.

17. The method of claim 11, further comprising detecting an obstruction in one of the plurality of lumens.

18. The method of claim 17, further comprising triggering a purging action to clear the obstruction in the one of the plurality of lumens.

19. The method of claim 17, wherein the obstruction is detected based at least in part on a pressure monitored by the respective pressure sensor.

20. The method of claim 11, wherein the plurality of lumens comprise a third lumen such that at any given point in time, at least one of the plurality of lumens is in a sensing state, and at least one of the plurality of lumens is in an insufflation state and wherein each of theAttomey Docket No. 55441-736601 plurality of lumens is switchable between the sensing state, the insufflation state and a purging state.

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