Endoscopic device with USB port and power supply accessory

Abstract

An endoscopic deployment device includes a body that can be mounted on an endoscopic device, a communication interface, and a motor. The body has a movable bracket that can be connected to an elongated end actuator device. The actuator device has an end actuator shaft covered by an outer sheath and an end actuator extending from the distal end of the shaft. The size and shape of the sheath are suitable for insertion through the working channel of the endoscope shaft of the endoscopic device. The body has a bracket channel that is sized for the bracket to slide therein. The end actuator can be actuated between an open position and a closed position by sliding the bracket in the bracket channel, which in turn causes the sheath to slide onto the end actuator shaft to expose / cover the end actuator. Rotation of the drive shaft of the motor causes the bracket to slide in the bracket channel and actuate the end actuator in response to a signal.

Description

[0001] Inventors: Michael S.H. Chu, Joseph Arruda, Sasha Tang, and Kenneth W. Adams.

[0002] Priority claim

[0003] This disclosure claims priority to U.S. Provisional Patent Application Serial No. 62 / 904,909, filed on September 24, 2019, the disclosure of which is incorporated herein by reference. Technical Field

[0004] The present disclosure relates to an endoscope device, and in particular to an endoscope handle having a USB port and a power supply accessory. Background Art

[0005] Various accessory devices may be used with endoscopic devices to perform various diagnostic and therapeutic procedures in an imaging cavity. However, accessory devices may not always be compatible with endoscopic devices. For example, the physical construction of the devices may be difficult to use in conjunction with, or the devices may not be programmatically compatible. Summary of the invention

[0006] The present disclosure relates to an endoscopic deployment device, which includes: a main body that can be mounted on an endoscopic device, the main body having a movable bracket that can be connected to a slender end actuator device, the slender end actuator device having an end actuator shaft covered by an outer sheath and an end actuator extending from the distal end of the end actuator shaft, the size and shape of the outer sheath being suitable for insertion through a working channel of the endoscopic shaft of the endoscopic device, the main body having a bracket channel, the size of the bracket channel allowing the bracket to slide therein, wherein the end actuator can be actuated between an extended open position and a retracted closed position by sliding the bracket in the bracket channel, which in turn causes the outer sheath to slide onto the end actuator shaft to expose or cover the end actuator; a communication interface, which extends from the main body and is configured to mate with a corresponding communication interface on the endoscopic device on which the main body is mounted to receive power therefrom and exchange data therewith; and a motor, which has a drive shaft connected to the bracket, rotation of the drive shaft causing the bracket to slide in the bracket channel and actuate the end actuator in response to a signal.

[0007] In one embodiment, the signal is generated based on actuation of an actuator on the endoscopic device.

[0008] In one embodiment, the actuator is a button pad that controls the motor via a mating communication interface of the endoscopic deployment device and the endoscopic device.

[0009] In one embodiment, the signal is generated in response to an endoscope sensor reading.

[0010] In one embodiment, the motor is a stepper motor.

[0011] In one embodiment, the drive shaft has an arm extending orthogonally therefrom, the arm being coupled to a slot in the bracket, and the arm having a pin at the end of the arm opposite the drive shaft, the pin being coupled to the slot so that when the drive shaft rotates, the pin slides in the slot in a direction orthogonal to the bracket channel, and the bracket slides in the bracket channel.

[0012] In one embodiment, the drive shaft is a lead screw coupled to a threaded through hole extending through a portion of the bracket and parallel to the bracket channel so that when the drive shaft rotates, the bracket slides in the bracket channel.

[0013] In one embodiment, the pinion gear is coupled to the drive shaft and to a rack gear that is an integral part of the carriage, such that when the drive shaft rotates, the pinion gear drives the rack gear and the carriage slides in the carriage channel.

[0014] In one embodiment, the end effector device is a retrieval device for capturing an object at the distal end of the endoscope shaft.

[0015] In one embodiment, the end effector device is a laser fiber or an energy fiber used to pulverize or cauterize objects at the distal end of the endoscope shaft.

[0016] In one embodiment, the end effector device has a Segura TM A handle for connecting to a bracket of an endoscope deployment device, wherein the Segura TM Before the handle is attached to the endoscope deployment device, the bracket and Segura TM The slide of the handle is positioned completely proximally.

[0017] In one embodiment, the endoscopic device has a proximal communication interface and a distal communication interface, and the communication interface of the endoscopic deployment device is compatible with the proximal communication interface of the endoscopic device.

[0018] In addition, the present disclosure relates to an endoscopic device, which includes: an elongated flexible endoscopic shaft, which includes a working channel and a deflectable distal end, the size and shape of the flexible endoscopic shaft are suitable for insertion into a target site in a living body, and the distal end includes a camera; a handle, the endoscopic shaft extends distally from the handle, the handle includes a pull wire wheel, the pull wire wheel includes a pull wire attachment, and first and second pull wires extend distally from the pull wire attachment through the endoscopic shaft to the distal end, by tensioning the first of the first and second pull wires and loosening the second of the first and second pull wires, the rotation of the pull wire wheel deflects the distal end, the handle includes an actuator, and the proximal end of the handle includes a communication interface for connecting an accessory device; and a motor, which includes a rotatable drive shaft, the rotatable drive shaft is connected to the pull wire wheel and is configured to rotate the pull wire wheel in response to a signal.

[0019] In one embodiment, the deflection knob operates as a switch, so that deflection of the deflection knob in a first direction causes the wire pull wheel to rotate through a predetermined angle range to apply tension to the first of the first and second pull wires, and deflection of the deflection knob in a second direction causes the wire pull wheel to rotate through a predetermined angle range to apply tension to the second of the first and second pull wires.

[0020] In one embodiment, the signal is generated by a button pad on the outside of the handle.

[0021] Furthermore, the present invention relates to a method, comprising: attaching an endoscopic deployment device to an endoscopic device, the endoscopic deployment device comprising a body mountable on the endoscopic device, the body having a movable carriage connectable to an elongated end effector device, the elongated end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped to be inserted through a working channel of the endoscopic shaft of the endoscopic device, the body having a carriage channel sized to allow the carriage to slide therein, wherein by sliding the carriage in the carriage channel, The end actuator can be actuated between an extended open position and a retracted closed position, which in turn causes the outer sheath to slide onto the end actuator shaft to expose or cover the end actuator, the endoscope deployment device further includes a communication interface, which extends from the main body and is configured to match with a corresponding communication interface on the endoscopic device on which the main body is mounted to receive power from it and exchange data with it, the endoscope deployment device further includes a motor, the motor having a drive shaft connected to the bracket; and the motor is actuated in response to a signal, the actuation of the motor causes the drive shaft to rotate and the bracket to slide in the bracket channel to actuate the end actuator.

[0022] In one embodiment, the actuator is a button pad on the endoscopic device that is operated by the thumb of the user's gripping hand.

[0023] In one embodiment, the button pad further actuates deflection of the distal end of the endoscope shaft.

[0024] In one embodiment, the motor is a stepper motor.

[0025] In one embodiment, the end effector device is a retrieval device for capturing an object at the distal end of the endoscope shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1A A front view of an endoscopic device compatible with a power supply accessory according to various exemplary embodiments of the present disclosure is shown.

[0027] Figure 1B yes Figure 1A A rear view of the endoscopic device;

[0028] Figure 2 shows a structured Figure 1A A pressure sensor device compatible with an endoscope device.

[0029] Figure 3 shows a structured Figure 1A A flow sensor device compatible with the endoscope device.

[0030] Figure 4A A transparent side view of a first embodiment of a motorized deployment device is shown.

[0031] Figure 4B Shows Figure 4A A transparent perspective view of the motorized deployment device.

[0032] Figure 5A A transparent side view of a second embodiment of a motorized deployment device is shown.

[0033] Figure 5B Shows Figure 5A A transparent perspective view of the motorized deployment device.

[0034] Figure 6 Shown with Figures 4A-5B Exemplary Segura compatible with the motorized deployment device and the elongated end effector device TM handle.

[0035] Figures 7A-7F Shown with Segura TM / Dakota TM An exemplary elongated end effector device compatible with a handle.

[0036] Figure 8 The stepper motor control board is shown.

[0037] Fig. 9 A handle of an endoscopic device with a motor for controlling the deflection of the distal tip is shown.

[0038] Figures 10A-10C Shown is the drive Fig. 9 The gear train of the cable pulley of the device.

[0039] Fig. 10D Shows Fig. 9 The wire pulling wheel of the device is formed with a gear.

[0040] Fig.11 Shown is a pulley Figures 10A-10C of the gear train.

[0041] Fig.12 An ergonomic button pad for controlling the endoscope tip and the elongated end effector assembly is shown. DETAILED DESCRIPTION

[0042] The present disclosure may be further understood with reference to the following description and accompanying drawings, wherein like elements are denoted by like reference numerals. Exemplary embodiments describe an endoscope having an endoscope handle with one or more external communication interfaces (e.g., a USB port) and an accessory device that is compatible with the endoscope and can be inserted therein. For example, the accessory device may include a pressure sensor, a temperature sensor, a flow sensor, an additional camera, an additional light, an optical sensor, a catheter, a laser time-of-flight distance sensor, a deployment device, other sensors, or a combination thereof.

[0043] In another embodiment, an accessory device is described that is a motorized deployment device for controlling an elongated end effector device to capture, for example, a kidney stone, etc. The motorized deployment device is compatible with an endoscope, or can be integrated with the endoscope in an integral handle. The elongated end effector device refers to any of a variety of devices that are compatible with and actuated by the motorized deployment device. For example, the elongated end effector device can be a retrieval device for capturing kidney stones, a laser fiber device, a treatment needle, a snare, forceps, a band ligation device, etc. Any elongated end effector device can be equipped with, for example, a Segura TM or Dakota TM The handle is sized and shaped to be used with the motorized deployment device. TM or Dakota TM Handle (or similar device) compatible and equipped with Segura TM or Dakota TM Any elongated end effector device of a handle (or similar device) may also be used with the motorized deployment device.

[0044] In another embodiment, the endoscope handle has a motor for controlling the articulation of the distal end of the endoscope shaft. The motor can be, for example, a stepper motor that allows for precise positioning and holding of the shaft end and / or precise control of end effector features of an elongated device. The motor can be internal to the handle, or can be externally coupled to the handle, for example, to a pulley via a flexible drive shaft extension or the like.

[0045] In each embodiment, the communication interface between the endoscope handle and the accessory device, whether internal or via an external communication interface, is arranged so that the operating surgeon can operate the articulation of the distal shaft tip and control the accessory device in an ergonomic manner. For example, in one embodiment, where the motorized deployment device is connected to the endoscope handle via an external communication interface, the deflection knob for the distal shaft tip and the button controller for the motorized deployment device are arranged so that both can be operated simultaneously or independently without overly straining the surgeon's hand.

[0046] In another embodiment, where the motorized deployment device is integral to or otherwise compatible with the endoscope handle, a button pad can be used to operate both the shaft tip and the elongated device. The button pad can include, for example, four momentary buttons located on the underside of the endoscope handle and can be operated by the surgeon's grasping thumb. Pressing the buttons causes the endoscope shaft or end effector to move, and releasing the buttons causes the stepper motor to stop and maintain the current position. In another embodiment, non-momentary buttons can be used, such as a typical on / off switch. In yet another embodiment, control is achieved entirely remote from the device, such as via a console.

[0047] This embodiment has a data bus in the endoscope handle, in which case data can be received via various accessory devices and control of these devices can be achieved. The handle can be connected to an endoscope console, etc. via a cable, sending data from the device to the endoscope console, or achieving control of the device from the endoscope console. In some embodiments, data from one accessory device and / or endoscope can be used to control the operation of another accessory device and / or endoscope. For example, a reading from a pressure sensor can trigger the operation of a flushing mechanism. In another example, the output from a laser distance sensor can adjust / optimize the distance from the end of the laser fiber to the ureteral stone via a stepper motor to maximize laser efficiency during stone fragmentation. In another embodiment, the data from the accessory device is displayed on, for example, a monitor screen so that the surgeon can evaluate and react accordingly.

[0048] Figure 1A-1BFront and rear views of an endoscopic device 100 compatible with power and data accessories according to various exemplary embodiments of the present disclosure are shown. The endoscopic device 100 can be dedicated to a specific endoscopic procedure, such as ureteroscopy, or can be a general device suitable for a variety of procedures. The endoscopic device 100 includes a handle 102 connected to an endoscopic shaft 104, which has a deflecting distal tip 106 at a distal end 103. As will be appreciated by those skilled in the art, the distal tip 106 has a camera and can, for example, have a full 270° deflection capability in more than one direction for viewing patient anatomy.

[0049] The handle 102 of the endoscopic device 100 has a plurality of elements configured to facilitate endoscopic surgery. A cable 108 extends from the handle 102 and is configured to be attached to an electronic device (not shown), such as a computer system, a console, a microcontroller, etc., for providing power, analyzing endoscopic data, controlling endoscopic intervention, or performing other functions. The electronic device to which the cable 108 is connected may have the function of identifying other endoscopic accessories and exchanging data with other endoscopic accessories, which will be described in detail below. The handle 102 has a gripping area 118 for the operating surgeon to grip when performing endoscopic surgery. As will be appreciated by those skilled in the art, the deflection knob 116 at the proximal end 105 of the device may be actuated to control the deflection of the distal tip 106. Even when the endoscope has a motorized deflection device (described in detail below), in this embodiment, there may still be a deflection knob 116 in the form of a short handle for manually straightening the distal tip 106 and removing the shaft 104 from the patient's anatomy in the event of, for example, a power failure.

[0050] The handle 102 further has at least one communication interface for attaching an accessory device. In the present embodiment, the handle 102 has a first communication interface 112 and a second communication interface 114, which in the present embodiment are Universal Serial Bus Type-C (USB-C) ports. However, more or less various types of communication interfaces can be used, including, for example, custom interfaces. In other embodiments, the handle 102 has only one communication interface, but can receive, for example, a USB hub having multiple ports for connecting multiple accessories. In addition to exchanging data with the accessory device, the communication interfaces 112 and 114 can also provide power to the accessory device. Therefore, the accessory device does not need to have a separate cable extending to the console or a battery that increases the extra weight of the handle 102. The accessory device can be uniquely associated with the endoscopic device 100 and is recognized by the console through a "plug and play" function without any user settings.

[0051] The T-connector 110 extends from the distal portion of the handle 102 and is provided with two ports 124, 126 for accessing the working channel of the endoscope shaft 104. In this embodiment, the first and second ports 124, 126 are arranged perpendicular to each other, with the first port 124 facing distally and the second port 126 facing proximally. An accessory device or an elongated end effector device can be passed through either of the first and second ports 124, 126, however, the second port 126 may be preferred when the device is proximal to the T-connector 110. In another embodiment, a Y-connector is used, with both the first and second ports facing proximally, so that two devices can enter the working channel of the endoscope shaft 104 from a position proximal to the Y-connector.

[0052] Various accessory devices can mate with either of the two communication interfaces 112, 114, however, some accessory devices are more compatible with either of the two interfaces 112, 114. The first communication interface 112 is located distally on the handle 102. Some accessory devices have corresponding communication interfaces (e.g., male USB-C ports) extending from these devices, which facilitate their spatial compatibility with the first communication interface 112.

[0053] For example, Figure 2 A pressure sensor device 200 is shown, which is configured to be compatible with the endoscopic device 100, and in particular, compatible with the first communication interface 112 of the endoscopic device 100. The pressure sensor device 200 has a communication interface 202 that can be matched with the first communication interface 112 of the endoscopic device 100, for example, inserted into the first communication interface. The pressure sensor device 200 has a shaft 204 extending from a proximal end 205 of the pressure sensor device 200 to a distal end 203 of the pressure sensor device 200. The shaft 204 has a through lumen, i.e., a channel, extending through its length. The proximal end of the shaft 204 has a Luer hub 210 extending therefrom and a communication interface 202 adjacent thereto. The communication interface 112 of the endoscopic device 100 is angled so that when the pressure sensor device 200 is attached to the endoscopic device 100, the Luer hub 210 is oriented in a manner similar to the second port 126 of the T-connector 110. Thus, pressure sensor device 200 may be more easily coupled to a male luer port during use, for example, for fluid communication.

[0054] The pressure sensor device 200 has a pressure sensor 206 at the distal end of the shaft 204 and a plurality of clips 208 adjacent thereto for fixing the shaft 204 of the pressure sensor device 200 to the endoscope shaft 104. Although the present embodiment uses the clips 208, the shaft 204 may be fixed to the endoscope shaft 104 by other means (e.g., a retainer, etc.).

[0055] As described above, the pressure sensor device 200 may also be mated with the second communication interface 114 of the endoscopic device 100. However, in the presently described embodiment, given that the shaft 204 of the pressure sensor device 200 may be easily clamped to the shaft 104 of the endoscopic device 100 and the positioning of the Luer hub 210, mating with the first communication interface 112 is preferred.

[0056] In another example, Figure 3 A flow sensor device 300 is shown that is configured to be compatible with the endoscopic device 100, and in particular, with the first communication interface 112 of the endoscopic device. Similar to the pressure sensor device 200, the flow sensor device 300 has a communication interface 302 that can mate with the first communication interface 112 of the endoscopic device 100. The flow sensor device 300 has a shaft 304 extending from a proximal end 305 of the flow sensor device 300 to a distal end 303 of the flow sensor device 300. The shaft 304 has a through lumen extending through its length. The proximal end of the shaft 304 has a female Luer hub 310 extending therefrom, a communication interface 302 adjacent thereto, and a handle 312. Similar to the pressure sensor device 200, the flow sensor device 300 is easily coupled to a male Luer port for fluid communication or any other reason.

[0057] The flow sensor device 300 has a flow sensor 306 adjacent to the handle 312 and a plurality of clips 308 adjacent to the distal end of the shaft 304 for fixing the shaft 304 of the flow sensor device 300 to the endoscope shaft 104. Similar to the pressure sensor device 200, the flow sensor device 300 can use an attachment device other than the clip 308, such as a retainer, etc. The pressure sensor device 200 can also be matched with the second communication interface 114 of the endoscope device 100, however, considering the above-mentioned space advantage, matching with the first communication interface 112 is preferred.

[0058] The second communication interface 114 is located proximally on the handle 102 and is compatible with accessory devices configured to be inserted through the working channel of the endoscope shaft 104 via, for example, the second port 126. For example, an accessory device (such as an additional camera, an additional light, an optical sensor, or other device) can be mated with the second communication interface 114 and inserted into the working channel. In this way, the cable / shaft of the device does not hinder the operating surgeon and can be used without severely bending the accessory.

[0059] However, these devices may also have a flexible cable that is inserted into the first communication interface 112 and bent into the working channel without damaging the cable. Because the second communication interface 114 is proximal to the T-connector 110, with the second port 126 of the T-connector 110 pointing proximally, there may be a situation where fluid used during ureteroscopy leaks and / or splashes proximally. Therefore, the proximal second communication interface 114 may have a fluid seal, such as a Tuohy borst adapter, UroLok TM or Gateway TM The console cable 108 of the endoscopic device 100 may be associated with one of the communication interfaces 112, 114, such that an interface on the handle 102 is not necessary. For example, the cable 108 may be bifurcated and have an interface, such as a USB port, extending from the bifurcated portion of the cable 108.

[0060] In this embodiment, the handle 102 of the endoscopic device 100 has two mounting holes 120, 122 that are positioned to couple to, for example, a motorized first deployment device 400 that is compatible with an elongated end effector device. The elongated end effector device can be any of a variety of devices having a variety of uses, such as capturing and removing objects (such as kidney stones), as will be described in further detail below.

[0061] Figure 4A A transparent side view of the first deployment device 400 is shown, and Figure 4B A transparent perspective view of the first deployment device is shown. The first deployment device 400 can be connected to the endoscopic device 100 at the mounting holes 120, 122 using corresponding mounting pins 402, 404. The first deployment device 400 has a communication interface 406, which can be matched with the second communication interface 114 of the endoscopic device 100, for example, inserted into the second communication interface. The communication interface 406 can be, for example, a male USB-C port. The communication interface 406 is connected to a control board 410 of the motor 412 via a flexible cable 408. The control board 410 includes an electrical port (in this case for connecting to USB), a drive circuit, and a motor terminal for connecting the motor 412. The motor 412 can be, for example, a stepper motor.

[0062] The motor 412 may be provided by, for example Fig.12The first deployment device 400 is actuated by a signal provided by the button pad 1200 shown. In another embodiment, the signal is generated in response to an endoscope sensor reading. If the flexible cable 408 is long enough, the communication interface 406 can be matched with the first communication interface 112 of the endoscopic device 100, however, in the presently described embodiment, the first deployment device 400 is particularly suitable for connection via the second communication interface 114. Connecting to the first deployment device 400 via one of the communication interfaces 112, 114 allows the first deployment device 400 to be actuated via a controller on the handle 102.

[0063] The first stent 400 has a handle coupling 414 extending from the distal end 403 of the first stent 400 to the proximal end 405 of the first stent 400. The handle coupling 414 is configured to receive a handle of an elongated end effector device, which will be referred to below. Figure 6 -7. The elongated end effector device includes a pull wire and an outer sheath, which is fed through the working channel of the shaft 104 via the T-connector 110 of the endoscopic device 100 or other embodiments of the endoscopic device. The elongated end effector device includes a handle at the proximal end of the pull wire and an end effector at the distal end of the pull wire, and the end effector can be actuated by a slide on the handle between an extended open state and a retracted closed state, for example, for grasping objects or extending / retracting laser fibers or treatment needles during endoscopic surgery.

[0064] In an alternative embodiment, the elongated end effector device and the first deployment device 400 are formed in a single integral unit. The end effector can be actuated via linear movement of a bracket 416, which is coupled to a slide of the elongated end effector device handle, which will be described in detail below. For example, when the elongated device handle is inserted into the handle coupler 414, distal movement of the bracket 416 can cause the elongated end effector device to slide to close the end effector, while proximal movement of the bracket 416 can cause the end effector to open. Movement of the bracket 416 is achieved via an actuation link inside the first deployment device 400 via the motor 412, which will be described below.

[0065] The bracket 416 of the first stent 400 is configured to slide within a channel 424 of the first stent 400. The channel 424 prevents any movement except proximal / distal sliding. The bracket 416 has a slot 422 in which a pin 420 is configured to slide, and the pin 420 is connected to the motor 412 via an arm 418. When the motor 412 is actuated, the arm 418 is caused to rotate around a predetermined arc segment 426. The link between the pin 420 and the slot 422 converts the angular movement of the arm 418 into a linear movement of the bracket 416. The slot 422 allows the pin 420 to translate slightly in a direction orthogonal to the proximal / distal direction while driving the bracket 416 in the proximal / distal direction. When the bracket 416 is brought to its most distal position, the end effector is fully closed, and when the bracket 416 is brought to its most proximal position, the end effector is fully open, with different degrees of opening / closing between its most distal position and the most proximal position.

[0066] In an alternative embodiment, if Figure 5A-5B As shown, the second deployment device 500 extends from a distal end 503 to a proximal end 505, and a lead screw may be used to drive a bracket 516 instead of the linkage described with respect to the second deployment device 500. Similar to the first deployment device 400, the second deployment device 500 has mounting pins 502, 504 for attaching the second deployment device 500 to the endoscopic device 100. In addition, the communication interface 506, the flexible cable 508, the drive control board 510, the handle coupler 514, the bracket 516, and the channel 528 are substantially similar to those described with respect to the first deployment device 400. However, the second deployment device 500 has two position options for the motor, both of which are coupled to a lead screw, i.e., a screw that serves as a linkage that converts rotary motion into linear motion.

[0067] In a first embodiment, the motor 512 is arranged at a position adjacent to and oriented parallel to the passage 528 that accommodates the carriage 516. When the motor 512 is actuated, a lead screw 518 extending from the motor rotates. The lead screw 518 is coupled to a threaded through hole 520 that extends through a portion of the carriage 516. Therefore, as the lead screw 518 rotates, the carriage 516 is driven in a proximal / distal direction. In a second embodiment, the motor 522 is arranged at a position proximal to the passage 528 that accommodates the carriage 516. The lead screw 524 extends from the motor 522 and is coupled to a threaded through hole 526 that extends through the proximal portion of the carriage 516. The second motor 522 drives the carriage 516 in a manner substantially similar to the first motor 512.

[0068] In an alternative embodiment, the first deployment device 400, the second deployment device 500 may implement a rack and pinion mechanism to drive the linear motion of the carriages 416, 516. The pinion may be attached to the stepper motor shaft, and the rack may be an integral part of the carriage.

[0069] Figure 6 An exemplary Segura is shown TM Handle 600, which can be mounted to any of the above-mentioned elongated end effector devices. In another embodiment, a Dakota TM Handle, which is similar to Segura TM handle, but modified to have a reliable opening trigger. Thus, handle 600 can be a Segura TM Handle or Dakota TM The handle, depending on the elongated end effector device to which it is attached, may be a similar device for actuating the end effector device.

[0070] Segura TM The handle 600 has a body 602 over which a slider 604 can slide. A male Luer connector 610 is attached to the distal end of the slider 604, while the shaft of the elongated end effector device (i.e., the pull wire) is held at the proximal end 605 of the body 602 by a jaw clamp 606. As a cap 608 is screwed onto the body 602, the cap 608 forces the jaws to close around the shaft of the end effector device. The body 602 has a through cavity (not shown) for the shaft of the elongated end effector device. Thus, it can be seen that the slider 604 can move relative to the body 602 and the shaft of the elongated end effector device.

[0071] The outer sheath of the end effector device is connected to the male luer connector 610 via the female luer connector and extends to cover the end effector at the distal end of the end effector device. When the slider 604 moves distally, it in turn moves the outer sheath distally over the end effector to close the end effector, and when the slider 604 moves proximally, it in turn moves the outer sheath proximally to expose the distal end of the end effector, thereby opening the self-opening, memory-set end effector. Segura TM A travel limiter in the handle 600 governs the travel of the slide 604 relative to the size of the end effector, where T is the travel length of the slide 604 .

[0072] As previously described, in these embodiments, the sizes and shapes of the brackets 416, 516 of the first stent 400 and the second stent 500 are suitable for use with the Segura TM / Dakota TMThe slider 604 of the handle 600 is compatible. Therefore, when the first deployment device 400 is actuated to move the bracket 416 in the proximal or distal direction, the slider 604 moves relative to the body 602 accordingly, and the end effector of the end effector device moves toward opening or toward closing.

[0073] Figure 7 shows the Segura TM / Dakota TM Examples of elongated end effector devices that are compatible with handle 600 include stone / particle retrieval baskets. Figures 7A-7F The Zero Tip TM Retrieval basket 702, laser fiber device 704, treatment needle 706, snare 708, forceps 710 and band ligator 712. Each elongated end effector device can be equipped with a Segura TM / Dakota TM The handle can be operated by the first deployment device 400 or the second deployment device 500 .

[0074] The motors described with respect to the first unfolding device 400 and the second unfolding device 500 can be, for example, DC motors, servo motors, stepper motors, etc. A preferred embodiment of the motor is a stepper motor. A stepper motor is a brushless electromechanical device that converts a sequence of electrical pulses applied to an excitation winding into a precisely defined step-by-step mechanical rotation of the shaft. For each discrete pulse, the shaft of the motor rotates through a fixed angle, which can be converted into linear motion in any of the above-mentioned ways. Each pulse provides one step of motion, that is, the angle that the stepper motor shaft rotates for each pulse is called the step angle, which is usually expressed in degrees.

[0075] The position of the motor shaft is controlled by controlling the number of pulses. This feature makes stepper motors very suitable for open-loop control systems, in which the precise position of the shaft is maintained using the exact number of pulses without the use of a feedback sensor. If the step angle is smaller, the number of steps per revolution is greater, and the position accuracy obtained is higher. The step angle can be as large as 90 degrees and can be as small as 0.72 degrees, however, commonly used step angles are 1.8 degrees, 2.5 degrees, 7.5 degrees, and 15 degrees.

[0076] The direction of rotation of the shaft depends on the pulse sequence applied to the stator. The speed of the shaft or the average motor speed is proportional to the frequency of the input pulses applied to the excitation winding (the rate of the input pulses). Therefore, if the frequency is low, the stepper motor rotates step by step, and for high frequencies, it rotates continuously like a DC motor due to inertia. The stepper motor continues to produce holding torque even when stationary. This means that the motor can be held in a stopped position without the use of a mechanical brake. The built-in pulse generation function (controller) allows the stepper motor to be driven via a directly connected personal computer, programmable controller or console. Stepper motors can achieve precise positioning via digital control, which will be explained in further detail below.

[0077] Figure 8 A stepper motor control board 800 is shown. The control board 800 includes a USB port 804 for connecting a USB cable and a motor terminal 802 for connecting a stepper motor. When the motor is a stepper motor, the stepper motor control board 800 can be used as a control board 410 or 510 for a motor 412, 512 or 522 in the first unfolding device 400, the second unfolding device 500. However, if a stepper motor is not used, the corresponding control board is configured to drive the motor used. For example, if the motor 412 is a servo motor, the control board 410 is a servo motor control board. The motor control board can be customized. The motor can be powered via the USB port 804, however, in another embodiment, the motor can be powered by a battery.

[0078] The first deployment device 400 has buttons 430 for controlling the movement of the carriage via the control board 410 and the motor 412. The first deployment device 400 preferably has at least two buttons 430. For example, the first button can be pressed to cause the carriage to travel in the distal direction and stop when the button is released. The second button can be pressed to cause the carriage to travel in the proximal direction and stop when the button is released. Double-clicking either button can cause the carriage to reach its most distal position or most proximal position. Other button pressing configurations can, for example, increase or decrease the speed of the carriage movement.

[0079] exist Fig.12 In the embodiment shown, the most proximal button 1202 is used for the endoscope axis upward direction (US), while the most distal button 1201 is used for the endoscope axis downward direction (US). In other countries, the proximal button is used for the downward direction, while the distal button is used for the upward direction. The user can program the two side buttons 1203, 1204 on the button pad to move the carriage distally or proximally when pressed, because the microprocessor executes the movement direction of the stepper motor via the program when the conditional statement in the program is true. It is also possible to switch the upward and downward endoscope axis buttons without switching the pull wire of the pull wire wheel by modifying the conditional statement.

[0080] The placement of the button 430 adjacent to the gripping area 118 and the deflection knob 116 of the endoscopic device 100 (when the endoscopic device 100 and the first deployment device 400 are attached) provides ergonomic benefits to the user of the device. For example, a typical user may have difficulty operating the deployment device and endoscope deflection at the same time, especially when the thumb is extended on the deflection knob 116 at full deflection, and especially if the user has small hands. Due to the proximity of the button 430 and the deflection knob 116, the spatial configuration of the endoscopic device 100, the first deployment device 400 allows for easy use. The second deployment device 500 similarly has a button 530 for controlling the movement of the carriage in a manner similar to that described above.

[0081] In alternative embodiments, voice commands for controlling the end effector may be implemented, such as, but not limited to, "open," "close," "stop," "faster," "slower," "load," and the like.

[0082] Different elongated end effector devices can be implemented in the first deployment device 400, each with a different data set for controlling the end effector. For example, each end effector device can have a different stop limit or stroke length for the carriage. However, through the "plug and play" function of the endoscopic device 100, the data set can be automatically loaded into the controller.

[0083] Alternatively, the type of elongated end effector device may be selected through a drop-down menu on the console. TM The handle is assembled to the first deployment device 400, for example by pressing Fig.12 The button 1203 moves the carriage to the nearest position and Segura TM The handle's slide is also moved to its most proximal position. This will match the slide to the profile of the bracket, allowing the Segura TM The handles are aligned and can snap into the deployment device. For example, button 1204 is pressed to close or retract the end effector before the end effector is inserted into the working channel of the endoscope. To remove the elongated end effector device, the end effector is closed by pressing, for example, button 1204. The shaft of the end effector is withdrawn and the Segura TM The handle can be removed from the deployment device and set aside for later use. Another elongated device can quickly replace the previous elongated device to perform its function.

[0084] In an alternative embodiment, the endoscopic device 100 and the first deployment device 400 or the second deployment device 500 can be implemented in a single integral unit. In such an embodiment, instead of using mounting holes and mounting pins to connect the respective devices, the deployment device is built into the handle of the endoscopic device and all related wiring is within the device.

[0085] In yet another embodiment, the deflection of the distal tip 106 of the endoscopic device 100 may be motorized / wired using the same control board (e.g., control board 800) as the first deployment device 400. In such an embodiment, a second drive and a second motor would be implemented in the handle 102 for controlling the distal tip 106.

[0086] Fig. 9 A handle 900 of an endoscopic device with a motor 902 is shown for controlling the deflection of the distal end. The endoscopic device in this embodiment has two pull wires (not shown) for deflecting the distal end in either direction. The pull wire wheel 904 has a first pull wire attachment 906 and a second pull wire attachment 908. The motor 902 is mounted in the handle 900, and its drive shaft is mounted in the center of the pull wire wheel 904. The deflection knob 910 can be keyed to the rotation of the pull wire wheel 904 via a controller / driver and wiring (not shown). Therefore, the deflection knob 910 can be operated as a switch and rotate independently of the pull wire wheel 904.

[0087] When pressure is applied on the deflection knob 910 in a first direction, the motor 902 will rotate the pull wire wheel 904 so that one of the two pull wires (e.g., a pull wire attached to the first pull wire attachment 906) pulls the distal tip of the endoscopic device in one of the two directions. Similarly, when pressure is applied on the deflection knob 910 in a second direction, the motor 902 will rotate the pull wire wheel 904 so that the second of the two pull wires (e.g., a pull wire attached to the second pull wire attachment 908) pulls the distal tip of the endoscopic device in the second of the two directions. Release of the deflection knob 910 can stop the motor 902, allowing the position of the deflected distal tip to be maintained. The maximum angular travel of the motor 902 will be set as the limit of distal tip deflection.

[0088] Instead of the motor 902 directly driving the cable pulley 904 , a gear train may be used in the handle 900 . Figures 10A-10C A simple dual gear train 1000 is shown, wherein a smaller gear 1002 drives a larger gear 1004, which rotates the cable pulley 904. The larger gear 1004 and the cable pulley 904 may be formed as a single part, in which case the gear teeth extend from the circumference / periphery of the cable pulley 904, as shown in FIG. Fig. 10D shown. Fig.11A dual gear train 1100 is shown with a smaller gear 1102 and a larger gear 1104, including a pulley belt 1106. A mechanical advantage of the above embodiment is the use of a less powerful / lower cost motor. In handle 900, a direct drive of the cable pulley 904 would require a higher motor torque specification than using the gear train system shown in FIGS. 10-11.

[0089] The above aspects of the present disclosure may be combined in various ways.In a first example, both the endoscope tip and the deployment device are motorized. Fig.12 An ergonomic button pad 1200 for controlling the endoscope tip and deployment device is shown. The button pad 1200 has a first button 1201, a second button 1202, a third button 1203, and a fourth button 1204. The button pad 1200 is also adjacent to a shortened deflection knob 1205. The deflection knob 1205 is shortened to allow the button pad 1200 to be placed adjacent to the deflection knob 1205. In other embodiments, the deflection knob 1205 can be eliminated entirely, with the deflection of the endoscope tip being controlled by the button pad 1200. In another embodiment, the shortened deflection knob can be used as a safety / emergency rescue feature in the event of, for example, a power failure, given that the deflected endoscope shaft must be straightened before it can be removed from the body without damage.

[0090] The button pad 1200 is connected to a controller that is programmed for all aspects of the intervention. The button pad 1200 is located on the underside of the endoscope handle and can be operated, for example, by the thumb of the endoscope handle grasping hand. For example, the first and second buttons 1201, 1202 (opposite to each other) can be used to deflect the endoscope tip in either direction. The third and fourth buttons 1203, 1204 (opposite to each other) can be used to control the opening / closing of the elongated end effector device. A fifth button can be implemented so that when the fifth button is "on", the third and fourth buttons 1203, 1204 are used to turn on / off the fluid management system to flush the imaging cavity.

[0091] In another embodiment, these buttons are implemented on a console, tablet computer (e.g., iPad), etc. and controlled remotely. Thus, an endoscopic device can be formed without control features implemented directly thereon and can be controlled via Bluetooth, infrared remote control, etc.

[0092] Those skilled in the art will appreciate that the above embodiments may be modified without departing from the concept of the present invention. It should also be understood that the structural features and methods associated with one embodiment may be incorporated into other embodiments. Therefore, it should be understood that the present invention is not limited to the specific embodiments disclosed, but modifications are also included within the scope of the present invention as defined by the appended claims.

Claims

1. An endoscope deployment device, comprising: a body mountable on an endoscopic device, the body having a movable carriage coupleable to an elongated end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped to be inserted through a working channel of an endoscopic shaft of the endoscopic device, the body having a carriage channel sized to slide the carriage therein, wherein the end effector is actuatable between an extended, open position and a retracted, closed position by sliding the carriage in the carriage channel, which in turn causes the outer sheath to slide over the end effector shaft to expose or cover the end effector; a communication interface extending from the body and configured to mate with a corresponding communication interface on an endoscopic device to which the body is mounted to receive power therefrom and exchange data therewith; and A motor having a drive shaft coupled to the carriage, rotation of the drive shaft causing the carriage to slide in the carriage channel and actuating the end effector in response to a signal.

2. The endoscope deployment device according to claim 1, wherein: The signal is generated based on actuation of an actuator on the endoscopic device.

3. The endoscopic deployment device according to claim 2, wherein: The actuator is a button pad that controls a motor via a mating communication interface of the endoscopic deployment device and the endoscopic device.

4. The endoscopic deployment device according to claim 1, wherein: The signal is generated in response to an endoscope sensor reading.

5. The endoscopic deployment device according to claim 1, wherein: The motor is a stepping motor.

6. The endoscopic deployment device according to claim 5, wherein: The drive shaft has an arm extending orthogonally therefrom, the arm being coupled to a slot in the bracket, and the arm having a pin at the end of the arm opposite the drive shaft, the pin being coupled to the slot so that when the drive shaft rotates, the pin slides in the slot in a direction orthogonal to the bracket channel, and the bracket slides in the bracket channel.

7. The endoscopic deployment device according to claim 5, wherein: The drive shaft is a lead screw coupled to a threaded through hole extending through a portion of the bracket and parallel to the bracket channel so that when the drive shaft rotates, the bracket slides in the bracket channel.

8. The endoscopic deployment device according to claim 5, wherein: The pinion gear is coupled to the drive shaft and to a rack gear that is an integral part of the carriage, so that when the drive shaft rotates, the pinion gear drives the rack gear and the carriage slides in the carriage channel.

9. The endoscopic deployment device according to claim 1, wherein: The end effector device is a retrieval device used to capture an object at the distal end of an endoscope shaft.

10. The endoscopic deployment device according to claim 1, wherein: The end effector device is a laser fiber or an energy fiber used to pulverize or cauterize objects at the distal end of the endoscope shaft.

11. The endoscopic deployment device according to claim 1, wherein: The end effector device has a Segura TM A handle for connecting to the bracket of the endoscope deployment device, wherein the Segura TM Before the handle is attached to the endoscopic deployment device, the bracket and the Segura TM The slide of the handle is positioned completely proximally.

12. The endoscopic deployment device according to any one of claims 1 to 11, wherein: The endoscopic device has a proximal communication interface and a distal communication interface, and the communication interface of the endoscopic deployment device is compatible with the proximal communication interface of the endoscopic device.

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