Endoscope control device

Abstract

This document describes a device for reversibly restraining an endoscope. Such a device may include: a base accessible for patient positioning; a column extending vertically from the base; an arm extending horizontally from the column; and a clamp coupled to the arm. In some embodiments, the clamp includes a retainer comprising a ring defining an endoscope storage area, or a first sidewall and a second sidewall together defining the endoscope storage area. The retainer is switchable between a first configuration and a second configuration, in which the ring or the first and second sidewalls are configured to disengage from the endoscope when it is in the endoscope storage area, and in the second configuration, the ring or the first and second sidewalls are configured to clamp the endoscope when it is in the endoscope storage area.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Provisional Patent Application No. 62 / 914,689, filed October 14, 2019, the contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to the field of endoscopic devices, and more specifically to the field of endoscopic examination. Endoscopic control devices are described herein. Background Technology

[0004] Endoscopic examination uses a thin, flexible tube inserted into a body opening (e.g., mouth, anus, etc.) or through an incision to study tissue, perform biopsies, and / or deliver arapies or treatments. Endoscopes are commonly used to study and / or treat organ systems such as the gastrointestinal tract, respiratory tract, urinary tract, and female reproductive tract. Endoscopes are also common in various types of laparoscopic surgery, where they are inserted minimally invasively into an incision near the tissue of interest. Depending on the tissue being studied and / or the treatment to be performed, endoscopes may be equipped with various functional arrays distally or via a passage through the endoscope's lumen: electrocautery tools, cameras, lights, irrigation fluids, air, ultrasound detectors, resection tools (e.g., needles), etc. Figure 1 An example of a typical endoscope 100 is shown. For example, it can be seen that... Figure 1 As can be seen, a typical endoscope is very versatile and further includes a hinge knob for hinged endoscope distal end.

[0005] During endoscopic procedures, the physician must perform several tasks almost simultaneously or rapidly in succession. For example, during an endoscopic procedure, the endoscope needs to be stabilized, manipulated, and / or controlled by translation and rotation without damaging the endoscope or causing harm to the patient. Additionally, the physician needs to modulate and control the air / water flow from valve 140; suction from valve 110; imaging modes, such as camera 120; treatment modes from channel 130; etc., and typically uses knobs 160 for hinged left and right sides to articulate the distal end 150 of the endoscope 100, such as… Figure 1 As shown in the diagram. The heavy workload performed by doctors can lead to fatigue and discomfort, and ultimately damage the tendons and muscles of the doctor's upper body. In addition, at least one additional assistant is required to fully perform endoscopic procedures—holding the endoscope during its various functional deployments, or operating the endoscope or the computing system that communicates with it electrically—which increases hospital costs.

[0006] Therefore, there is a need for devices that perform at least some of the aforementioned tasks during endoscopic procedures. Various laparoscopic aids exist, but they cannot meet the unique requirements of endoscopy. Furthermore, devices exist for tethering or attaching to the patient during endoscopic procedures. However, these devices can cause patient discomfort due to the translation and rotation requirements of the endoscope during the procedure. Robotic systems can also be used for some surgical applications, but they may be too cumbersome for certain endoscopic procedures. In conclusion, there is a need for new devices for endoscopic control. Attached Figure Description

[0007] The foregoing is an overview, and therefore, is necessarily limited in detail. The following description, in conjunction with various embodiments and with reference to the accompanying drawings, describes the foregoing aspects, as well as other aspects, features, and advantages of the invention.

[0008] Figure 1 Describe a typical endoscope.

[0009] Figure 2A This describes one embodiment of an endoscope control device that is close to the patient.

[0010] Figure 2B One embodiment of the endoscope control device is described, which further includes a surgical drape on at least a portion of the device.

[0011] Figure 3 illustrate Figure 2A A perspective view of the endoscope control device.

[0012] Figure 4 illustrate Figure 2A Side view of the endoscope control device.

[0013] Figure 5A A side view illustrating one embodiment of the clamp of the endoscope control device, the clamp being in an open, unclamped configuration.

[0014] Figure 5B illustrate Figure 5A A side view of the clamps in a closed clamping configuration.

[0015] Figure 6 illustrate Figure 5A An exploded view of the clamps.

[0016] Figure 7 Explain the perspective view of the base and column of the endoscope control device.

[0017] Figure 8 illustrate Figure 7 Exploded view of the base and column.

[0018] Figure 9An exploded view illustrating one embodiment of an adjustable block for an endoscope control device.

[0019] Figures 10A to 10B Another embodiment of the clamp of the endoscope control device in both open and closed configurations is described.

[0020] Figures 11A to 11B Another embodiment of the clamp of the endoscope control device in both open and closed configurations is described.

[0021] Figures 12A to 12B Another embodiment of the clamp of the endoscope control device in both open and closed configurations is described.

[0022] Figure 13 A flowchart illustrating one embodiment of a method for using an endoscope control device.

[0023] The illustrated embodiments are merely examples and are not intended to limit this disclosure. The schematic diagrams are for illustrating features and concepts and are not necessarily drawn to scale. Detailed Implementation

[0024] The foregoing is an overview and therefore necessarily limited in detail. The aspects mentioned above, as well as other aspects, features, and advantages of the invention, will now be described in conjunction with various embodiments. The inclusion of the following embodiments is not intended to limit this disclosure to these embodiments, but rather to allow those skilled in the art to make and use the contemplated invention. Other embodiments may be utilized and modifications may be made without departing from the spirit or scope of the subject matter presented herein. The aspects of this disclosure as described and illustrated herein can be arranged, combined, modified, and designed in a variety of different conceptual forms, all of which are expressly contemplated and form part of this disclosure.

[0025] The apparatus described herein is configured for use with any elongated device: endoscope, catheter, probe, etc. Exemplary, non-limiting embodiments of elongated devices or endoscopes include: gastroscopes, duodenoscopes, colonoscopes, sigmoidoscopes, colonoscopes, bronchoscopes, ureteroscopes, cystoscopes, nasopharyngoscopes, laparoscopic-thoracic endoscopes, mobile airway endoscopes, cholangioscopy endoscopes, etc.

[0026] The device described herein can be configured for a wide range of endoscope sizes; elongated devices with outer diameters of 9 to 11.4 mm, 10.8 to 12.5 mm, 12.9 to 13.7 mm, 21.8 to 13.2 mm, 10.5 to 11.7 mm, 5.7 to 6 mm, 2.8 to 13.2 mm, 10.5 to 11.7 mm, 5.7 to 6 mm, 2.8 to 3.3 mm, 5.4 to 5.5 mm, 2.6 to 4.9 mm, 7 mm, 4.1 to 5.2 mm, 2.8 to 5.2 mm, 5.9 to 6 mm, 11.5 to 11.6 mm, 4.4 to 5.1 mm, or any range or subrange thereof.

[0027] This article discloses an endoscope control device 210. For example... Figures 2A to 2B As shown, such devices generally include a base accessible for positioning of patient 230 (e.g., on a bed, floor, table, stand, etc.), a column extending vertically from the base, an arm extending horizontally from the column, and clamps movably or permanently coupled to the arm. Such devices are used to position an endoscope in proximity to or in contact with patient 230. The base of the endoscope control device 210 may be positioned under a mattress 220 on a surgical or hospital bed or platform, such that the weight of the patient and / or the mattress further stabilizes the endoscope control device 210. In other embodiments, the endoscope control device 210 may be positioned on the floor and include two or more legs (e.g., a tripod, ladder configuration, etc.) or one or more wheels. For example, the endoscope control device 210 may be movable between positions on one or more wheels. The endoscope control device 210 may be configured to be detached and stored and / or transported to a second position. For example, one or more legs of the base may be removable, the column may be detachable from the arm and / or the base, and / or the clamps may be detachable from the arm. One or more components of the endoscope control device 210 described herein may be disposable. One or more components of the endoscope control device 210 described herein are configured for use with a surgical drape 240, such as... Figure 2B As shown, this is to keep one or more components outside the surgical area and free from contamination. The surgical drape 240 may be configured to substantially cover the clamps, arms, columns, and / or base of the endoscope control device 210.

[0028] Furthermore, the endoscope control device 210 described herein is configured to: grip the endoscope with a first, smaller force, such that the endoscope remains axially and rotatably translatable; grip the endoscope with an intermediate force, such that the endoscope is axially or rotatably translatable; or grip the endoscope with a maximum force, such that the endoscope is neither axially nor rotatably translatable. Of course, there are degrees of force that restrict axial and rotatably translatable, such that there may be numerous degrees of force affecting the axial and / or rotatably translatable movement of the endoscope device positioned therein. The intermediate configuration is further configured to modulate the clamping force of the clamp from never clamping (i.e., no force is applied to the endoscope) to fully clamping (i.e., the rotation and translation of the endoscope are completely restricted).

[0029] like Figures 3 to 4 As shown in Figures 7 and 8, the device for reversibly restraining an endoscope includes a base 360, 460, 760, 860 that is accessible for patient positioning. The bases 360, 460, 760, 860 are used to structurally support the columns 370, 470, 770, 870 and arms 380, 480 of the endoscope control devices 310, 410. The bases 360, 460, 760, 860 are further used to rest or position on a surface close to the patient, such as a floor, bed, counter, or other surface. For example, the bases may be positioned such that the clamps 350, 450 of the endoscope control devices 310, 410 are within any range or subrange of 1 to 10 mm, 0.5 to 5 cm, 1 to 10 cm, or between, of a body opening or incision in the patient. In a non-limiting embodiment, as... Figures 7 to 8 As shown, the base 760 (860) includes legs 762a, 762b (862a, 862b) and a body 764 (864). The legs 762a, 762b (862a, 862b) can be inserted, for example, under a mattress and / or rest on a surface to support the endoscope control devices 310, 410. The legs 762a, 762b (862a, 862b) may comprise lightweight materials such as aluminum, titanium, or magnesium. The legs 762a, 762b (862a, 862b) may be generally flat, cylindrical, or other forms. Figure 8 As shown, legs 862a and 862b can be reversibly inserted into leg receiving areas 852a and 852b defined by the body 864. Once positioned in the leg receiving areas 852a and 852b, legs 862a and 862b are fastened to the body 864 via one or more fasteners (e.g., flathead screws). Alternatively, legs 862a and 862b and the body 864 form a monolithic support structure, such that legs 862a and 862b and the body 864 are irreversibly connected, processed, or manufactured as a single component.

[0030] like Figure 4 As shown, the endoscope control device 410 further includes a base 460, more specifically, a... Figure 8 The main body 864 shown has a vertically extending column 470. (As shown) Figure 4 As shown, column 470 extends vertically from base 460 in the xz plane in the y-direction. Column 470 is further pivotally connected to base 460, and more specifically to body 464, such that columns 470, 870 rotate about y-axis 872, as... Figure 8 As shown in the diagram. A body 864 defines an aperture 838, sized and shaped to receive a connector portion 836 of a post 870 through a plate 842. A sleeve bearing 848 is received in the aperture 838 to prevent the connector portion 836 from rubbing against the body 864 during rotation. The plate 842 defines an aperture 832 configured to receive a protrusion of a rotating flange 844. A screw 854 on the rotating flange 844 is configured to secure the post 870 (e.g., in a translational and / or rotational manner) within the rotating flange 844. The connector portion 836 further includes a support 856 configured to contact the screw 854 and provide torsional force on the post 870. The rotating flange 844 includes a plurality of pawls such that the pin 846 allows the rotating flange 844 to rotate when manipulated (e.g., lifted, raised, moved, etc.), thereby causing a rotation 872 in the post 870. The release pin 846 allows the pin 846 to be inserted into one of a plurality of pawls in the rotating flange 844, which prevents further rotation of the rotating flange 844, thereby preventing rotation of the post 870. In some embodiments, the pawl is positioned relative to the other pawl in increments of 5°, 10°, 15°, or 20°. In other embodiments, the pawl may be positioned in increments of 0 to 25°, 25 to 50°, 50 to 75°, 75 to 100°, 100 to 125°, 125 to 150°, 150 to 175°, 175 to 200°, 200 to 225°, 225 to 250°, 250 to 275°, 270 to 300°, 300 to 325°, 325 to 350°, or any range or subrange thereof. The column 870 pivots or rotates relative to the body 864 (arrow 872) such that the base 860 can be positioned perpendicular to the patient or the surface on which the base 860 rests, and the column 870 can pivot relative to the patient to position the clamp close to the patient’s body opening or incision.

[0031] Return to Figure 4 The endoscope control device 410 further includes an arm 480 extending horizontally from the column 470 in the xz plane. The arm 480 is used to position the clamp 450 close to the patient's body opening or incision. The arm 480 is configured to, via... Figure 9The adjustable block 900 shown translates vertically (arrow 484) along the post 470 and along the y-axis. The adjustable block 900 defines an arm receiving aperture 912 into which, for example, the arm of arm 480 can be inserted, and in some embodiments, can be translated within the aperture. For example, arm 480 further includes one or more pawls 478 along its length, such that arm 480 translates horizontally relative to post 470 along the x-axis through the adjustable block 900 (arrow 482) and locks in position at any pawl location within the adjustable block 900, such as... Figure 4 and 9 As shown in the image.

[0032] In addition, such as Figure 4 and 9 As shown, the movement 484 of the arm 480 relative to the post 470 in the y-direction also passes through the adjustable block 900. The adjustable block 900 further includes a cam actuation plate 916 loaded with a spring 914. When a downward force 918 is applied to the adjustable block 900, the arm 480, and / or the clamp 450, the plate 916 is biased by the spring 914 to hold the position of the adjustable block 900. In some embodiments, the post 450 includes one or more serrations configured to hold the position of the adjustable block 900 when an upward force 922 is applied to the adjustable block 900, the arm 480, and / or the clamp 450. In other embodiments, the adjustable block 900 further includes a second cam actuation plate, which is spring-biased and configured to hold the position of the adjustable block 900 when an upward force 922 is applied to the adjustable block 900, the arm 480, and / or the clamp 450.

[0033] Turning Figures 5A to 6 The endoscope control device further includes clamps 550 and 650. For example... Figure 5A As shown, clamp 550 is used to receive endoscope 572 therein and applies circumferential force to endoscope 572 to reduce or prevent axial and / or rotational translation of endoscope 572 and avoid discrete loads on the sides of endoscope 572. Various clamp configurations are shown in Figures 5A to 6 And 10 to 12. Focus on Figure 6 The exploded view of clamp 650 shown illustrates clamp 650 actuated via a lever 652 and screw 654 on a first side or retainer side of the clamp and a knob 676 and screw 674 on a second side or padding side of the clamp. Holder 664 includes a first or top sidewall 656a and a second or bottom sidewall 656b, which together define an endoscope receiving area 662. Endoscope receiving area 662 defines a generally semi-cylindrical surface for contacting and forcibly confining an endoscope received therein. The first or top sidewalls 556a, 656a and the second or bottom sidewalls 556b, 656b can be in a first or open configuration ( Figure 5A ) with the second or closed or clamping configuration ( Figure 5B The first or top sidewalls 556a, 656a and the second or bottom sidewalls 556b, 656b are configured to move or change between the endoscope and the endoscope, in the first configuration, such that the first or top sidewalls 556a, 656a and the second or bottom sidewalls 556b, 656b are configured to separate from the endoscope when the endoscope 572 is positioned in the endoscope storage areas 562, 662. Figures 5A to 6 As shown, in the second configuration, the first sidewalls 556a, 656a and the second sidewalls 556b, 656b are configured to hold the endoscope when the endoscope 572 is positioned in the endoscope storage areas 562, 662, as illustrated. Figure 5B As shown in the diagram. In some embodiments, the retainer 664 includes an asymmetric retainer such that the second sidewall 656b is longer than the first sidewall 656a. For example, the second sidewall 656b may be 10% to 15%, 15% to 20%, 20% to 25%, 25% to 30%, 30% to 35%, 35% to 40%, 40% to 45%, 45% to 50%, 50% to 55%, 55% to 60%, 60% to 65%, 65% to 70%, 70% to 75%, 75% to 80%, 80% to 85%, 85% to 90%, 90% to 95%, or 95% to 100% longer than the first sidewall 656a. In such asymmetric retainer embodiments, the endoscope is configured to rest on the second sidewall 656b when the asymmetric retainer is in a first, open, or unclamped configuration. Alternatively or additionally, the retainer 664 further includes a third sidewall 656c that further forms or defines the semi-cylindrical surface of the endoscope receiving area 662.

[0034] The pull rod 652 is configured to move the first sidewall 656a and the second sidewall 656b between a first and a second configuration. For example, the pull rod 652 can be configured as follows: Figure 5A The release or non-clamping configuration in the middle and such Figure 5BThe actuation or clamping configuration can be moved between two configurations, or between multiple positions that allow movement of the first sidewall 656a and the second sidewall 656b. Furthermore, for example, in some embodiments, the lever 652 allows movement of the first sidewall 656a and the second sidewall 656b between one or more intermediate configurations between the first and second configurations. When the lever body 694 is rotated using the lever 652, the lead screw 654 advances, thereby pushing the wall 692 and the retainer 664 in which the endoscope 572 is positioned against the liner 658 and one or more support elements of the liner 658 (e.g., plate 678, lead screw 674 mounted in the support wall 672). This movement of the lead screw and ultimately the retainer 664 is configured to cause the sidewalls 656a, 656b to move inward, thereby reducing the area of ​​the endoscope receiving region 662 and increasing the circumferential contact between the sidewalls 656a, 656b and the endoscope positioned in the endoscope receiving region 662. This circumferential contact around the endoscope 572 grips the endoscope 572 in a manner similar to the grip exerted by a human hand and fingers. The continuous movement of the lever 652 increases the advance of the retainer 664 toward the liner 658, thereby increasing the circumferential contact and thus increasing the gripping force around the endoscope body.

[0035] In some embodiments, when the lever 652 is actuated by 90 degrees, the lead screw 654 advances 1 / 4 inch; in other embodiments, the lever 652 is actuated by n degrees (e.g., n equals any number from 1 to 360 degrees), which advances the lead screw by 0 to 1 inch, such as 0 to 0.1 inches, 0.1 to 0.2 inches, 0.1 to 0.25 inches, 0.2 to 0.3 inches, 0.3 to 0.4 inches, 0.4 to 0.5 inches, 0.5 to 0.6 inches, 0.6 to 0.75 inches, 0.7 to 0.8 inches, 0.8 to 0.9 inches, 0.9 to 1 inch, etc. One or more pawls or grooves in the lever body 694 interact with a spring-loaded ball pawl mechanism 698 (which is fixed in the support 682) to allow the lever 652 to be locked in either position. In some embodiments, the operator of the lever 652 or clamp 650 may receive audible (e.g., a click of the ball pawl mechanism), tactile (e.g., a piezoelectric mechanism in the lever body that begins to vibrate when locked to either position, the user feeling the latch of the pawl mechanism, etc.), and / or visual (e.g., an activated light when locked to either position) feedback indicating when the lever 652 is locked to either position.

[0036] In addition, such as Figures 5A to 6As shown, the endoscope control devices 550, 650 include pads 558, 658 opposite to the endoscope storage areas 562, 662. Pads 558, 658 are used to contact the endoscope 572 positioned in the clamps 550, 650 to prevent the endoscope 572 from shifting from the endoscope storage areas 562, 662 when the sidewalls 656a, 656b, (optionally) 656c are moved from a first configuration to a second configuration, thereby clamping the endoscope in the storage area. Additionally, pads 558, 658 act as static walls, serving as stops for the advance of the retainer 664. Therefore, pads 558, 658 can be positioned as follows: Figure 5A The first or open position shown is as follows Figure 5B The shims 558 and 658 move between the second and closed positions shown. In the second or closed position, the shims 558 and 658 apply force to the endoscope 572 positioned therein. The shims 558 and 658 may further include one or more intermediate configurations, such that the shims 558 and 658 are adjustable to allow endoscopes of different diameters. Figure 6 As shown, knob 676 rotates lead screw 674 through support wall 672, which causes plate 678, connected to pad 658, to move forward to contact an endoscope positioned therein, or to retract plate 678 to disengage from the endoscope positioned therein. A locating pin 696 prevents plate 678 from rotating with lead screw 674; the locating pin is fixed in plate 678 but slides freely in support wall 672, thereby providing rotational resistance to plate 678.

[0037] Support 682 acts as a platform for connecting the various components of clamp 650 together. Support 682 rotates relative to flange 684 on pivot 686, which is fixed to support 682. Base 688 is attached to flange 684 (via one or more fasteners, such as four screws) and coupled to the arm of the endoscope control device. Washer 689, wave spring 685, and outer ring clamp 691 work together to secure flange 684 to pivot 686 and provide rotational friction. In some embodiments, base 488 translates horizontally (arrow 482) along arm 480 via complementary pawl mechanisms in arm 480 and base 488, as... Figure 4 As shown. For example, the spring-loaded ball pawl 642 ( Figure 6 (as shown) and one or more pawls 478 along arm 480 ( Figure 4 (As shown in the diagram) interact. In other embodiments, the base 488 is fixedly connected to the arm 480 at the distal end 486 (or anywhere along the arm 480).

[0038] Now turning Figures 10A to 12B This illustrates an alternative clamp embodiment. Figure 10A The clamp 1000 is shown in an open, unloaded configuration, and Figure 10BThe clamp 1000 is shown in a closed clamping configuration. Figures 10A to 10B The clamp 1000 includes a retainer 1004 that defines an inlet aperture 1002 through which an endoscope is inserted into the clamp 1000, and an endoscope storage area 1022 that holds the endoscope by means of a sidewall 1008 and pads 1010a, 1010b. Figure 10B A clamp 1000 is shown in a closed or clamped configuration, such that an endoscope positioned in an endoscope receiving area 1022 is restricted in axial and / or rotational directions. In the closed configuration, an eccentric lever 1006 (i.e., a cam-acting lever) is configured to displace a sidewall 1008 and a liner 1010a to restrict the endoscope positioned in the endoscope receiving area 1022. The sidewall 1008 and the liner 1010a are preferably curved such that they contact the endoscope positioned therein along the circumferential line of the endoscope. In the open or unclamped configuration, as Figure 10A As shown, the eccentric pull rod 1006 does not substantially displace the sidewall 1008 and the pad 1010a, so that the sidewall 1008 and the pad 1010a are close to the rotation center 1018 of the eccentric pull rod 1006, and the endoscope positioned in the clamp 1000 is unrestricted.

[0039] Turning Figures 11A to 11B This illustrates an alternative embodiment of the clamp 1100. For example... Figure 11B As shown, in the closed or clamped configuration, the eccentric pull rod 1106 activates the sidewalls 1108a, 1108b, causing the gaskets 1110a, 1110b to contact the endoscope positioned within the retainer 1104 on opposite sides of the endoscope, thereby axially and / or rotatably restricting the endoscope. The retainer 1104 defines an endoscope reception area 1122 for retaining the endoscope during clamping. The endoscope is positioned within the retainer 1104 through an inlet orifice 1102 defined by the retainer 1104. In the open or unclamped configuration, as... Figure 11A As shown, the eccentric lever 1106 does not substantially displace the sidewalls 1108a, 1108b, and therefore does not displace the pads 1110a, 1110b, leaving the endoscope positioned within the clamp 1100 unrestricted. Furthermore, side plates 1112 (one on each side of the holder 1104) guide the endoscope into the endoscope storage area 1122. When the endoscope is unlocked to allow free movement within the holder 1104, the inner edge 1114 of the side plate 1112 holds the endoscope above the surfaces of the pads 1110a, 1110b.

[0040] Turning Figures 12A to 12B This illustrates another embodiment of the clamp 1200. For example... Figure 12BAs shown, the retainer 1204 defines an inlet aperture 1202 through which an endoscope is inserted into the clamp 1200 and into an endoscope receiving area 1222 that retains the endoscope during clamping. In clamping or closing configurations, as... Figure 12B As shown, rotating the rotatable column 1214 (e.g., 90 degrees, 45 to 90 degrees, 75 to 100 degrees, etc.) will rotate the actuator 1212, causing the actuator to shift downward due to the interaction between its upper curved cam surface and the inner curved surface of the retainer 1204. This will cause the liner 1210a to advance toward the liner 1210b in the retainer 1204, thereby clamping the endoscope between the liners 1210a and 1210b. In the open or unclamped configuration, as Figure 12A As shown, the rotatable column 1214 is retracted via a compression spring, which abuts against the inner surface of the retainer 1204 to hold the upper surface of the pusher 1212 so that the retainer does not contact or restrict the endoscope positioned in the endoscope storage area 1222.

[0041] Turning Figure 13 This illustrates a method 1300 using one or more endoscope control devices described elsewhere herein. (As...) Figure 13 As shown, a method of using one or more endoscope control devices includes positioning the endoscope in the holder of a clamp S1310; optionally (indicated by the dashed line surrounding block S1320) adjusting the liner from a first position to a second position, wherein in the second position the endoscope is configured to contact a second surface of the endoscope, the second surface being opposite a first surface of the endoscope contact holder S1320; and actuating the holder such that one or more of the first and / or second sidewalls of the holder move to a second or clamping configuration to apply force to limit axial and / or rotational movement of the endoscope S1330.

[0042] Method 1300 preferably works in conjunction with any of the clamps described elsewhere herein. In the embodiment of Figure 12, the sidewall is replaced with the end of a rotatable pin. At least Figures 5A to 6 In embodiments of the clamp, circumferential forces are applied to the outer diameter of the endoscope positioned therein via the first and second sidewalls of the holder. In cases where the holder is asymmetrical ( Figures 5A to 6 In embodiments that are generally annular (Figures 10 to 12), when one or more of the first and second sidewalls are in a first open or unclamped configuration, the endoscope rests on the second sidewall of the retainer or on the inner diameter of the ring of the retainer.

[0043] One aspect of this disclosure relates to an apparatus for reversibly restraining an endoscope. The apparatus may include a base accessible for patient positioning. In any of the foregoing embodiments, the surface may be a bed, floor, stand, tripod, etc. In any of the foregoing embodiments, the apparatus may further include a column extending vertically from the base. In any of the foregoing embodiments, the column may be pivotally coupled to the base. In any of the foregoing embodiments, the apparatus may include an arm extending horizontally from the column. In any of the foregoing embodiments, the arm may be configured to translate vertically along the column. In any of the foregoing embodiments, the arm may be configured to translate horizontally relative to the column. In any of the foregoing embodiments, the apparatus may include a clamp coupled to the arm. In any of the foregoing embodiments, the clamp may be configured to pivot relative to the arm. In any of the foregoing embodiments, the clamp may include a retainer including a first sidewall and a second sidewall.

[0044] In any of the foregoing embodiments, the first and / or second sidewalls may be curved, such that the radius of curvature is between 2 mm and 15 mm or between 0.1 inch and 0.5 inch. Alternatively, in any of the foregoing embodiments, the first and second sidewalls are planar, such that the retainer includes a third curved or U-shaped sidewall having a radius of curvature between 2 mm and 15 mm.

[0045] In any of the foregoing embodiments, the first and second sidewalls together define the endoscope storage area. Alternatively, in any of the foregoing embodiments, the first, second, and third sidewalls form the endoscope storage area. Still alternatively, in any of the foregoing embodiments, the retainer includes a monolithic assembly that deforms to grip the endoscope and returns to an undeformed state to release the endoscope.

[0046] In any of the foregoing embodiments, the retainer can switch between a first configuration and a second configuration, in which the first and second sidewalls are configured to hold the endoscope when it is positioned in the endoscope storage area, and in the second configuration, the first and second sidewalls are configured to disengage from the endoscope when it is positioned in the endoscope storage area. Alternatively, in any of the foregoing embodiments, the retainer can switch between a first configuration and a second configuration, in which the first, second, and third sidewalls are configured to hold the endoscope when it is positioned in the endoscope storage area, and in the second configuration, the first, second, and third sidewalls are configured to disengage from the endoscope when it is positioned in the endoscope storage area.

[0047] In any of the foregoing embodiments, the device may include a pad opposite the endoscope storage area. In any of the foregoing embodiments, the pad is movable between a first position and a second position, in which the pad contacts the endoscope when the endoscope is positioned in the endoscope storage area, and in the second position, the pad does not contact the endoscope when the endoscope is positioned in the endoscope storage area.

[0048] In any of the foregoing embodiments, when the retainer is in the first configuration and the liner is in the second position, translational movement of the endoscope is prevented.

[0049] In any of the foregoing embodiments, when the retainer is in the first configuration and the liner is in the second position, rotational movement of the endoscope is prevented.

[0050] In any of the foregoing embodiments, when the retainer is in the first configuration and the liner is in the second position, translational and rotational movement of the endoscope is prevented.

[0051] In any of the foregoing embodiments, the retainer includes an asymmetric retainer such that the second sidewall is longer than the first sidewall.

[0052] In any of the foregoing embodiments, the holder includes an asymmetric holder such that the first side of the monolithic holder is longer than the second side of the monolithic holder.

[0053] In any of the foregoing embodiments, the endoscope is configured to rest on the second sidewall or the second side when the asymmetric retainer is in the second configuration.

[0054] In any of the foregoing embodiments, the liner is configured to apply force to the endoscope when it is in the first position.

[0055] In any of the foregoing embodiments, the first and second sidewalls are configured to apply force to the endoscope in a first configuration. Alternatively, in any of the foregoing embodiments, the first, second, and third sidewalls are configured to apply force to the endoscope in a first configuration. Still alternatively, in any of the foregoing embodiments, the first and second sides of the monolithic holder are configured to apply force to the endoscope in a deformable configuration.

[0056] In any of the foregoing embodiments, the column is configured to pivot relative to the base in 10° increments. Alternatively, in any of the foregoing embodiments, the column is configured to pivot relative to the base in discrete increments. Still alternatively, in any of the foregoing embodiments, the column is configured to pivot indefinitely relative to the base. In any of the foregoing embodiments, the column is configured to pivot relative to the base within a 180° range of motion. In any of the foregoing embodiments, the column is configured to pivot relative to the base within a 360° range of motion.

[0057] In any of the foregoing embodiments, the clamp further includes a lever configured to move the first and second sidewalls between the first and second configurations. Alternatively, in any of the foregoing embodiments, the clamp further includes a lever configured to move the first, second, and third sidewalls between the first and second configurations. Still alternatively, in any of the foregoing embodiments, the clamp further includes a lever configured to move the first and second sides of the monolithic clamp between deformed and undeformed configurations.

[0058] In any of the foregoing embodiments, the first and second sidewalls are further configured to move between one or more intermediate configurations between the first and second configurations. Alternatively, in any of the foregoing embodiments, the first, second, and third sidewalls are configured to move between one or more intermediate configurations between the first and second configurations. Still alternatively, in any of the foregoing embodiments, the first and second sides of the monolithic holder are configured to move between one or more intermediate configurations between deformed and undeformed configurations.

[0059] In any of the foregoing embodiments, the pull rod is movable between multiple positions to move the first and second sidewalls between one or more intermediate configurations and the first and second configurations. Alternatively, in any of the foregoing embodiments, the pull rod is movable between multiple positions to move the first, second, and third sidewalls between one or more intermediate configurations and the first and second configurations. Still alternatively, in any of the foregoing embodiments, the pull rod is movable between multiple positions to move the first and second sides of the monolithic holder between one or more intermediate configurations and deformed and undeformed configurations.

[0060] In any of the foregoing embodiments, all or part of the clamps are disposable.

[0061] In any of the foregoing embodiments, the clamp is further configured to translate horizontally along the arm.

[0062] In any of the foregoing embodiments, the device further includes a clamp release mechanism. In any of the foregoing embodiments, the clamp release mechanism may include a button, a lever, a pedal, etc. In any of the foregoing embodiments, the clamp release mechanism may be manually actuated, pneumatically actuated, electrically actuated, hydraulically actuated, pressure-activated, voice-activated, gaze-activated, or automatically activated (e.g., using artificial intelligence or machine learning algorithms, etc.).

[0063] In any of the foregoing embodiments, the device further includes a surgical drape configured to at least cover the clamps.

[0064] Another aspect of this disclosure relates to a method for reversibly restricting an endoscope. In some embodiments, the method includes positioning the endoscope in a holder of a clamp; and actuating the holder such that one or more of a first sidewall and a second sidewall of the holder move to a clamping configuration to apply force to the endoscope.

[0065] In any of the foregoing embodiments, the method further includes adjusting the pad of the clamp from a first position to a second position, wherein in the second position, the pad contacts the endoscope.

[0066] In any of the foregoing embodiments, the method further includes providing clamps including a retainer. In any of the foregoing embodiments, the retainer includes a first sidewall and a second sidewall such that the first sidewall and the second sidewall together define an endoscope storage area, and the retainer is convertible between a first configuration and a second configuration, in the first configuration, the first sidewall and the second sidewall being configured to separate from the endoscope when the endoscope is positioned in the endoscope storage area, and in the second configuration, the first sidewall and the second sidewall being configured to clamp the endoscope when the endoscope is positioned in the endoscope storage area.

[0067] In any of the foregoing embodiments, the method further includes engaging a clamp to an arm that extends horizontally from a post that extends vertically from a base.

[0068] In any of the foregoing embodiments, the method further includes positioning the base in close proximity to the patient.

[0069] In any of the foregoing embodiments, the method further includes positioning a surgical drape over the clamps.

[0070] In any of the foregoing embodiments, the method further includes applying force to the outer diameter of the endoscope positioned therein through the first and second sidewalls of the retainer.

[0071] Another aspect of this disclosure relates to an apparatus for reversibly restraining an endoscope. In some embodiments, the apparatus includes a base accessible for patient positioning; a column extending vertically from the base; an arm extending horizontally from the column; and clamps coupled to the arm.

[0072] In any of the foregoing embodiments, the clamp includes a retainer comprising a ring defining an endoscope storage area, such that the retainer is switchable between a first configuration and a second configuration, in the first configuration where the ring is disengaged from the endoscope when the endoscope is positioned in the endoscope storage area, and in the second configuration where the ring is configured to clamp the endoscope when the endoscope is positioned in the endoscope storage area.

[0073] In any of the foregoing embodiments, the clamp further includes a pad opposite to the endoscope storage area, such that the pad is movable between a first position and a second position, in the first position the pad does not contact the endoscope when the endoscope is positioned in the endoscope storage area, and in the second position the pad contacts the endoscope when the endoscope is positioned in the endoscope storage area.

[0074] In any of the foregoing embodiments, the arm is configured to translate vertically along the column and horizontally relative to the column.

[0075] In any of the foregoing embodiments, the clamp is configured to pivot relative to the arm.

[0076] In any of the foregoing embodiments, when the retainer is in the second configuration and the liner is in the second position, translational and rotational movement of the endoscope is prevented.

[0077] In any of the foregoing embodiments, the retainer includes an asymmetric retainer, such that the second sidewall of the ring is longer than the first sidewall of the ring.

[0078] In any of the foregoing embodiments, the endoscope is configured to rest on the second sidewall when the asymmetric retainer is in the first configuration.

[0079] In any of the foregoing embodiments, the liner is configured to apply force to the endoscope when in the second position.

[0080] In any of the foregoing embodiments, the ring is configured to apply force to the endoscope when in the second configuration.

[0081] In any of the foregoing embodiments, the column is pivotally connected to the base.

[0082] In any of the foregoing embodiments, the column is configured to pivot relative to the base in 10° increments.

[0083] In any of the foregoing embodiments, the clamp further includes a lever configured to move the first and second sidewalls between the first and second configurations.

[0084] In any of the foregoing embodiments, all or part of the clamp is disposable. In any of the foregoing embodiments, the clamp is further configured to translate horizontally along the arm.

[0085] Another aspect of this disclosure relates to an apparatus for reversibly restraining an endoscope. In some embodiments, the apparatus includes a base accessible for patient positioning; a column extending vertically from the base; an arm extending horizontally from the column; and a clamp coupled to the arm. In some embodiments, the clamp includes a retainer comprising a first sidewall and a second sidewall such that the first and second sidewalls together define an endoscope storage area, and the retainer is switchable between a first configuration and a second configuration, in which the first and second sidewalls are configured to disengage from the endoscope when the endoscope is positioned in the endoscope storage area, and in the second configuration, the first and second sidewalls are configured to clamp the endoscope when the endoscope is positioned in the endoscope storage area.

[0086] In any of the foregoing embodiments, the clamp further includes a pad opposite to the endoscope storage area, wherein the pad is movable between a first position and a second position, in the first position the pad does not contact the endoscope when the endoscope is positioned in the endoscope storage area, and in the second position the pad contacts the endoscope when the endoscope is positioned in the endoscope storage area.

[0087] In any of the foregoing embodiments, the arm is configured to translate vertically along the column and horizontally relative to the column.

[0088] In any of the foregoing embodiments, the clamp is configured to pivot relative to the arm.

[0089] In any of the foregoing embodiments, when the retainer is in the second configuration and the liner is in the second position, translational and rotational movement of the endoscope is prevented.

[0090] In any of the foregoing embodiments, the retainer includes an asymmetric retainer such that the second sidewall is longer than the first sidewall.

[0091] In any of the foregoing embodiments, the endoscope is configured to rest on the second sidewall when the asymmetric retainer is in the first configuration.

[0092] In any of the foregoing embodiments, the liner is configured to apply force to the endoscope when in the second position.

[0093] In any of the foregoing embodiments, the first and second sidewalls are configured to apply force to the endoscope when in the second configuration.

[0094] In any of the foregoing embodiments, the column is pivotally connected to the base.

[0095] In any of the foregoing embodiments, the column is configured to pivot relative to the base in 10° increments.

[0096] In any of the foregoing embodiments, the clamp further includes a lever configured to move the first and second sidewalls between the first and second configurations.

[0097] In any of the foregoing embodiments, all or part of the clamps are disposable.

[0098] In any of the foregoing embodiments, the clamp is further configured to translate horizontally along the arm.

[0099] Although various moving mechanisms, such as pawl mechanisms, rotatable flanges, spring-loaded balls or plates, are envisioned herein, those skilled in the art can modify such moving mechanisms and such modifications are also within the scope of this disclosure.

[0100] As used in the specification and claims, the singular forms “a / an” and “the” include both singular and plural references, unless the context clearly specifies otherwise. For example, the term “location” may include and be contemplated to include multiple locations. Sometimes, the claims and disclosure may contain terms such as “multiple,” “one or more,” or “at least one”; however, the absence of such terms does not mean and should not be construed as meaning that multiples are not considered.

[0101] When the terms “about” or “approximately” (e.g., to define length or pressure) are used before numerical designations or ranges, these terms indicate approximate values ​​that may vary by (+) or (-) 5%, 1%, or 0.1%. All numerical ranges provided herein include the stated start and end values. The term “substantially” indicates primarily (i.e., greater than 50%) or substantially all of the apparatus, substance, or composition.

[0102] As used herein, the term "comprising" means that an apparatus, system, or method comprises the listed elements and may additionally comprise any other elements. "Substantially composed of" means that an apparatus, system, or method comprises the listed elements and excludes other elements that are materially significant to the combination of the stated purposes. Therefore, a system or method substantially composed of the elements as defined herein does not exclude other materials, features, or steps that do not materially affect the essential and novel features of the claimed disclosure. "Comprising of" means that an apparatus, system, or method comprises the listed elements and excludes any additional, less important, or incoherent elements or steps. Embodiments defined by each of these transitional terms are within the scope of this disclosure.

[0103] The examples and illustrations contained herein are shown illustratively and do not limit the specific embodiments in which the subject matter can be practiced. Other embodiments may be utilized and derived from herein, such that structural and logical substitutions and changes can be made without departing from the scope of this disclosure. Such embodiments of the inventive subject matter may be referred to individually or collectively by the term "inventive" herein merely for convenience, and if more than one invention or inventive concept is disclosed, it is not intended to intentionally limit the scope of this application to any single invention or inventive concept. Thus, although specific embodiments have been illustrated and described herein, any arrangement calculated to achieve the same purpose may replace the specific embodiments shown. This disclosure is intended to cover any and all adaptations or variations of the various embodiments. Combinations of the foregoing embodiments and other embodiments not specifically described herein will be apparent to those skilled in the art upon review of the foregoing description.

Claims

1. A device for reversibly restraining an endoscope, comprising: A base that allows for close positioning of the patient; A column that extends vertically from the base; An arm that extends horizontally from the column; as well as Clamps, which are coupled to the arm, wherein the clamps include: The retainer includes a first sidewall and a second sidewall. The first sidewall and the second sidewall together define the endoscope storage area. The retainer is switchable between a first configuration and a second configuration. In the first configuration, the first and second sidewalls are configured to separate from the endoscope when the endoscope is positioned in the endoscope storage area. In the second configuration, the first and second sidewalls are configured to hold the endoscope when the endoscope is positioned in the endoscope storage area. A liner, the liner being opposite the endoscope storage area, wherein the liner is movable between a first position and a second position, in the first position the liner does not contact the endoscope when the endoscope is positioned in the endoscope storage area, and in the second position the liner contacts the endoscope when the endoscope is positioned in the endoscope storage area. When the retainer is in the first configuration and the liner is in the first position, the endoscope is configured to remain axially and rotatably translational. The device is configured to: grip the endoscope with a first force such that the endoscope is capable of axial and rotational translation; grip the endoscope with a second force such that the endoscope is capable of axial or rotational translation; or grip the endoscope with a third force such that the endoscope is unable to translate axially or rotate, wherein the first force is less than the second force, and the second force is less than the third force. The retainer is located on a first side of the clamp, and the pad is located on a second side of the clamp, the first side being different from the second side.

2. The apparatus of claim 1, wherein the arm is configured to translate vertically along the column and horizontally relative to the column.

3. The device of claim 1, wherein the clamp is configured to pivot relative to the arm.

4. The apparatus of claim 1, wherein when the retainer is in the second configuration and the pad is in the second position, translational and rotational movement of the endoscope is prevented.

5. The apparatus of claim 1, wherein the retainer comprises an asymmetric retainer such that the second sidewall is longer than the first sidewall.

6. The apparatus of claim 5, wherein the endoscope is configured to rest on the second sidewall when the asymmetric retainer is in the first configuration.

7. The apparatus of claim 1, wherein the liner is configured to apply force to the endoscope when in the second position.

8. The apparatus of claim 1, wherein the first sidewall and the second sidewall are configured to apply a circumferential force to the endoscope when in the second configuration.

9. The device of claim 1, wherein the column is pivotally connected to the base.

10. The apparatus of claim 9, wherein the column is configured relative to the base at a 10° angle. o Incremental pivoting.

11. The apparatus of claim 1, wherein the clamp further comprises a pull rod configured to move the first sidewall and the second sidewall between the first configuration and the second configuration.

12. The device according to claim 1, wherein all or part of the clamps are disposable.

13. The apparatus of claim 1, wherein the clamp is further configured to translate horizontally along the arm.

14. The apparatus of claim 1, further comprising a surgical drape configured to at least cover the clamps.

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