Self-propelled endoscopic probe and system including the same

Abstract

Embodiments generally relate to propulsion devices, systems, or components thereof for advancing an instrument along a channel, and related manufacturing methods. For example, the instrument may include tools, sensors, probes, and / or monitoring devices for medical applications (e.g., endoscopy) or industrial applications (e.g., mining applications). The described embodiments may also be applicable to applications in other fields for advancing an instrument along a channel. Some embodiments relate to an endoscope that includes or is configured to receive a propulsion tube that is configured to assist in advancing the endoscope along a channel.

Description

Technical Field

[0001] Embodiments generally relate to propulsion devices, systems, or components thereof for advancing instruments along a channel. For example, the instruments may include tools, sensors, probes, and / or monitoring devices for medical applications (e.g., endoscopy) or industrial applications (e.g., mining). The described embodiments may also be applicable to applications in other fields involving advancing instruments along a channel. Background Art

[0002] Conventional medical endoscopes require a minimum degree of rigidity to allow them to be pushed into the gastrointestinal tract. However, due to the rigidity of the insertion tube, the minimum bending radius is relatively large and poorly adapted to the anatomy of the gastrointestinal tract. In some cases, pushing the insertion tube against a bend in the intestine can cause damage.

[0003] It would be desirable to address or ameliorate one or more shortcomings of existing systems for advancing an instrument along a channel, or at least provide a useful alternative.

[0004] Throughout the specification, the word "comprise" or words such as "comprises" or "comprising" will be understood to imply the inclusion of a stated element, integer or step, or group of elements, integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.

[0005] Any discussion of documents, acts, materials, devices, articles or the like contained in this specification is not to be taken as an admission that any or all of these matters form part of the prior art base or were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each of the appended claims. Summary of the Invention

[0006] Embodiments generally relate to an endoscopic system or component thereof configured for use with an endoscopic propulsion system. For example, such an endoscopic propulsion system may include an elongated propulsion tube defining a lumen or channel configured to accommodate a fluid (e.g., a liquid, a liquid-gas mixture, or a gas-saturated liquid) and a drive unit including a pressure actuator configured to selectively regulate the pressure of the fluid in the channel. The propulsion system may include multiple features and operate as described in International Patent Application PCT / AU2018 / 050380 or Australian Provisional Patent Application No. 2017901531, the disclosures of which are incorporated herein by reference. According to some embodiments, additional optional or alternative features of the propulsion system are described in the present disclosure.

[0007] The drive unit can be configured to gradually reduce the pressure within the channel of the propulsion tube to induce cavitation and form bubbles in the liquid, and then suddenly increase the pressure to compress the bubbles and cause them to collapse back into the liquid, thereby accelerating at least a portion of the liquid toward the distal end of the propulsion tube so that momentum is transferred from the liquid to the propulsion tube. In this manner, the propulsion system can be used to advance an endoscope along a channel (e.g., a portion of a patient's gastrointestinal tract).

[0008] Although the described embodiments generally relate to the advancement of endoscopic systems and endoscopic probes, the components, systems, methods, and other embodiments described herein can be used to advance or propel other instruments or probes, such as ultrasound devices or other non-endoscopic probes. In addition, the described embodiments can be used with medical or non-medical instruments, such as industrial endoscopes.

[0009] Some embodiments relate to an endoscope configured to receive at least a portion of a propulsion tube of an endoscope propulsion system to facilitate advancement of the endoscope along a passageway. The endoscope may define a propulsion tube conduit configured to receive at least a portion of the propulsion tube. The propulsion tube conduit may terminate at a distal end of an insertion tube of the endoscope adjacent a curved section of the endoscope.

[0010] In some embodiments, the endoscope can include a plurality of flexible ribs extending away from the pusher tube conduit and circumferentially surrounding a portion of the inner surface of the insertion tube. The flexible ribs can resist axial movement of the pusher tube conduit within the insertion tube and transfer momentum from the pusher tube conduit to the insertion tube.

[0011] Some embodiments relate to an endoscope comprising a pusher tube according to any one of the embodiments described herein, the pusher tube being fixed within or forming part of an insertion tube of the endoscope. The pusher tube may terminate at a curved section of the endoscope at a distal end of the insertion tube.

[0012] Some embodiments relate to an endoscope comprising: an insertion tube; a curved section; and a distal head. The insertion tube may include an elongated propulsion tube comprising a first end and a second end opposite the first end, the tube defining a channel configured to contain a liquid, the first end of the channel being closed at or near the first end of the tube, the second end of the channel being defined by the second end of the tube; and a piston assembly connected to the second end of the tube, the piston assembly comprising: a body defining a bore in fluid communication with the channel of the tube; and a movable piston disposed within the bore and configured to seal against an inner surface of the bore, wherein the piston assembly and the tube cooperate to define a sealed container containing a selected mass of a fluid. The fluid may comprise a selected mass of a liquid. In some embodiments, the fluid may comprise a selected mass of a liquid and a selected mass of a gas.

[0013] The distal head is located at the distal end of the curved section and can contain one or more endoscopic or non-endoscopic instruments or probes, such as lights, cameras, ultrasonic transducers, or sensors. The distal head can also provide a distal opening for one or more channels, such as air, gas, or water channels, suction channels, biopsy channels, or instrument channels. The insertion tube can also define channels to accommodate cables, channels, tubes, and conduits that connect the instruments and / or probes of the distal head to a proximal control body or console to operate the endoscope. The piston assembly of the endoscope can be configured to be received in a propulsion console to operate the propulsion tube to transfer momentum to the insertion tube, thereby helping the endoscope to advance along the channel.

[0014] The proximal end of the insertion tube can terminate in a Y-connector or a tee connector. The Y-connector can define a proximal opening of the pusher tube catheter, the proximal opening being configured to allow the pusher tube to enter the pusher tube catheter. The Y-connector can include a connector at the proximal opening of the pusher tube catheter, such as a latch or a blade latch, to connect the pusher tube catheter to the Y-connector.

[0015] In some embodiments, a Y-connector can connect the proximal end of the insertion tube to a control tube. The control tube can connect the Y-connector to a control body that contains one or more controls for operating the endoscope. The control body can define the proximal opening of the instrument channel or biopsy channel of the endoscope.

[0016] In some embodiments, the endoscope can include a connector body connected to a control body via a connector tube or universal tube. For example, the connector body can provide a proximal connection point for one or more cables or conduits of the endoscope, such as a vacuum line, a suction line, a water line, an electrical cable, a signal cable, a camera cable, a video cable, an LED cable, or a fiber optic light guide.

[0017] In some embodiments, the endoscope may include a connector for connecting the curved section directly or indirectly to the insertion tube. The connector may also be referred to as an insertion tube collar, a pusher tube catheter collar, a pusher tube catheter terminal connector, a tube collar, a coil collar, or a distal connector.

[0018] The connector may define a tip configured to receive the distal end of the pusher tube catheter and connect the pusher tube catheter to the connector. The tip may define a pusher tube striker configured to be struck by the pusher tube when used in an endoscope to transfer momentum from the pusher tube to the bending section and insertion tube.

[0019] Some embodiments relate to a connector for connecting a curved section of an endoscope to an insertion tube of the endoscope, the connector defining:

[0020] an outer wall configured for engaging the insertion tube or the curved segment or one or more intermediate connectors to connect the curved segment to the insertion tube;

[0021] an aperture allowing one or more channels or cables to pass from the insertion tube to the curved section; and

[0022] At a distal end within the outer wall, it is configured to receive a propulsion tube guide tube for accommodating a propulsion tube of a propulsion system and is configured to connect the propulsion tube guide tube to a connector,

[0023] At least a portion of the distal end defines a pusher tube striker block configured to be impacted by the pusher tube during use of the endoscope so as to transfer momentum from the pusher tube to the bending section and insertion tube.

[0024] In some embodiments, the end can define a socket configured to receive the distal end of the push tube catheter. In some embodiments, the end can define a ring between the tapered socket and the tapered impact block. The ring can be configured to receive the distal end of the push tube catheter. The impact block can be threadedly engaged with the body of the end and rotatably adjusted to reduce the radial thickness of the ring, thereby clamping the distal end of the push tube catheter in the ring. In other words, rotating the impact block relative to the socket causes the impact block to move along its rotational axis like a screw, thereby adjusting the distance between the impact block and the socket.

[0025] In some embodiments, the impact block can define an orifice to allow fluid communication between the push tube conduit and the vacuum line. This can allow air to vent from the distal end of the push tube conduit to facilitate insertion of the push tube into the push tube conduit. The impact block orifice can be in fluid communication with a vacuum line receptacle defined in the connector and configured to receive the distal end of the vacuum line of the endoscope. In some embodiments, the vacuum line receptacle can be defined in the distal end or in the impact block coaxial with the distal end.

[0026] In some embodiments, a vacuum line receptacle can be defined in the connector adjacent the distal end. The vacuum line receptacle can extend parallel to the distal end and the impact block orifice. The connector can further define a lateral vacuum channel that fluidly connects the vacuum line receptacle to the impact block orifice.

[0027] In some embodiments, the connector may define a plurality of angled cable channels. The angled cable channels may be located near the periphery of the connector. The angled cable channels extend parallel to each other around the connector and are circumferentially equidistant from each other.

[0028] In some embodiments, the connector can include a motion sensor configured to detect movement of the connector. For example, the motion sensor can include an electronic motion sensor configured to detect vibration or changes in inclination, such as a Signal Quest SQ-MIN-200 sensor, or an accelerometer, such as a single-axis accelerometer arranged to detect changes in momentum along the longitudinal axis of the endoscope during operation of the propulsion system. The endoscope can include a motion sensor signal cable to transmit the measurement signal from the accelerometer to a monitoring station.

[0029] In some embodiments, an endoscope may include a polymeric insertion tube. The polymeric insertion tube may include an inner convoluted tube surrounded by a braided or woven mesh and an outer coating. The woven mesh may be bonded to the inner convoluted tube at periodically spaced locations along the tube.

[0030] Some embodiments relate to a polymeric insertion tube for an endoscope, the insertion tube comprising:

[0031] an inner convoluted polymeric tube defined by a plurality of cylindrical sections connected end to end by an annular rib section, thereby allowing the insertion tube to flex about the rib section;

[0032] an intermediate layer of woven polymer fibers surrounding the convoluted tube; and

[0033] An outer polymer coating surrounds the woven fibers.

[0034] In some embodiments, the fibers are bonded to the convolute at specific locations to limit the minimum bend radius of the insertion tube during flexure. For example, the fibers can be bonded to the convolute by heat welding. The fibers can be bonded to the convolute in an annular bonding area extending circumferentially around the convolute. These bonding locations can be equally spaced along the length of the insertion tube. There can be one bonding location on each cylindrical portion.

[0035] The minimum bend radius of the insert tube can be set by selecting one or more of the length, orientation, and tension of the fibers between bonding locations when the insert tube is in an unflexed or straight configuration.

[0036] Some embodiments relate to a method of assembling an endoscope, comprising placing a cable harness and a catheter in a fabric sleeve, and inserting the sleeve and its contents into an insertion tube. The cable harness and catheter may include a pusher tube catheter configured to receive a pusher tube of an endoscope propulsion system. The pusher tube catheter may include a plurality of flexible ribs extending laterally away from the catheter and configured to extend circumferentially around a portion of an inner surface of the insertion tube when installed in the insertion tube.

[0037] The method may further include: placing the pusher tube and flexible ribs on a fabric sheet; placing cables and conduits on top of the ribs; and rolling the fabric sheet to form the fabric sleeve around the cable bundle and conduits, wherein the flexible ribs at least partially surround the cable bundle and conduits. The method may further include sewing opposing edges of the fabric sheet to each other with thread to form the fabric sleeve. The method may further include tying an end of the fabric sleeve to a traction wire to assist in pulling the fabric sleeve, the cable bundle, and the conduits through the insertion tube.

[0038] The method may further comprise removing the fabric sleeve from the insertion tube once the cable bundle and catheter have been installed in the insertion tube.The method may further comprise removing the suture from the fabric sleeve before removing the fabric from the insertion tube.

[0039] Some embodiments relate to a propulsion tube unit comprising:

[0040] an elongated propulsion tube including a first end and a second end opposite the first end, the tube defining a passageway configured to receive a liquid, the first end of the passageway being closed at or near the first end of the tube, the second end of the passageway being defined by the second end of the tube; and

[0041] a piston assembly connected to the second end of the tube, the piston assembly comprising:

[0042] a body defining a bore in fluid communication with the passageway of the tube; and

[0043] a movable piston disposed within the bore and configured to seal against an inner surface of the bore,

[0044] Wherein this piston assembly cooperates with this tube to define the sealed container containing the fluid of selected mass.This fluid can comprise the liquid of selected mass.In some embodiments, fluid can comprise the liquid of selected mass and the gas of selected mass.

[0045] In some embodiments, the sealed container contains the fluid at atmospheric pressure in a rest state corresponding to a rest position of the piston in the cylinder.

[0046] In some embodiments, the rest position of the piston is closer to the end of the cylinder closest to the propulsion tube than the end of the cylinder farthest from the propulsion tube. In some embodiments, the rest position of the piston is located at the end of the cylinder closest to the propulsion tube.

[0047] In some embodiments, the gas is completely dissolved in the liquid at rest. In some embodiments, the fluid comprises only liquid.

[0048] In some embodiments, the sealed container can accommodate the selected mass of liquid and the selected mass of gas at a pressure at or above standard atmospheric pressure in a static (or neutral) state in which the piston is in a static (or neutral) position corresponding to the maximum volume of the sealed container. In this case, the gas and liquid can exist in a two-phase state in a static state, and the piston can be moved to increase the pressure in the sealed container (by reducing the volume of the sealed container) and cause the gas to partially or completely dissolve in the liquid. When the piston is released and allowed to move freely, the sealed container will be allowed to expand, thereby allowing nucleation and cavitation of the gas in the liquid to return to a two-phase gas-liquid static state and return the piston to the static position.

[0049] In some embodiments, the sealed container can accommodate the selected mass of liquid and the selected mass of gas at a pressure at or below standard atmospheric pressure in a static (or neutral) state in which the piston is in a static (or neutral) position corresponding to the minimum volume of the sealed container. In this case, the gas can be partially or completely dissolved in the liquid in the static state, and the piston can be moved to reduce the pressure in the sealed container (by increasing the volume of the sealed container) and cause gas nucleation and cavitation in the liquid to produce a two-phase gas-liquid condition. When the piston is released and allowed to move freely, the atmospheric pressure acting on the piston will return the piston to the static position, thereby allowing the gas to dissolve back into the liquid.

[0050] In certain embodiments, this sealed container can contain the liquid of selected mass and the gas of selected mass in static (or neutral) state under standard atmospheric pressure, and wherein this piston is in static (or neutral) position.In this case, gas can be partially or completely dissolved in liquid under static state, and piston can be moved to increase or reduce the pressure in sealed container.Thereby this piston can move to increase the pressure in this sealed container from this static position and cause this gas to be dissolved in this liquid completely.Or, piston can be moved in to reduce the pressure in sealed container, thereby cause gas nucleation and cavitation in liquid, to increase the gas amount in gas phase.

[0051] In the embodiment in which this fluid only comprises liquid, this sealed container can contain the liquid of the selected mass that is in static (or neutral) state under standard atmospheric pressure, and wherein this piston is in (or neutral) static position.In this case, piston can be moved to increase or reduce the pressure in the sealed container.Thereby this piston can be moved to reduce the pressure in this sealed container and cause gas nucleation and cavitation in this liquid, so that some in these liquids are converted into steam or gas phase.Then movable piston is to increase pressure suddenly and vapor gas is condensed back to liquid.

[0052] In some embodiments, the propulsion tube unit may include a pressure reduction collar connecting a relatively large diameter proximal portion of the propulsion tube to a relatively small diameter distal portion of the propulsion tube. The piston assembly may be configured to cooperate with an actuator to effect movement of the piston, thereby selectively adjusting the pressure of the liquid in the channel to alternately: reduce the pressure to induce cavitation and form bubbles in the liquid; and increase the pressure to cause some or all of the bubbles to collapse back into the liquid, thereby accelerating at least a portion of the liquid toward the first end of the tube and transferring momentum to the tube to advance the tube along the channel.

[0053] The pusher tube may include one or more mechanisms configured to promote cavitation in a plurality of regions spaced along at least a portion of the length of the passageway in a distal portion of the pusher tube when the pressure is reduced. The proximal portion of the pusher tube may define a smooth interior surface to reduce the likelihood of cavitation when the pressure is reduced.

[0054] In some embodiments, the propulsion tube unit further comprises a mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube. The mechanism may comprise a layer of porous ceramic material fixed to the inner distal surface of the propulsion tube.

[0055] Some embodiments relate to a propulsion console for selectively regulating pressure within a channel of a tube of an endoscopic device, the console comprising:

[0056] at least one user input device;

[0057] actuator;

[0058] a connecting member for mechanically coupling a piston of the endoscopic device to the actuator, wherein the actuator is configured to actuate movement of the piston when the piston device is coupled to the actuator; and

[0059] A computing device configured to execute program code to:

[0060] receiving an operation instruction from the at least one user input device; and

[0061] A command is sent to the actuator to control at least one of a speed and a direction of the actuator.

[0062] In some embodiments, the actuator includes: a frame; an actuator shaft; a fixed magnet fixed to the frame; and a moving magnet fixed to the actuator shaft and configured to move with the actuator shaft during operation, wherein at least one of the fixed magnet and the moving magnet includes an electromagnetic coil configured to be operated to cause linear movement of the actuator shaft relative to the frame.

[0063] In some embodiments, the actuator further includes a holding magnet configured to temporarily hold the actuator shaft in a rearward position before releasing the actuator shaft into the forward stroke of the actuator. This may provide the advantage of allowing more time for energy to accumulate in the one or more electromagnets of the fixed magnet and the moving magnet, thereby resulting in a greater force being applied to the actuator shaft for the forward stroke.

[0064] According to some embodiments, the console further includes at least one detection component configured to detect whether the endoscopic device is coupled to the actuator. In some embodiments, when the detection component detects that the endoscopic device is coupled to the motor, the detection component sends a signal to the computing device. In some embodiments, the computing device is configured to send instructions to the motor only after receiving the signal from the detection component indicating that the endoscopic device is coupled to the motor.

[0065] According to some embodiments, the console further includes at least one identification component configured to identify at least one characteristic of the endoscopic device when the endoscopic device is coupled to the actuator. According to some embodiments, the identification component reads an identification code from the endoscopic device when the endoscopic device is coupled to the actuator. According to some embodiments, the identification component is or includes at least one of a camera or a laser scanner, and the identification code is a visual code. According to some embodiments, the code is a QR code. According to some embodiments, the code is a barcode. According to some embodiments, the identification component is or includes an RFID reader, and the identification code is an RFID code. In some embodiments, the identification device sends a signal to the computing device based on the read code. In some embodiments, the computing device is configured to determine an instruction to be sent to the actuator based at least in part on the identification code.

[0066] Some embodiments relate to an actuator comprising: a frame; an actuator shaft; a fixed magnet fixed to the frame; and a moving magnet fixed to the actuator shaft and configured to move with the actuator shaft during operation, wherein at least one of the fixed magnet and the moving magnet comprises an electromagnetic coil configured to be operated to cause linear movement of the actuator shaft relative to the frame.

[0067] In some embodiments, the actuator further includes a holding magnet configured to temporarily hold the actuator shaft in a rearward position before releasing the actuator shaft into the forward stroke of the actuator. This may provide the advantage of allowing more time for energy to accumulate in the one or more electromagnets of the fixed magnet and the moving magnet, thereby resulting in a greater force being applied to the actuator shaft for the forward stroke.

[0068] In some embodiments, the actuator further comprises a spring mounted between a portion of the actuator shaft and a fixed spring mount. The spring can be arranged such that the spring is loaded with latent spring energy during a rearward stroke of the actuator shaft and releases the latent spring energy in the form of a forward pulse applied to the actuator shaft during a forward stroke of the actuator shaft.

[0069] Some embodiments relate to a propulsion system comprising a propulsion tube unit according to any of the described embodiments and a propulsion console according to any of the described embodiments.

[0070] Some embodiments relate to an endoscope system comprising a propulsion system according to any of the described embodiments and an endoscope according to any of the described embodiments.

[0071] Some embodiments relate to a method of assembling an endoscopic system according to any of the described embodiments, the method comprising inserting a pusher tube into a pusher tube catheter.

[0072] The method may further include applying a lubricant to the propulsion tube prior to inserting the propulsion tube into the propulsion tube catheter. The lubricant may include a water-based lubricant, such as a methylcellulose-based lubricant, or other quick-drying lubricant. The method may further include allowing the lubricant to dry to form a frictional bond between the propulsion tube and the propulsion tube catheter. The method may further include operating the propulsion system to successfully induce cavitation and dissolution of gas into the liquid of the propulsion tube, thereby advancing the propulsion tube along the propulsion tube catheter. The method may further include operating the propulsion system to increase the channel pressure of the propulsion tube to strengthen the propulsion tube, thereby allowing the propulsion tube to be pushed into the propulsion tube catheter.

[0073] The method may further include evacuating air from the pusher tube catheter as the pusher tube is inserted into the pusher tube catheter. The method may further include applying suction to a vacuum line in fluid communication with a distal end of the pusher tube catheter to evacuate air from the pusher tube catheter as the pusher tube is inserted into the pusher tube catheter. The method may further include drawing air through the pusher tube catheter via the vacuum line to at least partially dry the lubricant and partially bond the outer surface of the pusher tube to the inner surface of the pusher tube catheter. For example, the dried lubricant may help form an adhesive bond or a frictional bond between the outer surface of the pusher tube and the inner surface of the pusher tube catheter. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Embodiments are described below by way of example with reference to the accompanying drawings, in which:

[0075] Figure 1A is a layout diagram of an endoscope system including an endoscope and a propulsion system according to some embodiments;

[0076] Figure 1B The curved section is shown Figure 1A A close up view of the distal end of the endoscope;

[0077] Figure 1C is used in a clinical setting Figure 1A A perspective view of an endoscope system;

[0078] Figure 2A yes Figure 1A A separate schematic diagram of the propulsion system;

[0079] Figure 2B yes Figure 2A A close-up view and a cross-sectional view of a propulsion tube unit of a propulsion system;

[0080] Figure 2C is a diagram showing a method according to some embodiments Figure 2B A cross-sectional view of a distal end component of a propulsion tube unit;

[0081] Figure 2D Yes Figure 2C Cross-sectional view of the assembly of the distal components.

[0082] Figure 2E It shows Figure 2C A cross-sectional view of the assembly of the distal component and the die forging for limiting the disassembly of the component;

[0083] Figure 2F According to some embodiments Figure 2B A cross-sectional view of a piston assembly of a propulsion tube unit;

[0084] Figure 3A is a diagram illustrating a propulsion console and piston assembly of a propulsion system according to some embodiments;

[0085] Figure 3B yes Figure 3A A front view of the propulsion console;

[0086] Figure 3C yes Figure 3A Arrangement of components of the propulsion control console;

[0087] Figure 3D yes Figure 3A A block diagram of the hardware components of the propulsion console;

[0088] Figure 3E is a diagram showing a method according to some embodiments Figure 2F and Figure 3A A piston portion of a piston assembly and Figure 3A a perspective view of an actuator shaft of an actuator of a propulsion console;

[0089] Figure 3F According to some embodiments Figure 3E a cross-sectional view of a piston and actuator shaft showing the insertion of an end cap of the actuator shaft into a groove and recess of the piston;

[0090] Figure 3G is shown after the piston assembly is rotated to capture the end cap of the actuator shaft in the recess of the piston Figure 3F a cross-sectional view of a component;

[0091] Figure 3H According to some embodiments Figure 2F and Figure 3A an end view of a piston assembly showing a key and keyway of the piston assembly;

[0092] Figure 3J According to some embodiments Figure 2F and Figure 3A an end view of a piston assembly showing a key and keyway of the piston assembly;

[0093] Figure 3K According to some embodiments Figure 3A a schematic diagram of an actuator of a propulsion console;

[0094] Figure 4A yes Figure 1A The endoscope in Figure 1A an end view indicated by line AA;

[0095] Figure 4B yes Figure 1A The endoscope in Figure 1A a cross-sectional view indicated by line BB;

[0096] Figure 4C yes Figure 1A The endoscope in Figure 1A a cross-sectional view indicated by line CC;

[0097] Figure 4D yes Figure 1A The endoscope in Figure 1A a cross-sectional view indicated by line DD;

[0098] Figure 4E yes Figure 1A The endoscope in Figure 1A a cross-sectional view indicated by line EE;

[0099] Figure 4F yes Figure 1A The endoscope in Figure 1A A cross-sectional view indicated by line FF;

[0100] Figure 5A is a longitudinal cross-section of a polymeric insertion tube according to some embodiments;

[0101] Figure 5B yes Figure 5A A side view of a fiber mesh layer of an insertion tube;

[0102] Figure 5C yes Figure 5A A longitudinal cross-sectional view of the insertion tube in a flexed configuration;

[0103] Figure 5D is a longitudinal cross-sectional view of an alternative polymeric insertion tube according to some embodiments;

[0104] Figure 5E is a transverse cross-sectional view of an alternative polymeric insertion tube according to some embodiments;

[0105] Figure 6Ais a perspective view of a pusher tube catheter having friction ribs according to some embodiments;

[0106] Figure 6B yes Figure 6A A perspective view of a pusher tube catheter showing the friction ribs in a flexed configuration;

[0107] Figure 6C is a perspective view illustrating a method of inserting a pusher tube catheter into an insertion tube along with other catheters and cables, according to some embodiments;

[0108] Figure 7A is a perspective view of a connector according to some embodiments;

[0109] Figure 7B yes Figure 7A a second perspective view of the connector;

[0110] Figure 7C yes Figure 7A A side view of the connector;

[0111] Figure 7D yes Figure 7A A side view of a fixing screw of a connector;

[0112] Figure 7E yes Figure 7A an end view of a connector, with multiple section lines indicated;

[0113] Figure 7G yes Figure 7E Indicated by line BB Figure 7A A cross-sectional view of a connector;

[0114] Figure 7F yes Figure 7A The connector is Figure 7E a cross-sectional view indicated by line AA;

[0115] Figure 7H yes Figure 7A The connector is Figure 7E a cross-sectional view indicated by line CC;

[0116] Figure 8A is a perspective view of a Y-connector according to some embodiments;

[0117] Figure 8B It shows Figure 8A An exploded perspective view of the components of the Y-connector;

[0118] Figure 9A Shown Figure 8A A connector subset of components of a Y-connector;

[0119] Figure 9B yes Figure 8A Side view of the strain relief of the Y-connector;

[0120] Figure 9C yes Figure 8A A side view of the strain relief collar of the Y-connector;

[0121] Figure 9D yes Figure 8A A side view of the threaded socket of the Y-connector;

[0122] Figure 9A yes Figure 9D An end view of a threaded socket;

[0123] Figure 9F yes Figure 8A A perspective view of the gasket of the Y-joint;

[0124] Figure 9G yes Figure 8A A side view of the locking lever of the Y-joint;

[0125] Figure 9H yes Figure 8A A plan view of the O-ring of the Y-connector;

[0126] Figure 9J You are assigned a Figure 8A The Y-connector is used in conjunction with a Nitinol locking band;

[0127] Figure 10A Shown Figure 8A A blade latch subset of the components of the Y-joint;

[0128] Figure 10B yes Figure 8A Side view of the blade latch locking screw of the Y-connector;

[0129] Figure 10C Shown Figure 8A Front and side views of the blade latch of the Y-joint;

[0130] Figure 10D yes Figure 8A A cross-sectional view of a pusher tube catheter barb of a Y-connector;

[0131] Figure 10E yes Figure 8A A plan view of the seal of the Y-joint;

[0132] Figure 10F yes Figure 8A The pressure reducing collar of the Y-connector and Figure 2B Side view of the middle thrust tube unit;

[0133] Figure 11A Shown Figure 8AA subset of the joint body of the components of the Y joint;

[0134] Figure 11B It is driven by cap screw Figure 8A Side view of the Y-connector;

[0135] Figure 11C yes Figure 8A A plan view of the locking ring of the Y-connector;

[0136] Figure 11D Shown Figure 8A A side view, an end view and a close-up view of the connector body of the Y connector;

[0137] Figure 11E Shown Figure 11D perspective and cross-sectional views of the connector body;

[0138] Figure 11F Shown Figure 8A Orthogonal view of the side hatch of the Y-joint;

[0139] Figure 11G yes Figure 8A Plan view of the side hatch seal of the Y-joint;

[0140] Figure 11H yes Figure 8A A plan view of the screw cover of the Y-connector;

[0141] Figure 12A is a layout diagram of the improved endoscope system and propulsion tube unit;

[0142] Figure 12B yes Figure 12A A close-up view of the distal connector and bending section of the endoscope system;

[0143] Figure 12C This is a partial back view of the insertion tube of a conventional endoscope (peal back view);

[0144] Figure 12D shows a cross-sectional and end view of the distal head of a conventional endoscope;

[0145] Figure 13A is a perspective view of a distal connector according to some embodiments;

[0146] Figure 13B yes Figure 13A a second perspective view of the distal connector;

[0147] Figure 13C yes Figure 13A An end view of the connector;

[0148] Figure 13D Yes Figure 13C The line GG in the Figure 13A A cross-sectional view of a connector;

[0149] Figure 13E yes Figure 13A A side view of the connector;

[0150] Figure 13F yes Figure 13A A side view of the connector showing the connection of the propulsion tube catheter and the vacuum line to the connector;

[0151] Figure 13G According to some embodiments, Figure 13F The line AA in the Figure 13A and showing the arrangement of cables and conduits in the connector and the curved section;

[0152] Figure 13H According to some embodiments, Figure 13F The line BB indicates Figure 13A sectional view of a connector and showing the arrangement of the connector and the cables and conduits inserted into the tube;

[0153] Figure 14A is an end view of an alternative connector according to some embodiments;

[0154] Figure 14B yes Figure 14A a longitudinal cross-sectional view of the connector; and

[0155] Figure 15 is a perspective view of a pusher tube catheter, according to some embodiments. DETAILED DESCRIPTION

[0156] Embodiments generally relate to propulsion devices, systems, or components thereof for advancing instruments along a channel. For example, the instruments may include tools, sensors, probes, and / or monitoring devices for medical applications (e.g., endoscopy) or industrial applications (e.g., mining). The described embodiments may also be applicable to applications in other fields involving advancing instruments along a channel.

[0157] Some embodiments relate to an endoscopic device, such as an endoscopic probe, a propulsion device, a drive unit, a control device, or an endoscopic system.

[0158] Some embodiments relate to an endoscopic system or component thereof configured for use with an endoscopic propulsion system. For example, such an endoscopic propulsion system may include an elongated propulsion tube defining a lumen or channel configured to contain a fluid (e.g., a liquid-gas mixture or a gas-saturated liquid) and a drive unit including a pressure actuator configured to selectively adjust the pressure of the fluid in the channel. The propulsion system may include various features and operate as described in International Patent Application PCT / AU2018 / 050380 or Australian Provisional Patent Application No. 2017901531, the disclosures of which are incorporated herein by reference.

[0159] The drive unit can be configured to gradually reduce the pressure within the channel of the propulsion tube to induce cavitation and form bubbles in the liquid, and then suddenly increase the pressure to compress the bubbles and cause them to collapse back into the liquid, thereby accelerating at least a portion of the liquid toward the distal end of the propulsion tube so that momentum is transferred from the liquid to the propulsion tube. In this manner, the propulsion system can be used to advance an endoscope along a channel (e.g., a portion of a patient's gastrointestinal tract).

[0160] Reference Figures 1A to 1C , shows an endoscope system 100 according to some embodiments. The endoscope system 100 generally includes an endoscope 110, a video console 190, and a propulsion system 200, which includes a propulsion tube unit 210 and a propulsion console 300. Figure 1A Shown in Figures 4A to 4F The cross-section of the endoscope shown corresponds to a number of cross-sectional lines illustrating the presence of cables and conduits at different locations along the endoscope.

[0161] Endoscope 110 includes insertion tubes 1071, 571, 1042, a curved section 120, and a distal head 130. Distal head 130 is located at the distal end of curved section 120 and can contain one or more endoscopic or non-endoscopic instruments or probes, such as a light, camera, ultrasound transducer, or sensor. The distal head 130 can also provide a distal opening for one or more channels, such as an air, gas, or water channel, a suction channel, a biopsy channel, or an instrument channel.

[0162] Endoscope 110 differs from conventional endoscopes in that it includes a pusher tube conduit 1025 within the insertion tube that is configured to receive the pusher tube 220 of the propulsion system 200. Endoscope 110 may include an insertion tube 1042 of a conventional type or a similar type as described herein. Figures 5A to 5E1071 . In some embodiments, the pusher tube 220 may be permanently fixed within or form a portion of the insertion tube 1042 , 571 , 1071 . The endoscope 110 includes a distal connector 0007 , 1035 to connect the distal end of the insertion tube to the proximal end of the curved section. In some embodiments, one or more intermediate connectors may be present between the distal connector 0007 , 1035 and the curved section 120 . The distal connector 0007 , 1035 also provides a termination point for the pusher tube catheter, as discussed further below.

[0163] The proximal end of the pusher tube catheter terminates in a three-way connector or Y-connector 140, which provides an opening for inserting the pusher tube 220 into the pusher tube catheter.

[0164] Conventional endoscope cables and catheters branch at the Y-junction 140 via a control tube 155 to a control body 150. The control body 150 includes a biopsy port and controls for operating the endoscope 110, including valves for controlling suction, air, and water, and an angle control knob for manipulating the bending section 120. In some embodiments, the control body 150 may also include one or more switches 157 for operating the propulsion system 200. The control body 150 is connected to the connector body 160 via a connecting tube or universal tube 1094.

[0165] Alternatively, in some embodiments, the Y-connector 140 may also include a control body 150. However, it may be preferable to separate the control body 150 from the Y-connector 140 by a flexible control tube 155 as shown in the figures for ease of use, as the control tube 155 allows some movement of the Y-connector 140 without shocking or causing vibrations in the control body 150, which may be uncomfortable for the operator.

[0166] Figure 1C The endoscope system 100 is shown in use in a clinical setting, with a video console 190 connected to a video monitor 195 to display video from a camera on the distal head 130 .

[0167] Propulsion system 200 Figure 2A 300. The propulsion tube unit 210 may include a propulsion tube 220 and a piston assembly 450, as described in International Patent Application PCT / AU2018 / 050380. Further optional or alternative features of the piston assembly 450 and the propulsion tube 220 are set forth below.

[0168] The pusher tube 220 may also include a pressure reduction collar 3007 that connects the relatively larger diameter proximal portion 222 of the pusher tube 220 to the relatively smaller diameter distal portion 224 of the pusher tube 220. The distal portion is configured for insertion into the pusher tube catheter 1025, while the proximal portion 222 is used solely to transfer fluid and pressure from the pusher console to the distal portion of the pusher tube. The distal end of the pusher tube 220 may be sealed with, for example, a plug and stainless steel swage. In some embodiments, the pusher tube 220 may be formed with a closed distal end.

[0169] In embodiments where the pusher tube 220 is formed with an open distal end, it may be closed with a plug. Figures 2C to 2E A suitable plug and swage arrangement is shown in .

[0170] Pusher tube 220 may include a plug 230 configured to be inserted into and close the distal end of pusher tube 220, and a swage 240 configured to limit removal of plug 230 from pusher tube 220. Plug 230 may be substantially cylindrically symmetrical and is shown in cross-section in the figures.

[0171] The diameter of the plug 230 can vary from a first end 231 having a diameter substantially similar to the inner diameter of the pusher tube 220, through a middle portion 233 extending between the first and second ends 231, 232 and having a smaller diameter than either end 231, 232, to a second end 232 having a diameter similar to the first end 231. The plug 230 can be formed primarily of an inert material, such as stainless steel.

[0172] The swage 240 may define a hollow cylinder having an initial inner diameter greater than or similar to the outer diameter of the pusher tube 220 to allow the swage 240 to be placed on the distal end of the pusher tube 220, as shown. Figure 2D shown.

[0173] The distal end of the pusher tube 220 can be closed by inserting the two ends 231, 232 of the plug 230 into the lumen of the distal end of the pusher tube 220. The plug 230 can then be held in place (or restricted from removal) by swaging a swage 240 around the intermediate portion 233 of the pusher tube 220 and the plug 230, as shown in FIG. Figure 2E As shown, the inner diameter of the swage 240 is thereby reduced to clamp a portion of the wall of the pusher tube 220 between the swage 240 and the intermediate portion 233 and / or the ends 231, 232 of the plug 230. The outer diameter of the swage 240 can be reduced to a diameter that is substantially similar to or slightly smaller than the initial outer diameter of the pusher tube 220. This may be necessary in some embodiments to allow the pusher tube 220 to be fed through the pusher tube catheter 1025.

[0174] The swage 240 may be formed from a ductile material, such as a metal or metal alloy (e.g., steel, brass, copper, etc.) The swage 240 may be swaged (and reduced) around the pusher tube 220 and the plug 230 positioned therein by crimping or otherwise deforming the swage 240 to reduce its diameter as described above.

[0175] The obturator 230 may further include a striker 235 having a diameter substantially similar to the outer diameter of the distal portion 224 of the pusher tube 220 and configured to abut the distal end of the pusher tube 220 when the obturator 230 is inserted therein. Figure 2D and Figure 2E The impactor 235 can be configured to impact the impact block 710 (described below) of the distal connector 0007 to transfer momentum from the propulsion tube 220 to the insertion tube 1071 of the endoscope 110 during operation of the propulsion system 200 .

[0176] In some embodiments, the plug 230 may further comprise a mechanism 237 to promote gas nucleation and / or cavitation in the fluid near the distal end of the propulsion tube 220. The mechanism 237 may comprise any suitable device for enhancing, promoting, intensifying, or increasing the likelihood of cavitation, bubble nucleation, and / or bubble coalescence, such as those described in PCT / AU2018 / 050380.

[0177] In some embodiments, the mechanism 237 can comprise a surface variation, surface coating, or layer of material that is configured to form the interior distal end surface 239 of the pusher tube 220 when the plug 230 is inserted to close the distal end of the pusher tube 220. For example, the mechanism 237 can comprise a disk or layer of porous ceramic material secured to the first end 231 of the plug 230. In some embodiments, the mechanism 237 can comprise an active piezoelectric ceramic transducer element. The mechanism 237 (e.g., a disk of porous ceramic material) can be secured to the first end 231 of the plug 230 by a suitable adhesive (e.g., epoxy).

[0178] Any suitable porous material can be used for the mechanism 237 to promote gas nucleation. For example, some suitable materials include porous ceramics, porous alumina ceramics, or porous zirconia ceramics. The porous material can have a porosity in the range of, for example, 1% to 20%, 2% to 10%, 3% to 8%, or about 5%. For example, the porous material can have a pore size in the range of 10 to 50 microns, or 20 to 40 microns. The porous ceramic material can be formed into a disk having a diameter similar to the inner diameter of the propulsion tube 220 and a thickness in the range of, for example, 0.5 mm to 5 mm, 1 mm to 3 mm, or 1 mm to 2 mm.

[0179] In some embodiments, the porous ceramic material of structure 237 may comprise an oxide mixed ceramic or dispersed ceramic to reduce pore deformation. Such a material may include a certain amount of SrO, Y2O3, and / or Cr2O3 added to the ceramic. The matrix may include strontium oxide for forming thin sheets, which resists crack propagation, thereby maintaining the toughness of the material.

[0180] See again Figure 2A , the distal portion 224 of the pusher tube 220 must have a relatively small diameter to fit within the pusher tube catheter 1025, while the proximal portion 222 can have a larger diameter to reduce tube friction resistance in this portion of the pusher tube 220. For example, the distal portion of the pusher tube can have an inner diameter of 3 mm and an outer diameter of 4 mm, while the proximal portion can have an inner diameter of 6 mm and an outer diameter of 8 mm. The distal portion 224 can extend substantially the entire length of the insertion tube 1071, which may or may not include the length of the curved section 120. For example, the distal portion 224 of the pusher tube 220 can have a length ranging from 2 to 5 meters, from 3 to 4 meters, approximately 3 meters, or approximately 2.7 meters. In some embodiments, the length of the proximal portion 222 of the pusher tube 220 can be a fraction of the length of the distal portion 224 of the pusher tube 220, such as less than 40%, less than 30%, less than 20%, or approximately 35%. The pusher tube may include one or more mechanisms configured to promote cavitation in a plurality of regions spaced apart along at least a portion of the length of the passageway in a distal portion of the pusher tube when the pressure is reduced. For example, the inner surface of the distal portion 224 of the pusher tube 220 may define surface variations to promote cavitation in a plurality of regions. The proximal portion 222 of the pusher tube 220 may define a smooth inner surface to reduce the likelihood of gas nucleation and cavitation when the pressure is reduced. The proximal portion 222 of the pusher tube 220 may be formed from or coated with a hydrophilic material having a low nucleation potential, such as PFA (perfluoroalkoxyalkane) or PTFE (polytetrafluoroethylene).

[0181] The step-down collar 3007 may be received in the Y-joint 140 via, for example, a blade latch 1013 and locked in place by the blade latch.

[0182] Figures 3A to 3D The propulsion control console 300 is shown in more detail. The propulsion control console 300 is configured to control the operation of the propulsion tube unit 210. The piston assembly 450 of the propulsion tube unit 210 is releasably received in the piston assembly receiver 310 of the propulsion control console 300. Figure 3C As shown, the piston assembly receiver 310 includes one or more piston assembly detection and / or identification components 311.

[0183] For example, in the illustrated embodiment, the piston receptacle 310 includes a microswitch 312 and an RFID reader 314. The microswitch 312 is configured to detect the presence of the piston assembly 450 in the piston assembly receptacle 310, while the RFID reader 314 is configured to read an RFID tag 311 located on the piston assembly 450. The RFID tag 311 may include a glass bead-type RFID tag secured in a recess in the body of the piston assembly 450. The piston assembly receptacle 310 also includes a connecting member 316 for connecting the piston assembly 450 to the actuator 320 configured to actuate the piston assembly 450.

[0184] As described in PCT / AU2018 / 050380, the piston assembly 450 may include a body 452 defining a cylinder 454, a piston 456 disposed in the cylinder 454, and a piston seal that seals the piston 456 against the inner bore of the cylinder 454. The piston 456 and the cylinder 454 act together to form a piston pump. One end of the cylinder 454 is connected to and in fluid communication with the propulsion tube 220, while the other end of the cylinder 454 defines an opening to allow mechanical communication between the piston 456 and the actuator 320. Removal of the piston 456 from the cylinder 454 may be limited by a clamp 455 (e.g., an open spring coil), and a buffer ring 453 may be disposed between the clamp 455 and the piston 456, as shown in FIG. Figure 2F and 3F shown.

[0185] In some embodiments, the propulsion tube unit 210 may further include a removable cap 458 to temporarily seal the open end of the cylinder 454. The cap 458 can be configured to engage a portion of the main body 452 and seal the cylinder 454 in a substantially pressure-tight manner to protect the cylinder's inner bore and, for example, resist movement of the piston 456 within the cylinder 454 due to changes in ambient atmospheric pressure during transport. The cap 458 can include a bayonet or screw-type engagement portion, for example, to couple to the main body 452. The piston assembly 450 may further include one or more seals or gaskets between the main body 452 and the cap 458. Once the piston 456 is installed in the cylinder and the passageway of the propulsion tube 220 is filled with a selected mass of fluid and sealed, the cap 458 can be attached to the main body 452 to seal the open end of the cylinder. The propulsion tube unit 210 can then be sterilized and packaged. The cap 458 can then be removed when the propulsion tube unit 210 is to be connected to the propulsion console 300 for operation.

[0186] For propulsion tube units containing liquids and gases at pressures above standard atmospheric pressure, actuator 320 can be used to move piston 456 from its rest position within the bore of cylinder 454 by extending actuator rod or shaft 321 to contact and push piston 456 along the length of the bore. When actuator shaft 321 is retracted, pressure within propulsion tube 220 acts to return piston 456 to its rest position.

[0187] For propulsion tube units containing liquids and gases at pressures equal to or below standard atmospheric pressure, it may be necessary to mechanically couple the actuator shaft 321 to the piston 456 so that the actuator 320 can pull the piston 456 along the bore and can push the piston 456.

[0188] For example, the liquid can be saturated with gas within the propulsion tube unit's sealed container at a partial pressure approximately equal to standard atmospheric pressure. In a static state, with no force acting on piston 456 at atmospheric pressure, the corresponding static position of piston 456 can be at or near the forwardmost position in cylinder 454, corresponding to the remaining volume of the propulsion tube unit's sealed container. In some embodiments, the remaining volume can be equal to the minimum volume of the propulsion unit's sealed container, and the static position of piston 456 can be the forwardmost position of piston 456 in cylinder 454. In some embodiments, the residual volume can be greater than the minimum volume of the sealed container and less than the maximum volume of the propulsion tube unit's sealed container. The static position of piston 456 can be between the forwardmost position and the rearmost position in the cylinder. The static position of piston 456 can be between the two ends of the bore of cylinder 454. In some embodiments, the static position of piston 456 can be closer to the forwardmost position in cylinder 454 than to the rearmost position in cylinder 454.

[0189] In these cases, the piston 456 can be pulled toward the rearmost end of the cylinder 454 by the actuator 320 to reduce the pressure in the sealed container and induce gas cavitation from the liquid. Due to the backward force on the piston 456 caused by the actuator 320, the desired cavitation and separation of the liquid column will occur at low pressure.

[0190] As the piston 456 is moved forward to increase the pressure in the sealed container and dissolve the gas back into the liquid, the action of atmospheric pressure, which is proportional to the differential pressure, assists the forward stroke of the piston 456. This reduces the amount of force required by the pressure actuator to generate the desired forward velocity and, therefore, reduces the transfer of kinetic energy from the fluid medium to the propulsion tube and endoscope 110.

[0191] See also Figure 3E and Figure 3FIn some embodiments, the actuator rod 321 can include an end cap 322 configured to engage a portion of the piston 456 to mechanically couple the piston 456 to the actuator shaft 321. The end cap 322 can extend laterally beyond the diameter of the actuator shaft 321 and can be wider in one direction than in another. For example, Figure 3E As shown, the end cap 322 may comprise an oval plate, a rectangular plate, or a rounded rectangular plate.

[0192] The piston 454 may define an aperture or slot 457 configured to receive the end cap 322, with an edge of the slot 457 being arranged to partially extend out of the chamber or recess 459, also configured to receive the end cap 322. Figure 3E Shown in perspective and Figure 3F The groove 457 can define a shape that is complementary to the profile of the end cap 322.

[0193] The groove 457 and the end cap 322 are arranged to align when the piston assembly 450 is inserted into the propulsion console 300, as shown in FIG. Figure 3A and 3E 459. As shown, the piston 456 is mechanically coupled to the actuator shaft 321 by inserting the piston assembly 450 into the slot 457. The piston 456 is mechanically coupled to the actuator shaft 321 by inserting the piston assembly 450 into the slot 457. The piston 456 is mechanically coupled to the actuator shaft 321 by inserting the piston assembly 450 into the slot 457. The piston 456 is mechanically coupled to the actuator shaft 321 by inserting the piston assembly 450 into the slot 457.

[0194] Figure 3F The end cap 322 is shown aligned with the groove 457 when the end cap 322 is inserted through the groove 457 into the recess 459. The piston assembly 450 is then rotated (e.g., 90 degrees so that the length of the end cap 322 is aligned with the width of the groove 457) so that the end cap is captured in the recess 459, as shown. Figure 3G As shown. The end cap 322 can contact the piston 456 to push it away from the actuator 320 (forward stroke). Figure 3G It can also be seen in Figure 3 that when the actuator shaft 321 is retracted, the end cap 322 will catch on the edge of the confining groove 457 and pull the piston 456 towards the actuator 320 (rearward stroke).

[0195] In some embodiments, the recess 459 can be deeper in the axial direction than the corresponding depth of the end cap 322. This can allow the end cap 322 a free travel distance within the recess 459 to allow the actuator shaft 321 to accelerate unimpeded to a desired forward velocity before impacting and propelling the piston 456 forward. The free travel distance can be, for example, in the range of 1 mm to 10 mm, 1 mm to 5 mm, or 1 mm to 2 mm.

[0196] In some embodiments, the groove 457 and the recess 459 can be formed in the body of the piston 456, for example, by injection molding. In some embodiments, the piston 456 can include separate components that are configured to be assembled to form the groove 457 and the recess 459 by, for example, welding, adhesives, and / or mechanical fasteners. Figure 3F shown.

[0197] In some embodiments, the piston 456 can include a piston head 456a and a piston shaft 456b. The piston shaft 456b can be narrower than the piston head 456a. In some embodiments, the piston shaft 456b can be narrower than the inner diameter of the open spring ring 455, so that a portion of the piston shaft 456b is allowed to pass through the open spring ring 455 in the final position in the cylinder 454 to engage the actuator shaft 321, as shown in FIG. Figure 3G shown.

[0198] In some embodiments, the piston 456 and the cylinder 454 can be keyed to prevent or mitigate rotation of the piston 456 within the cylinder 454, which could result in misalignment of the slot 457 of the piston 456 with the actuator's end cap 322. That is, corresponding portions of the piston 456 and the cylinder 454 can define complementary surfaces (e.g., non-cylindrical surfaces) configured to engage one another and prevent relative rotation.

[0199] Any suitable bonding surface configuration may be employed. For example, in some embodiments, Figure 3H As shown, the piston shaft 456b can include an elongated key 451 that protrudes radially from the cylindrical surface of the piston shaft 456b and extends along a portion of the piston shaft 456b. When the piston 456 moves back and forth in the cylinder 454, the key 451 can engage a keyway 461 to maintain a constant rotational orientation relative to the cylinder 454. For example, the keyway 461 can be formed by a gap in the open spring coil 455.

[0200] In some embodiments, the piston shaft 456b may define an elongated keyway 461, such as Figure 3JAs shown. Keyway 461 can be defined by an elongated recess extending axially along piston shaft 456b and can be configured to receive key 451 that protrudes radially inward from the sidewall of cylinder 454. For example, key 451 can comprise a screw inserted through the sidewall of cylinder 454 so that it extends into key recess 461 of piston shaft 456b. As piston 456 moves back and forth within cylinder 454, piston shaft 456b can track along key 451 while key 451 remains within a portion of keyway 461.

[0201] According to some embodiments, the actuator 320 can be an electric motor, such as a linear motor. In some embodiments, the actuator 320 can be a direct-drive single-axis linear actuator. For example, the actuator 320 can be capable of a 50 mm stroke with a force potential of 240 to 1200 N.

[0202] In embodiments where piston 456 is moved rearward by actuator 320 to reduce pressure to a pressure below atmospheric pressure, when the rearward force from actuator 320 is released, atmospheric pressure will act on piston 456 to move it toward its resting position. Actuator 320 can also be operated to push piston 456 forward toward its resting position. In some cases, atmospheric pressure may act to begin pushing piston 456 forward in cylinder 454 before actuator 320 has begun applying a forward force to piston 456. In such cases, the initial forward pulse due to atmospheric pressure may induce a pressure wave in the fluid column of the propulsion tube, which may be detrimental to the operation of the propulsion system. Therefore, actuator 320 may be configured to cause forward movement of piston 456 faster than or at the same speed as would occur due to atmospheric pressure and inertia alone.

[0203] Reference Figure 3K , according to some embodiments, the actuator 320 is shown in more detail. The actuator 320 includes an actuator shaft 321 and an end cap 322 as described above. The actuator shaft 320 extends from an actuator housing 3201, which also houses the other components of the actuator 320 mentioned below.

[0204] Movement of the actuator shaft 321 is achieved by a fixed magnet 3210, which is fixed relative to the actuator housing 3201, and a moving magnet 3220, which is attached to the shaft 321 via a carriage 3221 and moves with the shaft 321 and carriage 3221. The moving magnet 3220 may include an electric coil configured to operate as an electromagnet to cooperate with the fixed magnet 3210 to cause linear movement of the shaft 321 due to the opposing magnetic fields of the fixed magnet 3210 and the moving magnet 3220. In some embodiments, the moving magnet 3220 may include multiple electromagnetic coils arranged in parallel.

[0205] The fixed magnet 3210 can include one or more permanent magnets and / or electromagnets. In some embodiments, the magnets of the fixed magnet 3210 can be arranged in a Halbach array to increase the magnetic flux density in the area of ​​the moving magnet 3220 during operation. In some embodiments, the fixed magnet 3210 can be composed entirely of one or more electromagnets.

[0206] The fixed magnet 3210 and the moving magnet 3220 can each be controlled by a controller 3230, which controls the electrical power provided to the magnets 3210, 3220 by the power supply 3205. The actuator 320 can further include an encoder 3235 and an associated encoder scale 3236, which is configured to measure and monitor the position of the carriage 3221 and / or shaft 321 and feed the position information back to the controller 3230.

[0207] In some embodiments, the actuator 320 may further include a biasing member, such as a spring 3240, to bias the shaft 321 to the extended position. For example, the biasing member may include a helical compression spring 3240 that may be positioned between the carriage 3221 and a spring stop 3242 positioned behind the carriage 3221. The spring 3240 may be positioned around a portion of the shaft 321, such as at Figure 3G As shown in .

[0208] This bias 3240 can be loaded during rearward movement of the shaft 321 and provide an additional forward force (in addition to the magnetic force) to help push the actuator shaft 321 forward.

[0209] In some embodiments, the actuator 320 may further include a retaining magnet 3253. The retaining magnet 3253 may include an electromagnet or solenoid powered by the power supply 3205 and controlled by the controller 3230. The retaining magnet 3253 may be operated to temporarily hold the shaft 321 in the rearward position while the electromagnets of the moving magnet 3220 and the fixed magnet 3210 are switched to provide a forward force to the shaft 321, and then release the shaft 321 to begin the forward stroke once the moving magnet 3220 and the fixed magnet 3210 are energized. This may allow time for the electromagnet to become fully energized before initiating the actuator's forward stroke, thereby increasing the pulse applied to the actuator shaft.

[0210] This allows the forward magnetic forces to act simultaneously with the differential pressures acting on the piston (and optionally additional force from potential energy stored in the biasing member 3240 or spring) to combine to provide a single pulse to the shaft 321 to drive the piston 456 forward.

[0211] This arrangement is adapted to provide a significantly faster forward stroke (relative to the rearward stroke) of the piston 456 to suddenly dissolve the gas into the liquid in the propulsion tube 220 and thereby impart momentum to the insertion tube 1071 of the endoscope via the propulsion tube 220, while the relatively slower rearward stroke is adapted to pull the piston 456 rearwardly and (optionally) simultaneously load the spring or biasing member 3240.

[0212] The shaft 321 may further include a magnetic plate 323 configured to engage and be retained by the retaining magnet 3253. For example, the magnetic plate 323 may be formed of a non-magnetized ferromagnetic material or a permanent magnet.

[0213] In some embodiments, the actuator 320 may further include a holding magnet actuator 3255 powered by the power supply 3205 and controlled by the controller 3220, the holding magnet actuator being configured to adjust the position of the holding magnet 3253 to adjust the stroke length of the actuator and / or the force or velocity distribution of the actuator 320. The holding magnet actuator 3255 may be connected to the holding magnet 3253 via a connector rod 3256. The holding magnet actuator 3255 may include a ball screw actuator.

[0214] According to some embodiments, the actuator 320 may have data input and output capabilities. For example, the actuator 320 may be configured to receive input commands from an actuator controller 325, which may receive instructions from an onboard computing device 330. According to some embodiments, the computing device 330 may be a single board computer (SBC). The computing device 330 may communicate with an input / output relay board 361 and an input / output distribution board 362 for processing inputs and outputs to the computer 330. In some embodiments, the actuator 320 may be further configured to output a sensor signal, such as a "low pressure" or "no pressure" signal, to the actuator controller 325 to indicate a fault, such as a fluid leak within the piston assembly 450.

[0215] According to some embodiments, actuator controller 325 may include a programmable encoder having an interface configured to control the operation of actuator 320. According to some embodiments, actuator controller 325 may be a single-axis encoder, such as a 5-micron single-axis encoder. According to some embodiments, actuator controller 325 may include an input / output interface to facilitate communication with actuator 320.

[0216] In the illustrated embodiment, propulsion console 300 also includes power supplies 352 and 354. In some embodiments, power supply 352 may be a 48V power supply, while power supply 354 may be a 5V power supply.

[0217] The propulsion console 300 also includes communication devices, including an endoscope interface 362 and a serial interface 364, as described in further detail below.

[0218] Figure 3D The hardware components of the propulsion console 300 are shown in greater detail. The computing device 330 includes a processor 332 and a memory 334. The processor 332 may include one or more data processors for executing instructions and may include one or more of a microprocessor, a microcontroller-based platform, a suitable integrated circuit, an application-specific integrated circuit (ASIC), or an arithmetic logic unit (ALU) for mathematical and / or logical execution of instructions on data stored in any internal registers. The processor 332 may be configured to access the memory 334 and execute instructions in the program code 336 stored in the memory 334. The memory 334 may include one or more storage locations in the form of ROM, RAM, flash memory, or other memory types. The memory 334 stores the program code 336 that can be executed by the processor 332. The memory 334 may also store data that can be read and written by the processor 332, such as operating parameters 338. When the program code 336 is executed by the processor 332, the processor 332 can write and read the operating parameters 338.

[0219] Actuator controller 325 can receive instructions from computing device 330 and send instructions to actuator 320 according to one or more actuator control sequences stored in program code 336 to cause actuator 320 to actuate piston assembly 450, as described in further detail below. According to some embodiments, actuator controller 325 can form part of computing device 330. According to some embodiments, actuator controller 325 can operate independently of computing device 330 and can include its own memory 326 that stores an executable command set for controlling the operation of actuator 320. According to some embodiments, the command set can be stored as a macro command set within actuator controller 325. Command set 327 can be executed by actuator controller to control the movement of actuator 320.

[0220] The command set 327 may include one or more command sets for each type of propulsion tube unit 210 that can be connected to the propulsion console 300. The appropriate command set is selected from the stored command sets 327 by matching the data read by the RFID reader 314 with the identification code associated with each command set. As described below, in some embodiments, the execution of the selected command set can be initiated and terminated based on the detection of user input, which can be via the foot switch controller 342 or the handheld remote control 344. Each command set can include one or more time / position data sets that can be interpreted and converted into motion by the actuator controller 325. According to some embodiments, the actuator controller 325 can include a binary encoder 328 to interpret the time / position data sets. According to some embodiments, the binary encoder 328 can have a position resolution of 5 microns.

[0221] One or more command sets 327 may be in a fixed profile format, where time-position and velocity parameters are fixed based on parameters determined to produce optimal movement for the identified thrust tube unit 210. These fixed profile command sets may be configured to cause the actuator 320 to produce an inverse sawtooth pressure / time profile when executed, such as defined in International Patent Application No. PCT / AU2018 / 050380. One or more command sets may be in a smart profile format, where time-position and velocity parameters are modified in real time based on feedback from the actuator 320 and sensors and transducers located on the thrust tube unit 210 (e.g., one or more gas pressure transducers 370 and / or motion sensors or accelerometers 760), as described in further detail below. For example, a command set for a particular thrust tube unit 210 may include commands for running forward at 5 Hz, running forward at 3 Hz, running forward at 2 Hz, and running forward at 1 Hz. The actuator controller 325 may be initiated by executing the first command (3 Hz). However, if the pressure transducer 370 senses an overpressure condition, the actuator controller 325 can terminate the command and start the Macro for a predetermined cycle count at a lower frequency (e.g., 2 Hz or 1 Hz). The actuator controller 325 can continue to reduce the cycle rate until it determines that the pressure is within safe predetermined parameters. If the lowest frequency does not resolve the overpressure condition, a permanent interrupt may be triggered that requires user reset intervention.

[0222] In some embodiments, the propulsion tube 220 may include a pressure transducer 370 configured to measure the channel pressure of the propulsion tube 220. In some embodiments, the actuator 320 may be configured to act as a pressure sensor 370 as well as an actuator by providing feedback to the controller 325, including force resistance data indicating the level of force applied by the actuator to the piston, from which the channel pressure of the propulsion tube 220 can be inferred.

[0223] The detection and identification components 311 , such as the microswitch 312 and the RFID reader 314 , may be communicatively coupled to the processor 332 to allow the processor 332 to receive signals generated by the components 311 .

[0224] In some embodiments, microswitch 312 can be configured to operate as a safety interrupter switch to reduce the risk of injury to the patient and the device user. For example, microswitch 312 can be configured to close the circuit between actuator 320 and power source 350 so that power cannot be supplied to actuator 320 if piston assembly 450 is not properly inserted into piston assembly receptacle 310. Microswitch 312 can be configured to be actuated when piston assembly 450 is fully inserted into piston assembly receptacle 310. According to some embodiments, when microswitch 312 is activated, microswitch 310 can also send an activation signal to computing device 330, which can be used to determine that piston assembly 450 has been inserted into piston assembly receptacle 310.

[0225] RFID reader 314 can be positioned so that when piston assembly 450 is fully inserted into piston assembly receptacle 310, RFID reader 314 is positioned adjacent to an RFID tag located on piston assembly 450. RFID reader 314 is configured to read the RFID tag located on piston assembly 450 and transmit the read RFID code to computing device 330. Upon receiving the RFID code, computing device 330 can be configured to determine the type of inserted propulsion tube unit 210 based on a database of RFID codes stored in memory 334. Computing device 330 can also be configured to select a code module for execution from program code 336 based on the recognized RFID code. If the RFID tag is not recognized, computing device 330 can prevent any code module from executing to prevent activation of actuator 320 if an invalid or incompatible piston assembly 450 is coupled to console 300. In some embodiments, RFID reader 314 can be replaced by another device configured to read identification codes (e.g., a laser scanner for reading barcodes, or a camera for reading QR codes).

[0226] In the case where the propulsion tube unit 210 is configured as a single-use, disposable unit, the RFID reader 314 may further include an RFID deactivation device 315, which in some embodiments may be an electromagnetic RFID deactivation device. The RFID deactivation device 315 may be configured to generate an electromagnetic field to deactivate the RFID tag, so that once the propulsion tube unit 210 is withdrawn, it cannot be read by the RFID reader 314 if the propulsion tube unit 210 is reinserted, thereby preventing the propulsion tube unit 210 from being reused for more than one patient. This can prevent cross-infection and fatigue failure of the propulsion tube unit 210.

[0227] For example, if the RFID reader 314 is replaced with a laser scanner for reading barcodes or a camera for reading QR codes, the RFID deactivation device 315 can be replaced with a different code deactivation device configured to render codes read by the device unreadable or invalid. According to some alternative embodiments, the computing device 330 can be configured to store the read codes in the memory 334 or in an external memory and identify that the code has been read to prevent reuse of the propulsion tube unit 210, for example by triggering a software-initiated lock signal sent to the actuator controller 325.

[0228] The propulsion console 300 also includes user input and output 340, which may include one or more touch screens, keyboards, electronic mice, buttons, joysticks, or other input devices, as well as one or more LEDs, buzzers, speakers, touch screen displays, liquid crystal displays, plasma displays, cathode ray tube displays, or other output devices. In the illustrated embodiment, user I / O 340 includes a foot switch controller 342, a handheld remote control 344, and a display 346. Input devices such as the foot switch controller 342 and the handheld remote control 344 allow the user to control the operation of the actuator 320, thereby controlling the movement of the propulsion tube unit 210. For example, the input devices may allow the user to control one or more propulsion modes, including starting propulsion, stopping propulsion, changing propulsion direction, and changing propulsion speed. According to some embodiments, the actuator 320 may also allow selection of a high-pressure dead-load function, which may be configured to strengthen the propulsion tube unit 210 to facilitate easier insertion of the propulsion tube 220 into the propulsion tube guide 1025. According to some embodiments, the propulsion console 300 may also control the operation of the vacuum line 1027 to facilitate loading the propulsion tube 220 into the propulsion tube guide 1025.

[0229] The propulsion console 300 may include a vacuum pump 3500 configured to evacuate air from the vacuum line 1027. The vacuum pump 3500 may include a negative pressure suction pump, such as a DC12V 120 kPa vacuum pump. The vacuum pump 3500 may be powered by the power supply 350 and controlled by the controller 325 to provide a negative pressure differential in the range of, for example, 50-90 kPa, 60-70 kPa, or approximately 65 kPa, and may be capable of evacuating air from the vacuum line at a rate of, for example, approximately 5 L / min.

[0230] The vacuum pump 3500 can be operated in a setup mode selectable from the GUI touch display of the propulsion console 300 to facilitate loading the propulsion tube 220 into the propulsion tube guide 1025 via the Y-connector 140. The vacuum pump 3500 can also be operated during operation of the propulsion system, for example, when other propulsion profiles are activated by any user input, such as a foot switch. This can further prevent movement of the propulsion tube 220 within the propulsion tube guide 1025 during operation.

[0231] The vacuum pump 3500 may include an internal pressure transducer configured to provide a logic level report of the vacuum status to the controller 325. For example, the absence of a static vacuum may indicate that: the outer tube 3505 is not connected; the endoscope 110 is not connected; or the pusher tube 220 is not present in the pusher tube catheter 1025 of the endoscope 110.

[0232] The vacuum pump 3500 can be connected to the vacuum line 1027 via an external vacuum connector tube 3505 that extends between the propulsion console 300 and the connector body 160 of the endoscope 110. For example, the vacuum line 1027 can terminate in a small luer port in the connector body 160 and the vacuum pump 3500 can be in communication with the console port 3501 of the propulsion console 300, wherein the external vacuum connector tube 3505 is configured to fluidly connect the port in the connector body with the console port 3501.

[0233] The console port 3501 can include a luer lock fitting, such as a Cadence 1 / 4" female luer to 5 / 16" barbed male tubing fitting with a plate mount screw fitting. For example, the external vacuum connector tubing 3505 can include a 1 / 4" male luer to a 1 / 4" PVC tubing to a 1 / 4" male luer. The console port 3501 can be connected to the vacuum pump 3500 via an internal vacuum tubing 3511.

[0234] In some embodiments, the propulsion console 300 may include a liquid trap 3520 disposed between the vacuum pump 3500 and the console port 3501 and in communication therewith via an internal vacuum tube 3511, as shown in FIG. Figure 3CThe liquid trap 3520 can be configured to allow air to pass through it while collecting any liquid that enters the liquid trap 3520. For example, the liquid trap 3520 can be similar in configuration to a conventional medical aspiration fluid reservoir.

[0235] The propulsion console 300 can further include a liquid sensor 3522 disposed in the liquid trap 3520 and configured to detect the presence of liquid in the liquid trap 3520. For example, during operation of the endoscope system 100, liquid in the vacuum line 2017 can indicate a leak, for example, in the propulsion tube 220. The liquid sensor 3522 can be in electrical communication with the controller 325, which can be configured to stop operation of the propulsion console 300 or alert an operator to a potential leak if liquid is detected in the liquid trap 3520. The liquid sensor 3522 can include a simple two-conductor (normally open) liquid conductivity switch that transmits a 3.3V TTL logic signal when both conductors are in contact with liquid.

[0236] The foot switch controller 342 can be configured to be activated by the user's foot and can be designed to be positioned on the floor. The foot switch controller 342 can be electrically isolated or otherwise electrically isolated from the console 300 for user and patient safety. The foot switch controller 342 can also be optically isolated from the console 300. The foot switch controller 342 can be configured to allow a user to cause the computing device 330 to execute program code 336 to initiate a predetermined actuator control sequence that initiates operation of the actuator 320 to cause propulsion of the propulsion tube unit 210. According to some embodiments, the foot switch controller 342 can also allow a user to cause the computing device 330 to execute program code 336 to activate a predetermined actuator control sequence that stops operation of the actuator 320, thereby stopping propulsion of the propulsion tube unit 210.

[0237] The handheld remote control 344 can be configured to be activated by hand and can be incorporated into the endoscope control body 150. For the safety of the user and the patient, the handheld remote control 344 can be electrically and optically isolated from the console 300. The handheld remote control 344 can be configured to allow the user to cause the computing device 330 to execute the program code 336 to initiate a predetermined actuator control sequence, which activates the operation of the actuator 320 to cause the propulsion tube unit 210 to be advanced. According to some embodiments, the handheld remote control 344 can also allow the user to cause the computing device 330 to execute the program code 336 to activate a predetermined actuator control sequence that stops the operation of the actuator 320, thereby stopping the advancement of the propulsion tube unit 210.

[0238] According to some embodiments, the display 346 may include an LED display panel. According to some embodiments, the display 346 may include a programmable intelligent LED display panel. In some embodiments, the display 346 may be a touch screen display and may be configured to allow a user to cause the computing device 330 to execute program code 336 to activate a predetermined actuator control sequence that initiates operation of the actuator 320 to cause propulsion of the propulsion tube unit 210. According to some embodiments, the display 346 may also allow a user to cause the computing device 330 to execute program code 336 to activate a predetermined actuator control sequence that stops operation of the actuator 320, thereby stopping propulsion of the propulsion tube unit 210.

[0239] The display 346 can operate as a selectable user input designation device, allowing the user to select which user input devices should control which functions of the actuator 320. The display 346 can be, for example, a resistive touch screen and, in some embodiments, can be located on the front panel of the console 300. The user can use the display 346 to select whether the handheld remote control 344 controls forward movement or the foot switch control 342 controls reverse movement. The display 346 can also be configured to display operational information, such as the connection status of the propulsion tube unit 210 to the propulsion console 300. The display 346 can also be configured to display setup information, guiding the user through the system setup with on-screen prompts and confirmation of correct actions. The user can activate the run (RUN) and stop (STOP) modes of the propulsion tube unit 210 from the display 346. Error messages and warnings can also be displayed on the display 346. Video output from the interface can also be displayed as a data overlay on the display 346, providing real-time information to the clinician on the propulsion system 200.

[0240] The components of the propulsion console 300, including the computing device 330, the detection and ID component 311, the actuator controller 525, the user I / O 340, and the communication module 360, can be powered via a power supply 350, which can receive power from a mains power source. In some embodiments, the power supply 350 can include two power supplies for providing different voltages, such as the power supply 352 and the power supply 254, as described above. In some embodiments, the power supply 350 can additionally or alternatively include one or more batteries, or an alternative power supply device. According to some embodiments, the power supply 350 can include an electrically isolated medical-grade power supply.

[0241] According to some embodiments, the propulsion console 300 further includes a communication module 360 ​​to provide communication between the computing device 330 and external devices. For example, the communication module 360 ​​can facilitate communication between the computing device 330 and the propulsion tube unit 210 via an endoscope interface 362. The communication module 360 ​​can further facilitate communication between the computing device 330 and external computing devices (e.g., PCs, laptops, smartphones, and other smart devices) via a serial interface 364. According to some embodiments, the communication module 360 ​​can facilitate communication via one or more wired communication protocols (e.g., RS-232, USB, or Ethernet) or via one or more wireless communication protocols (e.g., Bluetooth, Wi-Fi, or NFC).

[0242] For example, according to some embodiments, the communication module 360 ​​can be configured to facilitate communication between the computing device 330 and the propulsion tube unit 210 using the RS-232 protocol via the endoscope interface 362. Communication between the computing device 330 and the propulsion tube unit 210 can allow for a number of functions to be performed based on data received from sensors located on the propulsion tube unit 210.

[0243] For example, according to some embodiments, the endoscope may include a motion sensor or accelerometer 760 mounted on the camera side of the distal coil collar. The motion sensor may include an electronic motion sensor configured to detect vibration or changes in inclination, such as the Signal Quest SQ-MIN-200 sensor, or an accelerometer, such as a single-axis accelerometer arranged to detect changes in momentum along the longitudinal axis of the endoscope during operation of the propulsion system. During proper operation, each fluid pulse generated by the actuator 320 actuating the piston assembly 450 causes the distal end of the propulsion tube unit 210 to advance. The accelerometer 760 may be configured to transmit data generated based on the movement of the distal end of the propulsion tube unit 210 to the computing device 330, which may execute a differential counter code module to determine whether the distal end of the propulsion tube unit 210 has not moved relative to the number of pressure pulses applied by the actuator 320. At some predetermined threshold, imbalance between the accelerometer data and the expected number of pulses, which may be stored in memory 334, computing device 330 may be configured to send a program interrupt signal to actuator controller 325 to halt operation of actuator 325. This may prevent excessive force from being applied to the intestine when vision may be obstructed or in cases where intestinal pathology results in strictures, obstructions, diverticula, or other abnormalities.

[0244] In some embodiments, the propulsion tube unit 210 can be equipped with a pressure transducer within the gas delivery tube that is calibrated to a safe pressure / voltage threshold. Endoscopy is typically performed by inflating the intestine with air or CO2 gas to provide space for visualization, but normal peristalsis and stenosis can make sections of the intestine closed to the movement of gas. The increased pressure caused by the relatively rapid movement and inflation of the endoscope can produce an abnormally high intraluminal pressure, which can be sensed by the pressure transducer. The pressure transducer can be configured to send data to the computing device 330. If a predetermined safe pressure threshold is exceeded, the computing device 330 can be configured to send a program interrupt signal to the actuator controller 325 to stop the operation of the actuator 325 and require user intervention or a reset of the device.

[0245] According to some embodiments, communication module 360 ​​may be configured to use the USB protocol to facilitate communication between computing device 330 and an external computing device via serial interface 364. This may allow the external computing device to write to memory 334 of computing device 330 to provide, for example, updated program code and operating parameters.

[0246] Referring again to endoscope 110, Figure 4A An end view of the distal head 130 is shown according to some embodiments. The distal head 130 includes a camera 1073, a camera lens cleaning nozzle 410, a forward water jet nozzle 412, a biopsy port / instrument channel 420, a light 430, and an optional multi-frequency output LED 435 for illuminating the field of view of the camera 1073 at selected light frequencies. The light 430 can include a lens at the end of a fiber optic light guide, or in some embodiments, the light 430 can include an LED light connected via a cable in the insertion tube 1071.

[0247] See also Figure 4B , the lens cleaning nozzle 410 can be supplied by air and water lines 414 and 416, and a separate water conduit 418 can supply water to the forward water jet 412. The air and water conduits 414, 416, 418 can extend the entire length of the endoscope 110 to the connector body 160 and be controlled by valves at the control body 150 as is conventional for endoscopes.

[0248] The light 430 and / or LED 435 may be connected to the video console via a light guide or cable 431 , and the camera 1073 may be connected to the video console via a camera cable 433 .

[0249] Figure 4B Also shown is the relative position of the angled cables 440 in the curved section 120 passing through the eyelets 442 in the link rings of the curved section 120 .

[0250] Figure 4CA cross section of the endoscope 110 is shown with a pusher tube conduit 1025 terminating in a connector 0007, as further described below with reference to Figure 7. Also shown are a vacuum line 1027 for evacuating air from the pusher tube conduit, and a pusher tube 220 mounted in the pusher tube conduit 1025.

[0251] Figure 4D A cross section of the insertion tube 1071 is shown between the connector 0007 and the Y-junction 140 , illustrating the location of one of the friction ribs 1030 partially surrounding the cables and catheters of the endoscope 110 .

[0252] Figure 4E A cross section of the control tube 155 is shown between the Y-junction 140 and the control body 150. The pusher tube conduit 1025 is not present as it terminates at the Y-junction 140.

[0253] Figure 4F A cross section of common tubing 1094 is shown between control body 150 and connector body 160. Instrument channel 420 is not present, as it terminates at the biopsy port of control body 150. Suction is selectively supplied to instrument channel 420 via a suction line 422 connected to a suction source at connector body 160.

[0254] In some embodiments, the endoscope system 100 may include a polymeric insertion tube 1071. Conventional medical endoscopes are typically constructed with an insertion tube that includes a steel coil and a braided steel mesh to provide sufficient rigidity within the tube to allow the operator to advance the endoscope into the gastrointestinal tract. Consequently, this rigidity limits the passive bending radius of the device, increases friction, and limits the insertion depth that can be achieved with this advancement method.

[0255] The propulsion system 200 of the present endoscope system 100 can reduce or eliminate the need to propel the endoscope 110. Consequently, less stiffness is required in the insertion tube. Polymer insertion tubes can be manufactured more cheaply and allow for a smaller passive bend radius, which can more easily conform to intestinal anatomy.

[0256] refer to Figures 5A to 5C The insertion tube 1071 may include an inner convoluted polymer tube 500 defined by a plurality of cylindrical sections 510 connected end to end by annular rib sections 520, thereby allowing the insertion tube 1071 to flex about the rib sections 520. The inner convoluted tube 500 defines a lumen or channel 505 configured to accommodate various catheters, tubes, channels, and cables of the endoscope 110.

[0257] The cylindrical portions 510 can resist ovalization as the insertion tube 1071 flexes. These cylindrical portions 510 protect the cables and catheters of the endoscope 110 from being crushed when the insertion tube 1071 flexes. The thickness of the cylindrical portions 510 can be varied for endoscopes of different diameters or for different applications.

[0258] The annular rib portion 520 provides flexibility to the insertion tube 1071 due to its relatively low wall thickness compared to the wall thickness of the cylindrical portion 510. The annular rib portion 520 can be designed to limit the flexibility of the insertion tube 1071 to a minimum bend radius. This can help protect certain instruments or instrument channels that may require a limited bend radius for proper operation.

[0259] The annular rib portion 520 may extend radially inward relative to the cylindrical portion 510. An annular edge 522 may form a joint between the cylindrical portion 510 and the rib portion 520.

[0260] The convoluted tube 500 can be molded or extruded from a flexible polymer material, such as high molecular weight polyethylene (HMWPE). In some embodiments, the convoluted polymer tube 500 can include fiber elements of other high-strength, non-elastic polymers, such as ultra-high molecular weight polyethylene (UHMWPE) or Kevlar™, to increase the fatigue strength of the material, particularly in the rib portion 520 where the material is thinner and experiences higher compression and tension as the insertion tube 1071 flexes.

[0261] The radial depth of the annular rib portion 520 can be significantly reduced by adding reinforcement fibers. In some embodiments, the rib portion 520 can define a W-shaped profile to reduce the radial depth of the rib portion 520.

[0262] When the insertion tube 1071 is bent, Figure 5C As shown in an enlarged manner, when the annular edges 522 abut each other (on the inner side of the bend of the bent insertion tube 1071, the sharpest angle side of the bent insertion tube 1071), the bending angle is limited by the size and shape of the annular rib portion 520, and the cylindrical portion 510 pivots around the annular edge 522 until the annular rib portion 520 extends to its limit, limiting further bending of the insertion tube 1071.

[0263] The insert tube 1071 further comprises an intermediate layer of woven polymer fibers 530 surrounding the convoluted tube 500. The fibers 530 may be made of, for example, UHMWPE or Kevlar. TM The braided fiber layer 530 may be formed of a non-elastic polymer to resist elongation of the insertion tube 1071. For example, the braided fiber layer 530 may be formed as a woven braided tube.

[0264] In some embodiments, the fiber 530 is bonded to the convoluted tube 500 at a specific bonding location 535. As the insertion tube 1071 flexes, the fiber 530 limits the extent to which the annular edge 522 separates at the outer curve of the flexed insertion tube (as opposed to the point where the annular edge 522 abuts). This is another way in which the minimum bend radius of the insertion tube 1071 can be limited.

[0265] For example, the fibers can be bonded to the gyrotron by heat welding. The fibers can be bonded to the gyrotron in an annular bonding area 535 extending circumferentially around the gyrotron 500. These bonding locations can be equally spaced along the length of the insert tube. There can be one bonding location 535 on each cylindrical portion 510.

[0266] The insertion tube 1071 can further include an outer polymer coating 540 surrounding the fabrication fibers 535. For example, the outer layer 540 can be formed from a polyurethane elastomer.

[0267] The minimum bend radius of the insert tube can be set by selecting one or more of the length, orientation, and tension of the fibers between bonding locations when the insert tube is in an unflexed or straight configuration. The amount of slack in the fibers 530 between each bond area 535 can be selected to allow for a selected bend radius of the convoluted tube.

[0268] Figure 5AThe illustrated insertion tube provides exemplary dimensions suitable for a reusable 12 mm diameter gastrointestinal endoscope with a passive bend radius of approximately 60 mm. This allows most commonly used instruments, such as graspers and biopsy forceps, to pass through a standard 3.9 mm biopsy channel designed for 3.2 mm diameter instruments. For example, the outer diameter of the insertion tube can range from 8 mm to 16 mm, 10 mm to 14 mm, or approximately 12 mm. The wall thickness of the cylindrical portion 510 of the insertion tube can range from 0.5 mm to 2 mm, or approximately 1 mm. The thickness of the fiber layer 530 and outer sheath 540 can range from 0.5 mm to 2 mm, or approximately 1 mm. The inner diameter of the cylindrical portion 510 can range from 4 mm to 10 mm, 5 mm to 8 mm, or approximately 6 mm. The cylindrical portion 510 can have a length ranging from 4 mm to 40 mm, 6 mm to 24 mm, 8 mm to 16 mm, 10 mm to 14 mm, or approximately 10 mm. The wall thickness of the annular rib portion 520 can be in the range of 0.2 mm to 1 mm, 0.3 mm to 0.8 mm, 0.4 mm to 0.6 mm, or approximately 0.5 mm. The annular rib portion 520 can protrude radially inward from the inner surface of the cylindrical portion 510 to a depth in the range of 0.2 mm to 2 mm, 0.5 mm to 1.5 mm, 0.8 mm to 1.2 mm, or approximately 1 mm. In the unflexed state, the width of the annular channel formed by the annular rib portion 520 between the outer surfaces of adjacent cylindrical portions 510 can be in the range of 0.2 mm to 2 mm, 0.5 mm to 1.5 mm, 0.8 mm to 1.2 mm, or approximately 1 mm. The axial length of the bonding area 535 can be in the range of 1 mm to 10 mm, 2 mm to 8 mm, 3 mm to 6 mm, or 4 mm to 5 mm. The insertion tube may be configured to have a minimum bend radius in the range of 10 mm to 200 mm, 20 mm to 160 mm, 40 mm to 120 mm, 60 mm to 100 mm, 60 mm to 80 mm, or approximately 60 mm.

[0269] Reference Figure 5D and Figure 5E , shows an alternative insertion tube 571 according to some embodiments. In some embodiments, the endoscope 110 may include Figure 5D and Figure 5E The insertion tube 571 shown is not as Figures 5A to 5C Insertion tube 1071 is shown.

[0270] Insertion tube 571 has similar features as insertion tube 1071 , with the additional feature of protrusions 575 extending radially inward from cylindrical portion 510 to support pusher tube catheter 1025 and / or pusher tube 220 .

[0271] The projections 575 can define apertures configured to receive the pusher tube conduits 1025, which can be bonded in place, for example, with an adhesive. In some embodiments, the pusher tube conduits 1025 can be integrally formed with the projections 575. In some embodiments, the convoluted tube 500, the projections 575, and optionally the pusher tube conduits 1025, can be molded together, for example, using a three-part mold.

[0272] In some embodiments, the pusher tube unit 210 can be secured to and / or form part of the endoscope 110. The pusher tube 220 can be secured within or form part of the insertion tube. For example, the pusher tube 220 can be combined with or integrally formed with the insertion tubes 1071, 571. In such embodiments, the endoscope 110 can not include a separate pusher tube conduit 1025, or vacuum line 1027, vacuum line port 740, vacuum line socket 742, tip 700, or impact block 710, and the endoscope system 100 can not include any components associated with the pusher tube conduit 1025 or vacuum line 1027, such as a vacuum pump and associated connectors.

[0273] In some embodiments, the projections 575 can define a plurality of apertures configured to receive the pusher tubes 220, which can be bonded in place, for example, with an adhesive. In some embodiments, the pusher tubes 220 can be integrally formed with the projections 575. In some embodiments, the convoluted tube 500 can be molded with the projections 575 and, optionally, the distal portion 224 of the pusher tube 220, for example, using a three-part mold.

[0274] In some embodiments, where an insertion tube 1071 without the protrusion 575 is used, the pusher tube catheter 1025 can be formed separately and inserted into the insertion tube 1071 along with the other catheters and cables of the endoscope 110 .

[0275] See also Figures 6A to 6C , shows a pusher tube catheter 1025 according to some embodiments. Pusher tube catheter 1025 includes a plurality of ribs 1030, which may be referred to as friction ribs, for example. The friction ribs 1030 may press against the inner surface of the insertion tube 1071 to resist axial movement of the pusher tube catheter within the insertion tube. The friction ribs 1030 may be formed, for example, from flexible silicone. Figure 6B The shape of the deflected friction rib 1030 after installation in the insertion tube 1071 with the pusher tube catheter 1025 is shown.

[0276] For example, the friction ribs 1030 can define an aperture through which the pusher tube catheter 1025 can pass, and the friction ribs 1030 can be adhesively bonded to the pusher tube catheter to hold them in place. In some embodiments, the friction ribs 1030 can be integrally formed with the pusher tube catheter.

[0277] Each friction rib 1030 can include a generally cylindrical central hub 1030a, each hub defining an orifice 1030b configured to tightly accommodate the pusher tube catheter 1025. In some embodiments, the orifice 1030b can have an inner diameter that is slightly smaller than the outer diameter of the pusher tube catheter 1025 to provide a tight friction fit when the hub 1030a is stretched over the pusher tube catheter 1025. Each friction rib 1030 can also include a pair of legs 1030c extending laterally from the base of the hub 1030a and configured to extend substantially perpendicularly from the pusher tube catheter 1025. The legs 1030c can define a flat rectangular profile, with the width of the legs 1030c (defined in the axial direction relative to the hub 1030a) being greater than the thickness of the legs 1030c. In some embodiments, the thickness of each leg 1030c can taper to a tip 1030d (away from the hub 1030a) such that the leg is more flexible near the tip 1030d than near the hub 1030a.

[0278] The pusher tube catheter 1025 may be mounted in the insertion tube 1071 along with the other catheters and cables of the endoscope 110 . Figure 6C A method of installing a pusher tube catheter and other catheters and cables into an insertion tube is shown. A fabric sheet can be wrapped around the cable and catheter to form a sleeve 660 having friction ribs 1030 that at least partially surround the cable and catheter. The fabric sleeve 660 can be sewn together with a steel wire 670 that can be passed between the twisted friction ribs 1030 and the catheter bundle and then back to the outer surface of the fabric sleeve 660 to temporarily secure the friction ribs 1030 to the fabric sleeve 660, as shown in FIG. Figure 6C shown.

[0279] A pull wire 680 can be secured to one end of the fabric sleeve 660 to assist in pulling the fabric sleeve through the insertion tube 1071 carrying the cable and catheter within the fabric sleeve 660. Once the cable and catheter are installed in the insertion tube 1071, the steel suture 670 can be removed from the fabric sleeve 660 and the fabric sheet can be removed from the insertion tube, leaving the cable and catheter in place within the insertion tube. Any suitable low-friction fabric can be used for the fabric sleeve 660, such as a rayon or nylon fabric, or a braided cable fabric.

[0280] refer to Figures 7A to 7H, according to some embodiments, connector 0007 is shown. Alternative connectors 1035 and 1048 are shown in Figures 13 and 14, respectively, where similar features are indicated by similar reference numerals. Connector 0007 may also be referred to as an insertion tube collar, pusher tube catheter collar, pusher tube catheter terminal connector, tube collar, coil collar, or distal connector. Distal connector 0007 may be adapted for use with a polymeric insertion tube 1071 to connect the insertion tube 1071 to the curved section 120.

[0281] The connector 0007 may define an end 700 (see Figure 7A and Figure 7G ), the tip is configured to receive the distal end of the pusher tube catheter 1025 and connect the pusher tube catheter to the connector 0007. The tip 700 may define a pusher tube impact block 710 (see Figure 7G ), the pusher tube impact block is configured to be impacted by the pusher tube when used in an endoscope to transfer momentum from the pusher tube to the curved section 120 and the insertion tube 1071.

[0282] The connector 0007 defines an outer wall 720 that is configured to engage the insertion tube 1071 at the proximal end of the connector 0007 and to engage the curved section 120 at the distal end of the connector 0007 to connect the curved section to the insertion tube. In some embodiments, the outer wall 720 of the connector 0007 can be configured to engage the inner surface of the insertion tube 1071 and / or the curved section 120. In some embodiments, the outer wall 720 of the connector 0007 can be configured to engage the outer surface of the insertion tube 1071 and / or the curved section 120 in the manner of a male connector.

[0283] Connector 0007 defines an orifice or passage 730 (see Figure 7E ) to allow cables and catheters to pass from the insertion tube 1071 to the curved section 120.

[0284] The end 700 can be defined within the outer wall 720 of the connector 0007. The central axis 701 of the end 700 can be parallel to the central axis 703 of the connector 0007 and laterally offset from the central axis 703 of the connector 0007 (see FIG. Figure 7F ).

[0285] In some embodiments, the tip 700 can define a socket 705 configured to receive the distal end of the pusher tube catheter 1025. In some embodiments, the tip 700 can define a loop 715 between the socket 705 and the striker block 710 to receive the distal end of the pusher tube catheter 1025.

[0286] In such Figure 14A and Figure 14BIn some embodiments of the connector 1048 shown, the tip 700 can define a tapered socket 705 and a tapered striker block 710. The ring 715 can be configured to receive the distal end of the pusher tube catheter 1025. The striker block 710 can be threadedly engaged with the body 702 of the tip 700 and rotationally adjustable to reduce the radial thickness of the ring 715, thereby clamping the distal end of the pusher tube catheter within the ring 715. In other words, the striker block is rotated relative to the socket so that the striker block 710 moves along its rotational axis like a screw, thereby adjusting the distance between the striker block 710 and the socket 705, and thus adjusting the radial thickness of the ring 715.

[0287] In some embodiments, the impact block 710 can define a keyed recess 711 configured to receive a complementary surface of a tool to facilitate rotational and axial adjustment of the impact block 711. For example, the recess 711 can define a hexagonal prismatic recess configured to receive an Allan key or a hexagonal head tool.

[0288] In some embodiments, the impact block 710 can define an orifice 740 to allow fluid communication between the push tube catheter and the vacuum line. This can allow air to vent from the distal end of the push tube catheter to facilitate insertion of the push tube into the push tube catheter. The impact block orifice 740 can be in fluid communication with a vacuum line socket 742 defined in the connector 0007 and configured to receive the distal end of the vacuum line of the endoscope. In some embodiments, the vacuum line socket 742 can be defined in the tip or impact block coaxially with the tip, as shown in Figures 13 and 14.

[0289] In some embodiments, a vacuum line receptacle 742 may be defined in the connector 0007 adjacent the end 700, such as Figure 7A and Figure 7F The vacuum line socket may extend parallel to the end and the impact block orifice. Connector 0007 may further define a vacuum manifold or lateral vacuum channel 744 that fluidly connects the vacuum line socket to the impact block orifice, as shown. Figure 7F Lateral vacuum channels 744 may extend through the outer wall of the connector and may be sealed with vacuum manifold set screws or plugs 0008.

[0290] In some embodiments, connector 0007 may define a plurality of angled cable channels 750. The angled cable channels may be located about the perimeter of connector 0007. The angled cable channels may extend parallel to each other around a central axis of connector 0007 and be circumferentially equally spaced from each other.

[0291] In some embodiments, the connector 0007 may include a motion sensor or accelerometer 760 (eg, Figure 13F ). For example, the accelerometer 760 may comprise a single-axis accelerometer arranged to detect momentum changes along the longitudinal axis of the endoscope 110 during operation of the propulsion system. The endoscope 110 may comprise a motion sensor signal cable 460 (see Figures 4C to 4F ) to convey the measurement signals from the motion sensor 760 to a monitoring station, such as the computer device 330 of the propulsion console 300, as described above with respect to Figures 3A to 3D described.

[0292] Referring now to Figures 8-11, the Y-connector 140 is shown in detail, according to some embodiments, and its assembly is described in the assembly instructions set forth below.

[0293] Y-connector 140 includes a Y-connector body 1008 that defines three branches: an insertion tube branch 142, a control tube branch 144, and a pusher tube branch 146. Insertion tube branch 142 is configured to connect to insertion tube 1071 and provides a proximal end for insertion tube 1071. Control tube branch 144 is configured to connect to control tube 155 and provides a distal end for the control tube, which connects control body 150 to Y-connector 140. All cables and conduits of insertion tube 1071 (including instrument channel 420, vacuum line 1027, angled cable 440 and channel 444, air and water conduits 414, 416, 418, light guide or cable 431, and camera cable 433) other than pusher tube 220 and pusher tube conduit 1025, pass from control tube 155 through control tube branch 144 and insertion tube branch 142 of Y-connector 140 to insertion tube 1071.

[0294] The pusher tube branch 146 is configured to receive the pusher tube port assembly 148, which defines a pusher tube port 149 configured to receive the pusher tube 220. The pusher tube port 149 can also be configured to receive the depressurization collar 3007 of the pusher tube 220, and the pusher tube port assembly 148 can include a locking mechanism or latch 1013 to prevent the pusher tube 220 from being removed from the Y-connector 140.

[0295] The pusher tube port 149 allows the distal portion 224 of the pusher tube 220 to pass through the pusher tube branch 146 and the insertion tube branch 142 of the Y-connector 140 to be received by and housed therein the pusher tube catheter 1025 of the insertion tube 1071. Insertion of the distal portion 224 of the pusher tube 220 into the pusher tube catheter 1025 can be facilitated by applying vacuum pressure to the pusher tube catheter 1025 via a vacuum line 1027 connected to a distal connector 0007, 1035, 1048 in fluid communication with the pusher tube catheter 1025.

[0296] The propulsion tube 220 can be connected to the propulsion console 300, and the propulsion system 200 can be operated to facilitate insertion of the propulsion tube 220 into the propulsion tube guide 1025. This can include varying the channel pressure in the propulsion tube 220 to continuously induce cavitation and dissolution of the gas in the fluid, thereby advancing the propulsion tube 220 along the propulsion tube guide 1025. Alternatively, the propulsion system 200 can be operated to increase the channel pressure of the propulsion tube 220 to strengthen the propulsion tube 220, thereby allowing a user to manually advance the propulsion tube 220 into the propulsion tube guide 1025.

[0297] A lubricant can be applied to the distal portion 224 of the pusher tube 220 prior to insertion into the pusher tube catheter 1025. The lubricant can include a water-based lubricant, such as a methylcellulose-based lubricant, or other quick-drying lubricant. Air drawn through the vacuum line 1027 can dry the lubricant, causing it to become sticky or tacky, thereby helping to retain the distal portion 224 of the pusher tube 220 within the pusher tube catheter 1025. The dried lubricant can act as an adhesive layer between the outer surface of the distal portion 224 of the pusher tube 220 and the inner surface of the pusher tube catheter 1025. This can help form a frictional bond between the pusher tube 220 and the pusher tube catheter 1025.

[0298] When a water-based lubricant is used and dries to retain the distal portion 224 of the pusher tube 220 within the pusher tube catheter 1025, removal of the pusher tube 220 may be facilitated by flushing the pusher tube catheter 1025 with water via the vacuum line 1027 to dissolve the lubricant.

[0299] See also Figure 8B , Y-joint 140 is shown in an exploded state in an exploded view. According to some embodiments, the various components of Y-joint 140 are listed in the parts list below and are shown in more detail in Figures 9 to 11.

[0300] Figure 9A A strain grommet assembly 1000 of a Y-connector 140 is shown, comprising threaded connector barbs or sockets 1001, 1034, a locking ring 1002, a locking ring seal 1003, an anti-rotation stud 1004, a strain grommet collar 1005, a strain grommet rubber 1006, and a strain grommet O-ring 1007. One strain grommet assembly 1000 is configured to connect an insertion tube 1071 to an insertion tube branch 142 of a Y-connector body 1008, and a second, similar strain grommet collar assembly 1000 is configured to connect a control tube 155 to a control tube branch 144 of a Y-connector body 1008. Another strain grommet assembly 1000 may be configured to connect a control tube 155 to a control body 150.

[0301] The strain grommet assembly 1000 can be assembled to connect the insertion tube 1071 and the control tube 155 to the Y-connector body 1008, as described below in the assembly instructions. In some embodiments, the insertion tube 1071 can be glued into the lumen of the threaded sockets 1034, 1001. In some embodiments, the insertion tube 1071 can fit over portions of the threaded sockets 1001, 1034 and can be locked in place with a nitinol locking ring 1023, for example, as described in the assembly instructions.

[0302] Figure 10A The pusher tube port assembly 148 is shown in a disassembled configuration according to some embodiments. The pusher tube port assembly 148 includes: a pusher tube barb 1017; a connector seal or gasket 1016 configured to seal the barb 1017 against the Y-connector body 1008; a blade latch 1013; a blade latch spring 1014; and a blade latch screw 1013.

[0303] The pusher tube barb 1017 defines a recess that is configured for slidably receiving the blade latch 1013 such that corresponding orifices of the blade latch 1013 and the barb 1017 can be aligned to define the pusher tube port 149 and allow the distal portion 224 of the pusher tube 220 and the step-down collar 3007 to pass therethrough.

[0304] The blade latch spring 1014 is configured to be received in a recess in the Y-joint body 1008, as shown in FIG111A (the recess is not visible), and when assembled, abuts the blade latch 1013. This arrangement biases the blade latch 1013 into a position in which the blade latch 1013 and the corresponding apertures of the pusher tube barb 1017 are laterally offset so as to restrict passage of the depressurization collar 3007 of the pusher tube 220.

[0305] The blade latch 1013 also defines an elongated slot (or slotted hole) configured to receive the blade latch screw 1015. This arrangement retains the blade latch 1013 in the recess of the pusher tube barb 1017 while allowing movement of the blade latch 1013 and the corresponding apertures of the pusher tube barb 1017 between an aligned (open) position and a biased (locked) position.

[0306] The pusher tube barb 1017 defines a stepped recess 1018 that is configured to receive the step-down collar 3007. In some embodiments, the recess 1018 can allow for some additional space in the axial direction so that during operation of the propulsion system 300, momentum is transferred from the distal portion 224 of the pusher tube 220 to the pusher tube catheter 1025 rather than from the step-down collar 3007 to the pusher tube barb 1017 and Y-connector 140.

[0307] Reference Figure 11A , shows a Y-joint body 1008 and a hatch assembly according to some embodiments, including a hatch cover 1009, a hatch seal or gasket 1010, a hatch screw 1011, a hatch screw bushing 1024, and a screw cover plate 1012. The hatch cover 1009 is configured to cover a hatch 1009a in the Y-joint body 1008, which allows access to connect the strain grommet assemblies 1000 to the body 1008. The bushing 1024 can be glued into a bushing recess 1024a in the body 1008 and provide a threaded recess configured to threadably receive the hatch screw 1011. The bushing 1024 can be formed of a metal, such as steel.

[0308] Endoscope 110 may be assembled according to the following assembly instructions with reference to the following parts list, which refers to both novel components included in the figures as well as conventional endoscope parts available from the manufacturers indicated in the parts list.

[0309] One embodiment of the endoscope 110 is based on a typical conventional wide-field endoscope (panendoscope), such as the Olympus 160 / 180 series, Pentax 70K series, and Fujifilm Medical Systems 530 / 600 series, with the components required to install the propulsion system of the present application added. However, it should be understood that other instruments, such as specialized endoscopes and non-endoscope instruments, can be manufactured to be configured for use with the propulsion system of the present application.

[0310] It should also be understood that the dimensions shown in the drawings and mentioned in the description are exemplary only and that the dimensions of components, conduits, and cables may vary depending on the application.

[0311]

[0312]

[0313]

[0314] The endoscope 110 can be constructed from a combination of common endoscope parts sourced from third-party OEM suppliers and proprietary parts (including a highly flexible polymer insertion tube) as shown in the accompanying drawings. The endoscope 110 of this embodiment is a 3M x 12.9 mm wide-field endoscope incorporating a propulsion system 200. It should be understood that any parts mentioned in the parts list but not elsewhere in the specification are common endoscope parts known to those skilled in the art and include components of various subassemblies of conventional endoscopes.

[0315] Generally speaking, the assembly of the endoscope 110 may include a unique Y-connector 140 that is inserted into an insertion tube 1071 approximately 30 cm below the control body 150. The Y-connector 140 allows the push tube 220 to be inserted from the push console 300, which may be referred to as the FKP push console. Two additional conduits are installed in the insertion tube. (i) A push tube conduit 1025 and (ii) a vacuum line 1027. At the distal end, these conduits terminate in a custom distal coil collar 0007 into which they are inserted. At the proximal end, the push tube conduit terminates at the Y-connector 140 and the vacuum line terminates at the light source / camera connector 160. An additional small suction port is installed in the light source / camera connector housing to receive and provide suction to the vacuum line 1027.

[0316] According to some embodiments, after disassembling a conventional 3M x 12.9mm wide field of view endoscope, the following assembly instructions can be followed to produce Figure 1C Endoscope 110 is shown.

[0317] (1) Attach the angled coil 444 to the new custom distal coil collar (0007) using silver solder.

[0318] (2) Check the cable channel at the far end.

[0319] (3) Preparing the pusher tube catheter assembly : Cutting 3100mm propulsion tube guide material.

[0320] (4) The (12) twelve friction ribs (1030) are installed at intervals of 200 mm, with the first rib installed 200 mm from the distal end of the catheter. The ribs are prepared by grinding the inside of the hole of each rib with 100 grit sandpaper or a cylindrical diamond file.

[0321] (5) Clean the inside of the well with 20% acetic acid solution.

[0322] (6) Slide the ribs to a position 5 mm distal to their intended final position.

[0323] (7) Rotate the ribs as needed at intervals, lay out the conduits in a straight line and tape to the table with masking tape so that they are all in the same orientation.

[0324] (8) Each location was prepared by sanding the surface of the catheter with 100 grit sandpaper in 5 mm wide annular bands and cleaning the area with 20% acetic acid solution.

[0325] (9) Apply Loctite 770 Activator (1047) to the abraded area and allow the designated breakthrough time.

[0326] (10) Apply Loctite 15s time controlled cyanoacrylate adhesive to the worn area and slide the rib over the worn area, removing excess adhesive with Loctite adhesive remover (1046)

[0327] (11) Allow 30 seconds of rest time before moving to the next rib.

[0328] (12) Attachment of the pusher tube catheter to the distal coil collar : Roughen the outer distal 10mm of the tube with 100 grit sandpaper and clean with acetone. (NB: Limit acetone contact to the abraded area only)

[0329] (13) Apply Permabond Ta4610 adhesive to the distal end of the tube 5mm and insert into the distal coil collar at point 10 as shown in Figure 1, point 10. (NB: Ensure no adhesive blocks the center hole of the base of the receiver)

[0330] (14) Cut 440 mm of vacuum line material (1027). Roughen the outer distal 10 mm of the tube with 100 grit sandpaper and clean with acetone. Apply Permabond TA4610 adhesive to the distal 5 mm of the tube and insert the distal coil collar into the vacuum line socket 742, as shown. Figure 7A 、 7E and 7F. (NB: To ensure that no adhesive blocks the central hole in the base of the receptacle, place a piece of 0.7-0.9 monofilament, braid, or cable through the base hole and out the side of the distal coil collar. (Note: The holes in the side (lateral vacuum channel 744) are continuous with the holes in the base of the vacuum line socket 742 and the impact block orifice 740, as shown in FIG. Figure 7F After the catheter is connected, material can be removed through the side holes before the adhesive cures.

[0331] (15) Allow the adhesive to cure for at least 60 minutes (preferably overnight) before continuing with the build.

[0332] (16) Insert the vacuum manifold set screw (0008) into the side hole 744 of the distal coil collar and seal with the Loctite thread seal.

[0333] (17) Insert the angled cable 440 into the distal coil 444, 750 from the distal end.

[0334] (18) Insert the remaining cable conduit and tubing through the large lumen 730 in the distal helical collar.

[0335] (19) Insert the collar 0007 into the curved section 120 and secure the curved section to the collar using the four (4) set screws in the curved section.

[0336] (20) According to the decomposition diagram ( Figure 8B ) Assemble the components of the Y-connector 140 without attaching the strain relief boot.

[0337] (21) Arrange the polymer insertion tube (1071), polymer universal tube (1094), curved section 120, pusher tube collar 0007 with coiled tube 444 and angled cable 440.

[0338] (22) Slide the strain relief sheath and strain sheath seal (1007) over the distal and proximal ends of the proximal insertion tube 1071 and the polymeric universal control tube 155 so that they can be slid into place when needed.

[0339] (23) Remove the distal threaded barb 1001 from the Y-connector body 1008.

[0340] (24) Take a Nitinol locking band 1023 and place it over the threaded barb.

[0341] (25) Begin inserting the threaded barbs 1001 into the insertion tube 1071 by heating the proximal end of the insertion tube 1071 to stretch it over the barbs 1001. When the insertion tube is close to the locking band, lift the locking band onto the insertion tube and continue pushing the insertion tube to within 3 mm of the flange.

[0342] (26) Place a ring of silicone sealing compound between the insertion tube and the flange. Continue inserting until the insertion tube rests against the flange of the barb 1001; the distance between the locking ring and the flange is about 3 mm.

[0343] (27) Heat the Nitinol locking ring with a temperature controlled soldering iron set to 170°C. Heat for 10 seconds. The Nitinol will shrink as it heats and lock it in place (the Nitinol locking ring is pre-stretched and when heated it returns to its shape memory form with a smaller diameter). Insert the outer Viton of the tube TM The layer is heat-resistant and will not melt. (NB: Do not heat for longer than the specified time, as the inner layer of the insertion tube will be affected.)

[0344] (28) Repeat the process using the proximal threaded barb 1001 of the control tube branch 144 of the Y-connector 140 and the distal end of the polymer universal control tube 155.

[0345] (29) Repeat the process using the distal threaded barb of the control body 150 and the proximal end of the polymer universal control tube 155.

[0346] (30) Assemble the insertion tube and polymer universal control tube 155 to the Y-connector body 1008 by placing the locking ring (1002) on the inside of the Y-connector body and screwing the threaded ends of the threaded barbs (1001) into it from the distal end of the Y-connector body. (NB: A small screwdriver blade can be inserted through the side hatch 1009a of the Y-connector body to prevent the locking ring from rotating when the threaded barbs 1001 are tightened.)

[0347] (31) Tighten the threaded barb so that one of the notches in the flange aligns with the 12 o'clock hole on the face of the Y-connector body.

[0348] (32) Insert the anti-rotation stud 1004 into the hole until it is flush with the surface of the flange.

[0349] (33) Repeat the above procedure using the threaded barb 1001 of the distal polymer universal control tube 155.

[0350] (34) Slide the strain relief boot and seal over the insertion tube until the threads on the strain boot engage the threads on the threaded barbs and screw into place until the strain boot is flush with the Y-connector body.

[0351] (35) Insert the blade latch spring (1014) into the Y-connector body.

[0352] (36) Assemble the pusher tube barb (1017) and seal (1016) to the Y-connector body.

[0353] (37) is internally fixed with the locking ring (1002).

[0354] (38) The blade latch (1013) is inserted into the slot in the push tube barb (1017) and secured in place by the blade latch screw (1015).

[0355] (39) Inserting a cable pull wire from the proximal end through the insertion tube to the distal end.

[0356] (40) Lay out the rayon cable on the workbench through the sleeve. The sleeve should start just below the lowest rib. (NB: These ribs are designed to grip the inside of the insertion tube during normal operation of the propulsion system. To introduce them into the insertion tube, they can be compressed and contained in a low friction sleeve to deliver them to the correct position.)

[0357] (41) Arrange the push tube conduit 1025 with the rib 1030 in the center of the material and the rest of the cables and conduit at the top.

[0358] (42) Wrap the assembly tightly around each rib, compress the bundle to a diameter of less than 11 mm, and secure the sleeve material to maintain compression. Secure the bundle from proximal to distal with a 0.5 mm x 3.5 M spring wire needle 670 (e.g. Figure 6C shown).

[0359] (43) Twist and knot the proximal sleeve material and connect it along with the proximal loop of the needle wire to the cable through the shield to connect to the pull wire 680.

[0360] (44) Pull the cable harness through the insertion tube, Y-connector and control tube 155.

[0361] (45) Place a Nitinol locking ring on the distal polymer insertion tube.

[0362] (46) The insertion tube is lowered to the depth where the distal coil collar is fully seated.

[0363] (47) Slide the Nitinol ring into position over the proximal flange of the distal pusher tube collar 0007.

[0364] (48) Heat the Nitinol locking ring directly to 170°C using a temperature-controlled soldering iron. (Maximum clamping force is obtained at 165°C.) In this case, the parts should be assembled and the locking ring should be cooled with compressed air within (15) ten seconds to prevent thermal damage to the underlying polymer layer.)

[0365] (49) Remove the traction wire, disassemble the traction wire cover, and untie the rayon sleeve.

[0366] (50) Pull out the spring wire needle from the proximal end.

[0367] (51) While holding the proximal wire and cable, release the rayon sleeve from around its contents through the side hatch of the Y-connector.

[0368] (52) Pull the free end of the propulsion tube guide 1025 out through the side hatch 1009a

[0369] (53) Remove the proximal portion of the sleeve through the side hatch and then retract the distal portion of the sleeve. (NB: The distal portion of the sleeve should be retracted without placing undue tension on the light guide and camera cable. As the sleeve material is retracted, a reaction force may be applied to the pusher tube catheter.)

[0370] (54) Cut the pusher tube catheter to a certain length to fit on the connector of the pusher tube barb (1017).

[0371] (55) The catheter clamp is placed on the push tube catheter.

[0372] (56) Loosen the locking ring of the pusher tube barb (1017) and retract the pusher tube barb (1017) sufficiently to allow insertion into the pusher tube catheter. When the connector is pushed to its full depth, hold the catheter and avoid kinking.

[0373] (57) Tighten the locking ring.

[0374] (58) Slide the clamp over the barb section and tighten to secure the catheter in place.

[0375] (59) Feed the camera cables, light guides and tubes into the control body 150.

[0376] (60) Reconnect the control tube 155 to the control body 150. (NB: The control tube should be connected so that the Y-connector is oriented in the same plane as the instrument port and at 90 degrees to the angled control axis.)

[0377] (61) Insert the vacuum line 1027 through the control body 150 and the universal tube 1094 into the connector body 160.

[0378] (62) Drill the connector body on the side opposite to the standard suction line connector fitting (Dia. M6).

[0379] (63) Place silicone sealant under the outer flange of the barbed vacuum line luer connector (1029).

[0380] (64) Install the 90 degree barbed vacuum line connector through the hole and tighten the inner section with the opening facing the control body.

[0381] (65) Cut the vacuum tube to a certain length. (1-2mm from the connector)

[0382] (66) Cut 15 mm of vacuum line connector sleeve (1028) material.

[0383] (67) Clean the end of the vacuum line with acetone and apply Loctite 15s time-controlled cyanoacrylate adhesive to the 5mm end of the vacuum line. (NB: Ensure that no adhesive blocks the lumen of the vacuum line.)

[0384] (68) Insert the vacuum line 5mm into the vacuum line connector sleeve and allow to set for (1) minute.

[0385] (69) Push the connector sleeve 1028 onto the threaded barb and secure it with a micro cable tie over the barb section.

[0386] (70) Reconnect the camera cable, light guide, and water and air line connections.

[0387] (71) The test vacuum is continuous with the push tube catheter at the rear of the Y-connector.

[0388] (72) Close the connector housing.

[0389] (73) Reconnect the instrument channels and angled cables in the control body 150.

[0390] (74) Matching bending section rubber.

[0391] (75) Test all system functions.

[0392] (76) Close the control body.

[0393] (77) Apply silicone grease to the Y-connector hatch seal (1010)

[0394] (78) Insert the seal into the Y-connector around the hatch 1009a.

[0395] (79) Install the Y-connector hatch cover (100).

[0396] (80) Place silicone sealant under the head of the Y-connector hatch screw (1011)

[0397] (81) Secure the hatch with the Y-connector hatch cover screws.

[0398] (82) Secure the screw cover (1012) in the hatch with contact adhesive (NB: Do not apply acetone to the Y-connector or hatch.)

[0399] (83) Perform the leak test in the normal manner.

[0400] See also Figure 12A , an alternative endoscope 110 is shown according to some embodiments. The endoscope may include a conventional metal braided insertion tube rather than a polymer insertion tube. Due to the reduced flexibility of conventional metal braided insertion tubes, an optional distal connector 1035 or 1048 as shown in Figures 13 and 14, respectively, may be used.

[0401] Figure 12C and 12D The configuration of a conventional insertion tube and distal head is shown.

[0402] The connectors 1035, 1048 may define the end 700 as described above without defining an angled cable conduit, and the aperture may be relatively large to allow other cables and conduits to pass through the end 700. The connectors 1035, 1048 may be connected to, for example, Figure 12BA conventional coiled tubing collar is shown to connect the curved section to the insertion tube 1042 and provide a terminal end for the pusher tube catheter 1025. The insertion tube 1042 may comprise a conventional type of insertion tube, or one of the alternative insertion tubes 1071, 571 described above, for example.

[0403] See also Figure 13F , the vacuum line 1027 can extend through the connectors 1035 , 1048 and bend back toward the distal end of the tip to be received in the vacuum line socket 742 .

[0404] A conventional endoscope having a metal braided insertion tube can be modified according to the following assembly instructions so that it becomes suitable for use with the propulsion system 200. The parts used are substantially similar to those disclosed in the above list, except for the threaded barb connector 1001, the insertion tube locking band 1023, the coil / PTC distal collar 0007, the vacuum manifold set screw 0008, and the polymer insertion tube 1071. In some embodiments, these parts can be replaced or substituted with the threaded socket 1034 and the propulsion tube collars 1035, 1048.

[0405] In some embodiments, the endoscope 110 can be constructed by modifying an existing 3.3M x 12.9mm Dia. veterinary endoscope, such as the Olympus 160 / 180 series, Pentax 70K series, and Fujifilm Medical Systems 530 / 600 series.

[0406] Generally speaking, Figure 12A The assembly of the endoscope 110 shown comprises inserting the Y-connector 140 into the insertion tube 1042 approximately 30 cm below the control body 150. The Y-connector allows the push tube to be inserted from the push console. Two additional conduits are installed in the insertion tube: (i) the push tube conduit and (ii) the vacuum line. At the distal end, these conduits terminate in custom push tube collars 1035, 1048 into which they are inserted. At the proximal end, the push tube conduit terminates in the Y-connector 140, while the vacuum line 1027 terminates in the light source / camera connector 160. An additional small Luer suction port is installed in the light source / camera connector housing to provide suction to the vacuum line 1027.

[0407] According to some embodiments, the following assembly instructions may be followed to produce Figure 12A Endoscope 110 is shown.

[0408] (1) Remove the control unit and light source / camera connector.

[0409] (2) Disconnect the angled cable, light guide, camera cable, and biopsy port.

[0410] (3) Remove the rubber from the curved section.

[0411] (4) Disconnect the curved section from the insertion tube.

[0412] (5) Disconnect the coil collar from the curved section.

[0413] (6) Retract the contents of the insertion tube from the distal end.

[0414] (7) Remove the coil distal collar and coil from the angled cable.

[0415] (8) Remove the curved section from the camera head.

[0416] (9) Image Sensor Cable Replacement - Due to the large diameter of the OEM cable, the cable needs to be replaced with a smaller diameter cable for the section that extends through the insertion tube to the Y-connector. The distal connection should be made just distal to the junction of the distal coil collars 1035, 1048 with the curved section 120. The proximal connection should be made within the control body 160 to connect to the existing cable connection point.

[0417] (10) Cut the cable at the specified location and solder the replacement cable together, wire to wire, using double insulation techniques, using shielding adhesive heat shrink as the final covering for all connections.

[0418] (11) Prepare the propulsion tube guide assembly: Cut 3100mm of propulsion tube guide material. (1025)(PTFE 6 / 5mm)

[0419] (12) Attachment of the Pusher Tube Catheter to the Pusher Tube Collar (1035) Clean the outer distal 7 mm and inner 3 mm of the tube with acetone and allow to dry. (NB: Limit acetone contact to the area to be bonded.)

[0420] (13) Using 100 grit sandpaper, roughen the inside surface of the thrust tube collar or end socket 705.

[0421] (14) Clean the surface with acetone and allow it to dry.

[0422] (15) Place a wire or tube cleaner through the vacuum line hole from behind to prevent adhesive from clogging the hole during bonding.

[0423] (16) Apply Loctite activator compound (1045) to the distal 8 mm and inner 3 mm of the pusher tube catheter and leave for the designated penetration time. (30 seconds)

[0424] (17) Apply Loctite time control adhesive (1046-Power Easy Gel) to the interior metal surface of the socket 705 (NB: avoid excessive adhesive to prevent squeezing into the lumen of the tube, which may block the center vacuum line hole (impact fast orifice 740)).

[0425] (18) With the collar installed vertically, insert the push tube guide into the push tube collar, ensuring it is at full depth.

[0426] (19) Hold the components together firmly for a minimum of two (2) minutes to ensure initial cure of the adhesive.

[0427] (20) Remove the wire from the vacuum line hole to ensure it does not bond to the collar (keep the parts in a vertical position for a minimum of 12 hours before processing to ensure maximum bond strength and minimize the risk of adhesive sagging).

[0428] (21) Prepare vacuum tubing made of PTFE 2mm / 1mm (1027). Pre-bend one end into a U-shape. (Note: The bending radius of the material has been tested to be free of kinking and clogging, down to a radius of 8mm.) Clean the distal 5mm of the outer tube with acetone.

[0429] (22) Insert the entire U-shaped section of the vacuum line through the larger diameter end of the propeller tube collar and out the opposite end. (NB: Do not significantly reduce the pre-bend radius of the elbow, or the tube will kink and block airflow.)

[0430] (23) Apply Loctite activator compound (1045) to the distal 5 mm of the vacuum line and maintain the designated penetration time. (30 seconds)

[0431] (24) Apply Loctite time-controlled adhesive (1046-Power Easy Gel) to the inner metal surface of the vacuum line socket 742, as shown. Figure 13E and Figure 13F (NB: Avoid excessive adhesive to prevent it from squeezing into the lumen of the tube, which could potentially block the central vacuum line hole 740.)

[0432] (25) While being careful not to squeeze or reduce the diameter of the tube, insert the top end of the vacuum line into the vacuum line socket 742.

[0433] (26) Allow the adhesive to cure for at least 60 minutes before continuing with the build.

[0434] (27) Insert the image sensor cable, light guide, biopsy tube and tube through the curved section.

[0435] (28) Insert the angled cable into the distal coil 440 from the distal end.

[0436] (29) Insert the image sensor cable, light guide, biopsy tube, and tubing through the distal coil collar.

[0437] (30) Insert the collar into the curved section and secure the curved section to the collar using four (4) set screws.

[0438] (31) Assemble the strain grommet to the strain grommet collar: Roughen the outer surface of the strain grommet collar, clean with acetone, and allow to dry. (NB: Do not apply acetone to the rubber strain grommet.)

[0439] (32) Ensure the internal threaded end of the strain grommet collar is facing the larger end of the strain grommet. Apply Loctite Time Control Adhesive (1046-Power Easy Gel) to the inner concave surface of the strain grommet.

[0440] (33) Quickly insert the strain grommet collar into the strain grommet so that it rests over the inner depression before the adhesive begins to cure.

[0441] (34) Leave for a few minutes to allow binding before handling the assembled unit.

[0442] (35) Repeat steps (34)-(36) for the second strain guard and strain guard collar.

[0443] (36) Assemble the components of the Y-connector according to the exploded view without attaching the strain relief boot or hatch.

[0444] (37) Duplication of Insertion Tube Length: The change in design requires cutting the insertion tube to compensate for the additional length caused by the addition of the pusher tube collar and Y-connector assembly. For the purposes of this description, the insertion tube distal to the Y-connector will be referred to as the "distal insertion tube" or insertion tube 1041, and the section between the Y-connector 140 and the control body 150 will be referred to as the "control tube 155." The original length of the insertion tube must now be made equal to the sum of: (a) the length of the pusher tube collar [22 mm], plus (b) the length of the distal insertion tube [3000 mm], plus (c) the length of the Y-connector (measured from the distal threaded socket to the proximal threaded socket) [length], plus (d) the length of the control tube 155 [to be calculated]. The change in total length will be achieved by reducing the length of the control tube 155 section. The length of the control tube 155 section is calculated by subtracting lengths (a), (b), and (c) from the original insertion tube length.

[0445] (38) Arrange the insertion tube, curved section, and cable to measure the location where the insertion tube is cut to connect to the distal threaded socket 1034 of the Y-connector assembly 140.

[0446] (39) Use tape to mark the insertion tube at the 3m mark (3000mm)

[0447] (40) Cover the insertion tube above and below the marked resection point with a single layer of catheter tape to prevent damage to the surface of the insertion tube.

[0448] (41) Cut the insertion tube at the marked point using a rotary tube cutter.

[0449] (42) Measure 15mm from the cut end of the insertion tube and remove the polyurethane coating, exposing 15mm of the braided metal core of the insertion tube. If necessary, make sure to remove as much of the coating as possible using solvent and sandpaper. A large amount of exposed metal braid should be visible for a good epoxy bond.

[0450] (43) Slide the strain relief boot over the insertion tube and control tube 155 sections, followed by the O-ring seal (1003) so that they can be slid into place when needed.

[0451] (44) Remove the distal threaded socket (1034) from the Y-connector body.

[0452] (45) Roughen the inside of the non-threaded end of the threaded socket to a depth of 15 mm using 100 grit sandpaper. Clean with acetone and allow to dry.

[0453] (46) Apply high strength epoxy adhesive to the prepared cut end of the distal insertion tube and insert into the threaded socket. Remove excess adhesive and allow the desired bonding time for maximum bond strength to set.

[0454] (47) Arrange the insertion tube, bending section and cable to measure the location to cut the control tube 155 section to the correct length for connection to the proximal threaded socket 1034 of the control tube branch 144 of the Y-connector assembly 140.

[0455] (48) Calculate the length of the control tube 155 according to (39) above. The length of the insertion tube allowed to be inserted into the threaded socket is 15 mm.

[0456] (49) Mark the calculated length of the control tube 155 section with tape to indicate the cutting location.

[0457] (50) Double checking the calculated length will allow for reconnection of angled cables, biopsy channels, etc.

[0458] (51) Cover the control tube 155 above and below the marked resection point with a single layer of catheter tape to prevent damage to the surface of the insertion tube.

[0459] (52) Cut the insertion tube at the marked point using a rotary tube cutter.

[0460] (53) Measure 15mm from the cut end of the insertion tube and remove the polyurethane coating, exposing 15mm of the braided metal core of the insertion tube. If necessary, make sure to remove as much of the coating as possible using solvent and sandpaper. (A large amount of exposed metal braid should be visible for a good epoxy bond).

[0461] (54) Assemble the two insertion tube sections to the Y-connector body as shown in the exploded view. Place the O-ring seal (1007) on the long threaded end of the threaded socket and insert the threaded socket into the distal end of the Y-connector body.

[0462] (55) Place the locking ring (1002) on the inside of the Y-connector body and screw the long threaded end of the threaded socket into it from the far end of the Y-connector body. (NB: A small screwdriver blade or angled probe can be inserted through the side hatch 1009a of the Y-connector body 1008 and into one of the side notches of the locking ring 1002 to prevent the locking ring from rotating when the threaded socket 1034 is tightened.)

[0463] (56) Tighten the threaded socket so that one of the notches in the flange aligns with the hole at the 12 o'clock position on the surface of the Y-connector body.

[0464] (57) Insert the anti-rotation stud (1004) into the hole until it is flush with the surface of the flange.

[0465] (58) Repeat the above procedure using control tube 155.

[0466] (59) Slide the O-ring seal (1003) over the short threaded section of the threaded socket.

[0467] (60) Slide the strain relief boot over the insertion tube until the threads on the strain relief boot collar engage the threads on the threaded socket and screw into place until the strain relief boot is flush with the Y-connector body.

[0468] The length of the pusher tube catheter 1025 is set.

[0469] (61) Insert the cable pull wire through the insertion tube from the proximal end (Y-connector side hatch) to the distal end. Tie the push tube catheter and vacuum line to the pull wire.

[0470] (62) Pull the push tube catheter and the vacuum line through the distal insertion tube and out through the side hatch of the Y-connector.

[0471] (63) Insert the distal end of the distal insertion tube into the pusher tube collar so that the correct length of pusher tube catheter is obtained at its terminal point within the Y-connector.

[0472] (64) Insert the push tube barb connector (1017) through the seal (1016) and into the Y-connector body.

[0473] (65) Mark the pusher tube catheter, which is approximately 2 mm shorter than the barbed section of the connector.

[0474] (66) Cut the pusher tube catheter at the marked point.

[0475] (67) Remove the push tube barb connector (1017) and seal (1016).

[0476] (68) Chamfer the inside of the cut surface of the push tube guide tube using a countersink or deburring tool.

[0477] (69) The short pull wire is rewound onto the pusher tube catheter so that it can be easily manipulated while other cables and tubes are passed through the Y-connector.

[0478] (70) Separate the pusher tube collar from the distal insertion tube to facilitate passage of other wires and cables.

[0479] (71) Being careful not to kink the vacuum line, insert the image sensor cable, light guide, biopsy channel, tube, and angled cable through the lumen 730 of the pusher tube collar / pusher tube catheter assembly.

[0480] (72) The image sensor cable, light guide, biopsy channel, coil, and angled cable are pulled through the distal insertion tube and through the Y-connector to the control body.

[0481] (73) Grind and clean the end of the thrust tube collar and the interior area of ​​the coil collar.

[0482] (74) A high strength epoxy adhesive is applied to the distal end of the pusher tube collar and inserted into the coiled tubing collar.

[0483] (75) Grind and clean the end of the distal insertion tube and the inner surface of the pusher tube collar.

[0484] (76) Apply high strength epoxy adhesive to the distal end of the distal insertion tube and insert into the pusher tube collar. (NB: These joints are under high loads, so they should be allowed the prescribed curing time to achieve maximum bond strength.)

[0485] (77) Attach the Connector Sleeve to the Pusher Tube Catheter: Take the Pusher Tube Collar-Adapter (length of polymer tubing that fits over the barbs 1017 and catheter 1025) and cut into 28 mm lengths.

[0486] (78) Mark the sleeve 8mm from one end.

[0487] (79) Apply Loctite activator to the proximal 20 mm of the pusher tube catheter via the Y-connector hatch 1009a.

[0488] (80) Apply Loctite time controlled adhesive (1046-Power Easy Gel) to the coated section of the pusher tube catheter.

[0489] (81) Insert the push tube catheter into the sleeve 20 mm and allow it to secure.

[0490] (82) Place the locking ring (1002) onto the pusher tube catheter in the Y-connector body 1008.

[0491] (83) Insert the push tube barb connector (1017) through the seal (1016) and into the Y-connector body.

[0492] (84) Insert the pusher tube barb (1017) sufficiently to allow the barb section to be inserted into the pusher tube connector sleeve.

[0493] (85) Heat the sleeve with hot air to soften the material slightly. Hold the catheter and avoid kinking as the barbed portion of the connector is pushed into the sleeve to its full depth. There should be no gap between the barbed connector and the inner pusher tube catheter.

[0494] (86) Place the locking ring onto the threaded section and tighten using a hook probe in the side groove of the locking ring.

[0495] (87) Place a micro cable tie over the barb section and tighten to secure the catheter in place.

[0496] (88) Trim the cable ties to ensure there is clearance for the hatch cover to close.

[0497] (89) Insert the blade latch spring (1014) into the Y-connector body. (NB: It can be guided through the blade latch slot by sliding it over a piece of 0.5mm wire into the spring hole.

[0498] (90) Insert the blade latch (1013) into the slot in the push tube barb (1017) and secure in place with the blade latch screw (1015).

[0499] (91) Insert the vacuum line 1027 through the control body 150 and the universal tube 1094 into the connector body 160.

[0500] (92) Drill the light source connector body (5 mm (3 / 16") diameter) on the side opposite the standard suction line connector fitting.

[0501] (93) Place silicone sealant under the outer flange of the Luer vacuum line connector (1029).

[0502] (94) Install the Luer vacuum line connector through the hole and tighten the internal nut.

[0503] (95) Cut 15 mm of vacuum line connector sleeve (1028) material. Clean the end of the vacuum line with acetone and apply Loctite activator. Wait for the required penetration time.

[0504] (96) Apply Loctite 15s time controlled cyanoacrylate adhesive 5 mm from the end of the vacuum line. (NB: Ensure that no adhesive blocks the lumen of the vacuum line.

[0505] (97) Insert the vacuum line 5mm into the vacuum line connector sleeve.

[0506] (98) Push the connector sleeve onto the barbed portion of the Luer vacuum line connector (1029).

[0507] (99) Reconnect the camera cable, light guide, and air line connections.

[0508] (100) Test that the vacuum is continuous with the propulsion tube catheter at the rear of the Y-connector.

[0509] (101) Close the light source connector housing.

[0510] (102) Reconnect the biopsy / instrument channel and angled cables in the control body.

[0511] (103) Replace the bending section rubber.

[0512] (104) Test all system functions.

[0513] (105) Close the control body.

[0514] (106) Apply silicone grease to the Y-connector hatch seal (1010).

[0515] (107) Insert the seal into the Y-connector body 1008 around the side hatch 1009a.

[0516] (108) Install the Y-connector hatch cover (1009).

[0517] (109) Place silicone sealant under the heads of the Y-connector hatch screws (1011).

[0518] (110) Secure the hatch with the Y-connector hatch cover screws.

[0519] (111) Secure the screw cover (1012) to the hatch cover with contact adhesive. Do not apply acetone to the Y-connector or hatch cover.

[0520] refer to Figure 15 In some embodiments, the pusher tube catheter 1025 may include reinforcing fibers 1500, such as Kevlar or ultra-high molecular weight polyethylene. The reinforcing fibers 1500 may be formed into a woven or braided mesh sandwiched between an inner layer and an outer layer. The inner layer may be formed of, for example, PTFE. The outer layer may be formed of, for example, Pebax®. TM The pusher tube catheter 1025 may have an outer diameter of 6 mm and a diameter of 5 mm, for example.

[0521] Those skilled in the art will appreciate that many changes and / or modifications may be made to the above embodiments without departing from the broad general scope of the present disclosure. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive.

Claims

1. A propulsion tube unit, comprising: an elongated propulsion tube including a first end and a second end opposite the first end, the tube defining a passageway configured to receive a liquid, the first end of the passageway being closed at or near the first end of the tube, the second end of the passageway being defined by the second end of the tube; means for promoting gas nucleation or cavitation at the first end of the propulsion tube; and a piston assembly connected to the second end of the tube, the piston assembly comprising: a body defining a bore in fluid communication with the passageway of the tube; and a movable piston disposed within the bore and configured to seal against an inner surface of the bore, Wherein the piston assembly cooperates with the tube to define a sealed container containing a selected mass of a fluid, the fluid comprising a liquid.

2. The propulsion tube unit of claim 1, wherein the fluid comprises a selected mass of liquid and a selected mass of gas.

3. A propulsion tube unit according to claim 1 or 2, wherein the sealed container contains the fluid at atmospheric pressure in a rest state corresponding to a rest position of the piston in the cylinder.

4. The propulsion tube unit according to claim 3, wherein the rest position of the piston is closer to the end of the cylinder closest to the propulsion tube than to the end of the cylinder farthest from the propulsion tube.

5. The propulsion tube unit of claim 3, wherein the rest position of the piston is located at the end of the cylinder closest to the propulsion tube.

6. A propulsion tube unit according to any one of claims 3 to 5 when dependent on claim 2, wherein the gas is completely dissolved in the liquid in the static state.

7. A propulsion tube unit according to any one of claims 1 to 6, wherein the piston assembly is configured to cooperate with an actuator to achieve movement of the piston to selectively regulate the pressure of the liquid in the channel to alternately: reduce the pressure to cause cavitation and form bubbles in the liquid; and increase the pressure to cause some or all of the bubbles to collapse back into the liquid, thereby accelerating at least a portion of the liquid toward the first end of the tube and transferring momentum to the tube to cause the tube to advance along the channel.

8. The pusher tube unit according to claim 7, wherein the pusher tube unit comprises a step-down collar connecting a relatively larger diameter proximal portion of the pusher tube to a relatively smaller diameter distal portion of the pusher tube.

9. The propulsion tube unit according to claim 8 further comprises one or more mechanisms configured to promote gas nucleation or cavitation in multiple regions spaced apart along at least a portion of the length of the channel in the distal portion of the propulsion tube when the pressure is reduced.

10. The propulsion tube unit according to claim 8 or 9, wherein the proximal portion of the propulsion tube defines a smooth inner surface to reduce the likelihood of cavitation occurring when pressure is reduced.

11. The propulsion tube unit according to any one of claims 1 to 10, wherein: The mechanism for promoting gas nucleation or cavitation at the first end of the propulsion tube includes surface variations on an interior surface of the propulsion tube.

12. The propulsion tube unit according to any one of claims 1 to 10, wherein: The mechanism for promoting gas nucleation or cavitation at the first end of the propulsion tube includes a porous surface on an interior surface of the propulsion tube.

13. A propulsion tube unit according to any one of claims 1 to 10, wherein the means for promoting gas nucleation or cavitation at the first end of the propulsion tube comprises a layer of porous ceramic material secured to an interior distal surface of the propulsion tube.

14. The propulsion tube unit according to any one of claims 1 to 10, wherein: The means for promoting gas nucleation or cavitation at the first end of the propulsion tube comprises a hydrophobic material on an inner surface of the propulsion tube.

15. The propulsion tube unit according to any one of claims 1 to 10, wherein: The means for promoting gas nucleation or cavitation at the first end of the propulsion tube includes an acoustic transducer.

16. The propulsion tube unit according to any one of claims 1 to 10, wherein: The mechanism for promoting gas nucleation or cavitation at the first end of the propulsion tube includes a source piezoelectric ceramic transducer element.

17. The propulsion tube unit according to any one of claims 1 to 10, wherein: The mechanism for promoting gas nucleation or cavitation at the first end of the propulsion tube includes a variation in thermal conductivity on the inner surface of the propulsion tube.

18. The propulsion tube unit according to any one of claims 1 to 10, wherein: The means for promoting gas nucleation or cavitation at the first end of the propulsion tube includes one or more lasers.

19. The propulsion tube unit according to any one of claims 1 to 10, wherein: The mechanism for promoting gas nucleation or cavitation at the first end of the propulsion tube includes one or more pairs of electrical conductors connected to a power source and configured to selectively cause ionization of the liquid to promote gas nucleation or cavitation at the first end of the propulsion tube.

20. A propulsion console for selectively adjusting the pressure within a channel of a propulsion tube unit of an endoscopic device, the console comprising: at least one user input device; actuator; a connecting member for mechanically coupling the piston of the propulsion tube unit to the actuator, wherein the actuator is configured to actuate movement of the piston when the propulsion tube unit is coupled to the actuator; as well as A computing device configured to execute program code to: receiving an operation instruction from the at least one user input device; as well as A command is sent to the actuator to control at least one of a speed and a direction of the actuator.

21. The console of claim 20, wherein the actuator comprises: frame; Actuator shaft; a fixed magnet fixed to the frame; and a moving magnet fixed to the actuator shaft and configured to move with the actuator shaft during operation, At least one of the fixed magnet and the moving magnet comprises an electromagnetic coil configured to be operated to cause linear movement of the actuator shaft relative to the frame.

22. The console of claim 21, wherein the actuator further comprises a holding magnet configured to temporarily hold the actuator shaft in a rearward position prior to releasing the actuator shaft to a forward stroke of the actuator.

23. The console according to any one of claims 20 to 22, further comprising at least one detection component configured to detect whether the endoscopic device is coupled to the actuator.

24. The console of claim 23, wherein the detection component sends a signal to the computing device when the detection component detects that the endoscopic device is coupled to the actuator.

25. The console of claim 24, wherein the computing device is configured to send instructions to the actuator only after receiving a signal from the detection component indicating that the endoscopic device is coupled to the actuator.

26. The console of any one of claims 20 to 25, further comprising at least one identification component configured to identify at least one characteristic of the endoscopic device when the endoscopic device is coupled to the actuator.

27. The console of claim 26, wherein the identification component reads an identification code from the endoscopic device when the endoscopic device is coupled to the actuator.

28. The console of claim 27, wherein the identification component is at least one of a camera or a laser scanner, and the identification code is a visual code, such as a QR code or a bar code.

29. The console of claim 27, wherein the identification component is an RFID reader and the identification code is an RFID code.

30. The console of any one of claims 27 to 29, wherein the identification component sends a signal to the computing device based on the read code.

31. A console according to any one of claims 27 to 30, wherein the computing device is configured to determine instructions to send to the actuator based at least in part on the identification code.

32. A propulsion system comprising a propulsion tube unit according to any one of claims 1 to 19 and a propulsion console according to any one of claims 20 to 31.

Images