System and method for controlled access of a tool to raised tissue

Abstract

The present subject matter provides a system for allowing a tool to access all sides of a raised tissue in a patient's body in a controlled manner, the system comprising: a track configured to surround the raised tissue; and at least one carrier configured to move along the track and carry at least one tool configured to manipulate the raised tissue. A method for cutting a raised tissue in a patient's body is also provided, the method comprising: inserting a track near the raised tissue; surrounding the raised tissue with the track; placing a carrier on the track; connecting a cutting device to the carrier; and moving the carrier along the track while cutting the raised tissue with the cutting device. Additional embodiments of systems and methods are disclosed herein.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Provisional Patent Application No. 62 / 939,312, filed November 22, 2019, and U.S. Provisional Patent Application No. 62 / 939,595, filed November 23, 2019, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This subject matter relates to systems and methods for manipulating and removing tissue. More specifically, this subject matter relates to systems and methods for manipulating raised tissue extending over surface tissue. Background Technology

[0004] Dissection and removal of tissues (e.g., tumors, suspected tumors, polyps, etc.) from a patient's organs are known surgical procedures in this field. Dissection and removal of large, complex, and dissimilar tissues are relatively easy and straightforward. However, dissection and removal of tissues that are slightly raised from the surface of the body is more challenging, especially when the raised tissue to be removed resides in a cavity within the body. Manipulation of soft raised tissues and soft-surfaced tissues is even more challenging, particularly when it is desirable to dissect and separate the raised tissue through less invasive procedures (e.g., endoscopic surgery, polypectomy, etc.). Dissection and separation of raised tissues is even more challenging when the raised tissue to be removed is asymmetrical.

[0005] Furthermore, other types of manipulation of raised tissue are challenging, especially when the raised tissue is slightly raised from the surface tissue. Some exemplary challenging manipulations include: close-up imaging of all sides of the raised tissue, injecting material into all sides of the raised tissue, dissecting and ablating all sides of the raised tissue (e.g., by polyp removal and / or ablation and / or tissue transection, combinations thereof, etc.). Summary of the Invention

[0006] Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. Although similar or equivalent methods and materials may be used in practice or testing of this subject matter, suitable methods and materials are described below. In case of conflict, the patent specification, including the definitions, shall prevail. Furthermore, the materials, methods, and examples are illustrative only and are not intended to be limiting.

[0007] According to one aspect of this subject matter, a system is provided for allowing a tool to controllably access all sides of a raised tissue in a patient's body, the system comprising:

[0008] Tracks, the tracks being configured to surround the raised tissue; and

[0009] At least one vehicle configured to move along the track and carry at least one tool configured to manipulate the raised tissue.

[0010] According to one embodiment, at least one connector is attached to the vehicle and configured to connect the at least one tool to the vehicle.

[0011] According to another embodiment, the track is configured to be inserted into the patient's body via an endoscope.

[0012] According to another embodiment, the at least one carrier is configured to be inserted into the patient's body via an endoscope.

[0013] According to yet another embodiment, the tool is a cutting tool that includes a blade configured to cut the raised tissue.

[0014] According to yet another embodiment, the system further includes a manifold head configured to store the carrier during transmission through the endoscope.

[0015] According to another embodiment, the vehicle further includes an imaging device.

[0016] According to yet another embodiment, the vehicle further includes at least one light source.

[0017] According to yet another embodiment, a vehicle cable is attached to the vehicle, and the movement of the vehicle along the track is driven by pushing and pulling the vehicle cable.

[0018] According to another embodiment, the vehicle cable resides inside the track.

[0019] According to another embodiment, the track further includes ball bearings configured to contact the vehicle cable and rotate when the vehicle cable is pushed or pulled, thereby facilitating smooth movement of the vehicle cable inside the track.

[0020] According to another embodiment, the movement of the vehicle along the track is manually driven.

[0021] According to another embodiment, the vehicle further includes at least one bearing configured to roll on the track and reduce the frictional force applied to the vehicle during movement along the track.

[0022] According to yet another embodiment, the vehicle further includes a drive wheel configured to roll on the track and drive the movement of the vehicle, and a motor configured to provide kinetic energy to the drive wheel.

[0023] According to yet another embodiment, the track is configured to present any structure in any dimension, and the structure of the track is adapted to the contour and surface features of the raised tissue around which the track surrounds and the surface tissue on which the track is located.

[0024] According to another embodiment, the track is elastic and flexible, and is further configured to become rigid as needed.

[0025] According to yet another embodiment, the carrier surface of the track is toothed.

[0026] According to yet another embodiment, the vehicle includes at least one gear configured to contact and roll along a toothed vehicle surface.

[0027] According to another embodiment, the tissue surface of the track is pleated.

[0028] According to another embodiment, the track includes at least one suction conduit passing through the interior of the track, and at least one suction port fluidly connected to the suction conduit on the tissue surface, wherein the suction conduit is configured to allow negative pressure to be formed at the suction port in order to aspirate the raised tissue in contact with the tissue surface and the at least one suction port on the tissue surface.

[0029] According to another embodiment, the blade is configured to be inserted into and removed from the cutting tool.

[0030] According to another embodiment, the connector and the cutting tool are configured to rotate to the left and to the right.

[0031] According to yet another embodiment, the connector and the cutting tool are configured to rotate upward and downward.

[0032] According to yet another embodiment, the imaging device is configured to change its orientation upward and downward relative to the carrier.

[0033] According to another embodiment, the system further includes at least one control panel configured to control the operation of the system.

[0034] According to another aspect of this subject matter, a method for cutting raised tissue in a patient's body is provided, the method comprising:

[0035] Insert the track near the raised tissue;

[0036] The tissue is surrounded by the orbital track;

[0037] Place the vehicle on the track;

[0038] Connect the cutting device to the carrier; and

[0039] The carrier is moved along the track while the bulging tissue is cut using the cutting device.

[0040] According to one embodiment, an endoscope is used to insert a track into the patient's body.

[0041] According to another embodiment, the cutting of raised tissue is controlled using a control panel that can be operated via an endoscope. Attached Figure Description

[0042] In this document, embodiments are described by way of example only with reference to the accompanying drawings. Referring now specifically to the drawings, it is emphasized that the details shown are by way of example only and are intended for the purpose of illustrative discussion of preferred embodiments, and are presented to provide the most useful and easily understood description of the principles and concepts of the embodiments. In this regard, no attempt is made to show structural details in more detail than necessary for a basic understanding, and the description by reference to the drawings makes it apparent to those skilled in the art how several forms will be implemented in practice.

[0043] In the attached diagram:

[0044] Figure 1 The surface texture and raised texture are schematically illustrated according to an exemplary embodiment.

[0045] Figure 2 The system, according to an exemplary embodiment, is schematically illustrated for allowing a tool to controllably access all sides of raised tissue in a patient's body.

[0046] Figure 3 The diagram schematically illustrates a track surrounding a raised tissue according to an exemplary embodiment, the track protruding from an endoscope inserted into a patient's body cavity.

[0047] Figure 4 The schematic diagram illustrates the trajectory of the exit from the multi-cavity access to the raised tissue according to an exemplary embodiment.

[0048] Figure 5 The schematic diagram illustrates the exit of the multi-cavity and the track around the raised tissue according to an exemplary embodiment.

[0049] Figure 6 The diagram schematically illustrates a track located in a surrounding position extending from the multi-cavity, according to an exemplary embodiment, and a vehicle standing or moving on the track.

[0050] Figure 7The diagram schematically illustrates a track surrounding a raised tissue, a vehicle standing or moving along the track, and a tool attached to the vehicle, according to an exemplary embodiment.

[0051] Figure 8 Another view schematically illustrates a track surrounding a raised tissue, a vehicle standing or moving along the track, and a tool attached to the vehicle, according to an exemplary embodiment.

[0052] Figure 9 An overall view of the system according to an exemplary embodiment is shown schematically.

[0053] Figure 10 The diagram schematically illustrates a track surrounding a raised tissue and a cutting tool attached to a carrier moving along the track, according to an exemplary embodiment, while the cutting tool cuts the raised tissue.

[0054] Figure 11 A cutting tool according to an exemplary embodiment is schematically shown, the cutting tool including a laser blade attached to a carrier.

[0055] Figure 12 A vehicle comprising at least one bearing and at least one drive wheel according to an exemplary embodiment is schematically shown.

[0056] Figure 13 A vehicle including an external motor is schematically shown according to an exemplary embodiment.

[0057] Figure 14 Another view of a vehicle including drive wheels according to an exemplary embodiment is shown schematically.

[0058] Figure 15 A side view of a track extending from a multi-cavity structure according to an exemplary embodiment is shown schematically.

[0059] Figure 16 The diagram schematically illustrates a track according to an exemplary embodiment, the track comprising an inflatable element surrounding the raised tissue.

[0060] Figure 17 The carrier surface and tissue surface of the track according to an exemplary embodiment are schematically shown.

[0061] Figure 18 The diagram schematically illustrates a raised structure surrounded by a track including a carrier cable and a plurality of balls, according to an exemplary embodiment.

[0062] Figure 19 The illustration schematically depicts a raised tissue surrounded by a track including a carrier cable and a plurality of balls, according to an exemplary embodiment, and a carrier having a cutting tool that moves along the track.

[0063] Figure 20 A section of track having a toothed carrier surface and a folded tissue surface, according to an exemplary embodiment, is schematically shown.

[0064] Figure 21 The illustration schematically shows, according to an exemplary embodiment, Figure 20 The diagram shows a track surrounding the raised tissue and a carrier with a cutting tool that moves along the track.

[0065] Figure 22 and Figure 23 A cross-sectional view of a track according to some exemplary embodiments is schematically shown, the track comprising a pleated tissue surface having various fold structures.

[0066] Figure 24 and Figure 25 A perspective view of a track according to an exemplary embodiment is schematically shown, the track comprising a pleated tissue surface having various fold structures.

[0067] Figure 26 The diagram schematically illustrates a track according to an exemplary embodiment, the track having a tubular structure and a longitudinal slot along the track.

[0068] Figure 27 A vehicle according to an exemplary embodiment is schematically shown, the vehicle including at least one vehicle bearing configured to be received in a track having a tubular structure and a longitudinal slot along the track.

[0069] Figure 28 A vehicle according to an exemplary embodiment is schematically shown, the vehicle including at least one vehicle bearing configured to be positioned below a track.

[0070] Figure 29 An integrated carrier bearing of a carrier according to an exemplary embodiment is schematically shown.

[0071] Figure 30 Another perspective view of the integrated carrier bearing of a carrier according to an exemplary embodiment is shown schematically.

[0072] Figure 31 The diagram schematically illustrates a track including a plurality of elongated windows, a carrier, and a cutting tool configured to operate together with the track including the plurality of elongated windows, according to an exemplary embodiment.

[0073] Figure 32 and Figure 33 Different projections of close-up views of a track including multiple elongated windows, a carrier, and a cutting tool configured to operate together with the track including multiple elongated windows, according to an exemplary embodiment, are schematically shown.

[0074] Figure 34 The illustration schematically depicts a track comprising multiple elongated windows, and a cutting tool blade, cutting probe, or electrode extending through the windows, according to an exemplary embodiment.

[0075] Figure 35 The cutting tools and carriers, configured to be manually held and moved, are schematically shown according to an exemplary embodiment.

[0076] Figure 36 A tissue remover attached to a cutting tool is illustrated schematically according to an exemplary embodiment.

[0077] Figure 37 and Figure 38 Different views of a track including a continuous window, a carrier, and a cutting tool configured to operate together with the track including the continuous window, are schematically shown according to an exemplary embodiment.

[0078] Figure 39 The illustration schematically depicts a track comprising two strips and a continuous window, a carrier configured to be attached to and move along the track, a cutting tool, and a handle and tissue remover attached to the cutting tool, according to an exemplary embodiment.

[0079] Figure 40 An articulated vehicle according to an exemplary embodiment is schematically shown.

[0080] Figure 41 A carrier including sliding wheels according to an exemplary embodiment is schematically shown.

[0081] Figures 42A to 42B A tool holder in the form of a clamp is schematically shown according to an exemplary embodiment.

[0082] Figures 43 to 44 A lock of a tool according to an exemplary embodiment is shown schematically.

[0083] Figures 45 to 46 The ability of a tool to move relative to a vehicle according to an exemplary embodiment is illustrated schematically.

[0084] Figure 47 The diagram schematically illustrates a track surrounding the raised tissue, a vehicle moving along the track, and a cutting tool attached to the vehicle and cutting the raised tissue in various directions, according to an exemplary embodiment.

[0085] Figure 48 A marker in the form of a collapsible marker rod, attached to a track according to an exemplary embodiment, is schematically shown.

[0086] Figure 49A marker in the form of a collapsible mirror, attached to a track according to an exemplary embodiment, is schematically shown.

[0087] Figures 50 to 51 A mesh for collecting dissected raised tissue is schematically shown according to an exemplary embodiment.

[0088] Figures 52 to 54 A closing mechanism for bringing the ends of a track closer together, according to an exemplary embodiment, is schematically shown.

[0089] Figures 55 to 56 An electromagnetic track according to an exemplary embodiment is schematically shown. Detailed Implementation

[0090] Before explaining at least one embodiment in detail, it should be understood that the subject matter is not necessarily limited in its application to the details of the construction or the arrangement of components set forth in the following description or shown in the accompanying drawings. The subject matter can have other embodiments or can be practiced or performed in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. In the discussion of the various drawings described below, the same numbers refer to the same parts. The drawings are generally not drawn to scale.

[0091] For clarity, some unnecessary elements have been omitted from some of the accompanying drawings.

[0092] Now for reference Figure 1 According to an exemplary embodiment, surface tissue and raised tissue are schematically shown. Figure 1 A raised tissue 520 extending from the surface tissue 510 is shown. The surface tissue 510 is any type of tissue present in the patient's body (e.g., the surface tissue 510 of an organ or cavity in the body, such as the colon, also known as the large intestine, etc.). Figure 1 (as shown) or any other type of tissue that can be accessed by any tool used for surgical activities or any other manipulation.

[0093] Elevated tissue 520 is any type of tissue that rises from surface tissue 510 and is desired to be manipulated, such as dissecting and separating elevated tissue 520 from surface tissue 510, and in some embodiments, removing dissected and separated elevated tissue 520 from the patient's body; closely imaging all sides of elevated tissue 520 from appropriate angles; injecting material into all sides of elevated tissue; cauterizing all sides of elevated tissue 520; combinations thereof, etc. The term "sides" is also used to refer to all curves that form the shape of elevated tissue 520.

[0094] Some exemplary raised tissues 520 include: tumors, suspected tumor tissues such as polyps, lesions, combinations thereof, etc. Raised tissue 520 may be symmetrical or asymmetrical. Raised tissue 520 may be hard or soft. Raised tissue 520 may be a large, distinctive tissue that can be easily manipulated, for example, dissected and separated from surface tissue 510. Alternatively, raised tissue 520 may be slightly raised from surface tissue 510, making its manipulation more challenging.

[0095] This topic provides a system and method for allowing tools to access all sides of a raised tissue 520. Some exemplary tools that allow the system and method to access all sides of the raised tissue 520 include: dissecting tools, grasping tools, imaging tools, injection tools, cauterization tools, etc.

[0096] In some embodiments, the systems and methods of this subject matter allow for the dissection and separation of raised tissue 520 from surface tissue 510 in a patient's body. In some other embodiments, the systems and methods of this subject matter also allow for the removal of the dissected and separated raised tissue 520 from the patient's body. In some further embodiments, the systems and methods of this subject matter allow for additional manipulation of the raised tissue 520 and its surroundings, as described in detail below.

[0097] In one embodiment, the patient is an animal, specifically a vertebrate. In another embodiment, the animal is a human.

[0098] As disclosed herein, the term "tool" refers to any type of tool configured for use during manipulation of tissue in a patient's body. Some exemplary types of tools include: dissecting tools configured to dissect tissue; grasping tools configured to grasp a piece of tissue; storage tools configured to store an object, such as a piece of tissue, for example, during removal from a patient's body; imaging tools configured to acquire images within a patient's body; illumination tools configured to illuminate within a patient's body; injection tools configured to inject substances into tissue; cauterization tools configured to cauterize portions of tissue; and combinations thereof.

[0099] Now for reference Figure 2 The diagram schematically illustrates a system, according to an exemplary embodiment, for allowing a tool to controllably access all sides of raised tissue in a patient's body. Figure 2 Components of a system 1 for allowing a tool to controllably access all sides of a raised tissue 520 in a patient's body are shown, the system 1 comprising:

[0100] Track 110, which is configured to surround raised tissue 520 within the patient's body;

[0101] At least one carrier 120 is configured to move along track 110 and carry at least one tool configured to manipulate raised tissue.

[0102] According to one embodiment, at least one connector 122 is attached to a vehicle 120 and configured to connect at least one tool to the vehicle 120.

[0103] According to one embodiment, the tool is an integral part of the vehicle 120. According to another embodiment, the tool is separate from the vehicle and configured to be connected to the vehicle 120.

[0104] like Figure 2 As can be seen, surface tissue 510 is part of a cavity in the patient's body, and raised tissue 520 extends from surface tissue 510. Track 110 surrounds raised tissue 520, and carrier 120 is either stationarily attached to or moves along track 110. Because track 110 surrounds the raised target tissue 520, and carrier 120 is configured to move along track 110, carrier 120 can surround raised tissue 520. Therefore, system 1 allows carrier 120 to access at least a portion of raised tissue 520 up to all sides of raised tissue 520, thereby allowing manipulation of raised tissue 520 according to tools attached to carrier 120.

[0105] Still Figure 2 The enlarged image circled in the center shows that at least one connector 122 is attached to the carrier 120. Therefore, system 1 allows any tool connected to connector 122 to access at least a portion of the raised tissue 520, up to all sides of the raised tissue 520 and up to the edge of the raised tissue.

[0106] According to one embodiment, track 110 and carrier 120 are configured to be inserted into a patient's body. According to another embodiment, track 110 and carrier 120 are configured to be inserted into a cavity within the patient's body. According to yet another embodiment, track 110 and carrier 120 are configured to be manually inserted into the patient's body or into a cavity within the patient's body. According to another embodiment, track 110 is configured to be inserted into the patient's body or a cavity within the patient's body via an endoscope. According to yet another embodiment, carrier 120 is configured to be inserted into the patient's body or a cavity within the patient's body via an endoscope. According to yet another embodiment, both track 110 and carrier 120 are configured to be inserted into the patient's body or a cavity within the patient's body via an endoscope. According to another embodiment, the insertion of track 110 or carrier 120, or track 110 and carrier 120, can be manual or autonomous, i.e., via a robotic mechanism. According to another embodiment, track 110 or carrier 120, or both track 110 and carrier 120, are configured to be inserted into the patient's body or into a cavity in the patient's body via an endoscope.

[0107] Now for reference Figure 3 The diagram schematically illustrates a track around a raised tissue according to an exemplary embodiment, the track protruding from an endoscope inserted into a patient's body cavity. Figure 3 An endoscope 60 is shown inserted into a cavity within a patient's body. Therefore, the surface tissue 510 is the tissue of the cavity. Figure 3 As can be seen, the endoscope 60 has a tubular structure. The endoscope 60 includes at least one, but preferably multiple, channels 601, 602, 603, through which objects, illumination, imaging, and multiple cavities can be transported or positioned via working tools such as the track 110, or combinations thereof. Figure 3 What is further visible is the channel 601 through which the endoscope 60 exits and the track 110 of the raised tissue 520 extending above the surface tissue 510. In other words, Figure 3 An exemplary embodiment of track 110 is shown, the track being configured to be inserted into a patient's body or a cavity within the patient's body via an endoscope (e.g., via a multi-lumen 70). In this embodiment, during insertion of the endoscope 60 into the patient's body, track 110 resides inside the channel 601 of the multi-lumen 70 inserted into the endoscope 60. When the endoscope 60 approaches the vicinity of the raised tissue 520, the multi-lumen 70 may disengage from the endoscope, such as... Figure 4 As shown, track 110 can exit the channel 601 where track 110 is located and surround the raised tissue 520.

[0108] Now for reference Figure 4 The diagram schematically illustrates the trajectory for exiting a multi-cavity protrusion from the tissue according to an exemplary embodiment. Figure 4An internal cavity having surface tissue 510 and a raised tissue 520 extending above surface tissue 510 is shown. A multi-cavity 70 protruding from and approaching the vicinity of the raised tissue 520 is also shown. During endoscope insertion into the cavity, the multi-cavity 70 resides within the working channel 601 of the endoscope 60, and a track 110 resides within the working channel 601 of the endoscope 60. As the endoscope approaches the vicinity of the raised tissue 520, the multi-cavity 70 may extend out of the endoscope, and the track 110 may withdraw from the channel 601 of the multi-cavity 70 toward the raised tissue. Figure 4 The edge of the track 110 of the channel 601 through which the endoscope 60 exits is shown. After the track 110 exits the channel 601, the track 110 is configured to surround the raised tissue 520.

[0109] It should be noted again that the insertion of the track 110 into the body near the raised tissue 520 using an endoscope, with or without the multi-lumen 70, is merely exemplary and should not be considered as limiting the scope of this subject matter. The track 110 may also be brought near the raised tissue 520 by any other mechanism (e.g., manually during open surgery) or by any other means (e.g., robotic arms, forceps, combinations thereof, etc.).

[0110] Now for reference Figure 5 This schematically illustrates the trajectory of exiting the multi-cavity structure and surrounding the raised tissue according to an exemplary embodiment. Figure 5 An exemplary embodiment of the mechanism is shown, through which the exit track 110 of the multi-cavity 70 surrounds the raised tissue 520. According to one embodiment, the track 110 includes a distal edge 110-2. According to another embodiment, the system 1 further includes a pulling element 210 configured to attach to the distal edge 110-2 of the track 110. The pulling element 210 is also configured to reside inside the channel 601 of the multi-cavity 70. When the multi-cavity 70 reaches the vicinity of the raised tissue 520, as... Figure 4 As shown, the actuating element 210 attached to the distal edge 110-2 of the track 110 is configured to exit the multi-cavity 70 together with the track 110. The track 110 is then configured to extend away from the multi-cavity 70 in the direction marked by arrow 910. According to one embodiment, as... Figure 5As can be seen, track 110 extends from multi-cavity 70 along a straight direction 910. At this stage, track 110 itself is straight. Simultaneously, the pulling element 210, attached to the distal edge 110-2 of track 110, also exits multi-cavity 70 and surrounds the raised tissue 520 on the opposite side of track 110. To allow track 110 to surround the raised tissue 520, pulling element 210 is pulled back into multi-cavity 70 in direction 930, thereby pulling the distal edge 110-2 of track 110 around the raised tissue 520 and allowing track 110 to surround the raised tissue 520. Finally, pulling element 210 is pulled back into multi-cavity 70, and track 110 completely surrounds the raised tissue 520, as... Figure 3 As shown. It should be noted that the track 110 is configured to surround a raised tissue 520 having any size, height, and shape, including asymmetrical raised tissue 520. It should also be noted that the foregoing mechanisms and methods of utilizing the track 110 to surround the raised tissue 520 are merely exemplary and should not be considered as limiting the scope of this subject matter. Other mechanisms and methods of utilizing the track 110 to surround the raised tissue 520 are also within the scope of this subject matter.

[0111] Now for reference Figure 6 The illustration schematically shows a track located in a surrounding position extending from the multi-cavity, and a vehicle standing or moving on the track, according to an exemplary embodiment. Figure 6 The foregoing embodiment is illustrated, according to which the carrier 120 is configured to be inserted into the patient's body or a cavity within the patient's body via a multi-lumen 70 delivered by means of an endoscope. Figure 6 As can be seen, tool 300 is attached to carrier 120. Tool 300 may also be connected to cable 301. Cable 301 passes through channel 601 of multi-cavity 70 and endoscope to reach control panel operated by operator, as shown in other figures below.

[0112] Now for reference Figure 7 The illustration schematically depicts a track surrounding a raised tissue, a vehicle standing or moving along the track, and a tool attached to the vehicle, according to an exemplary embodiment. Figure 7 and Figure 6 Similar, except Figure 7 A raised structure 520 surrounded by a track 110 is shown. As described above, the track 110 surrounding the raised structure 520 allows the vehicle 120 to move around the raised structure 520. Figure 7 A vehicle 120 standing or moving along track 110 is shown, as well as a tool 300 attached to the vehicle 120 and a cable 301 attached to the tool 300 and passing through the multi-cavity 70. Figure 7The tool 300 shown is a cutting tool 300 configured to cut raised tissue 520. The cutting tool 300 includes a blade 302 configured to cut the raised tissue 520. Any mechanism used to configure the blade 302 to cut the raised tissue 520 (e.g., by heating the raised tissue) is within the scope of this subject matter. According to one embodiment, the blade 302 cuts the raised tissue 520 during movement of the carrier 120 along the track 110. The cutting line 521 on the raised tissue 520 represents the line along which the blade 302 cuts the raised tissue 520 as the carrier 120 moves along the track 110. In three dimensions, the cutting line 521 defines a cutting plane of the raised tissue 520. In some embodiments, the cutting plane of the raised tissue is parallel to the base of the raised tissue 520. The cutting line 521 can be planned prior to surgery using the system 1 to cut the raised tissue 520, allowing for controllable surgery.

[0113] In addition, Figure 7 What is seen is manifold head 400, which is configured to store carrier 110 during transport via multi-cavity 70. After track 110 is positioned in place around ridge tissue 520, carrier 110 withdraws manifold head 400 from track 110 and can begin its operating mode.

[0114] Now for reference Figure 8 The diagram schematically illustrates another view of a track surrounding a raised tissue, a vehicle standing or moving along the track, and a tool attached to the vehicle, according to an exemplary embodiment. Figure 8 The features shown are Figure 7 The features shown are similar. However, Figure 8 Another view of the manifold head 400 is provided. Using this view, it becomes clearer that the manifold head 400 may have an angular shape and provide shielding for the carrier 110 during transport through the endoscope and multi-lumen 70.

[0115] Now for reference Figure 9 The diagram schematically illustrates an overall view of the system according to an exemplary embodiment. Figure 9 Some additional embodiments of the system are shown. An endoscope 70 is visible, which includes an endoscope camera 602. A multi-lumen 70 resides within the endoscope 60, and extends out of the endoscope 60 near the raised tissue 520. A track 110 protrudes from the multi-lumen 70, surrounds the raised tissue 520, and returns to the multi-lumen 70. The track 110 has a distal edge 110-2, also... Figure 5As shown in the diagram, the distal edge 110-2 is movable. That is, the distal edge 110-2 of the track exits the multi-cavity 70, surrounds the raised tissue 520, and returns to the multi-cavity 70. The opposite edge of the track 110 is referred to as the proximal edge 110-4 of the track 110. During the unfolding of the track 110 around the raised tissue 520, the proximal edge 110-4 remains inside the multi-cavity 70. Therefore, the proximal edge 110-4 of the track is also referred to as the fixed edge 110-4 of the track 110.

[0116] exist Figure 9 A pull element 210 can also be seen attached to the distal edge 110-2 of the track 110. The operator of the system 1 can pull the pull element 210 to tighten the track 110 around the bulge 520. Alternatively, the pull element can be pushed out of the multi-cavity 70 in a certain direction to release the track 110 from the bulge 520.

[0117] System 1 also includes at least one control panel 80. Figure 9 An embodiment of System 1 is illustrated, which includes two control panels 80—a first control panel 80-1 and a second control panel 80-2. At least one control panel 80 is configured to allow at least one, preferably two, operators of System 1 to operate System 1 and control the movement of various components of System 1 (e.g., track 110, carrier 120, tool 300, endoscope 60, multi-cavity 70, endoscope camera 602, and other components described herein). For example, a pull element 210 is attached to the control panel 80, and the operator can push or pull the pull element 210 as needed, mechanically, electronically, magnetically, or in combinations thereof.

[0118] Now for reference Figure 10 The illustration schematically depicts a track surrounding a raised tissue and a cutting tool attached to a carrier moving along the track, according to an exemplary embodiment, while the cutting tool cuts the raised tissue. Figure 10A track 110 is shown exiting the multi-cavity 70, circling the raised tissue 520, and returning to the multi-cavity 70. The carrier 120 moves along the track 110 in a circumferential direction 920 according to the route of the track 110. The circular arrow 920 indicating the direction of movement of the carrier 120 is bidirectional, thus indicating that the carrier 120 can move along the track in two possible directions (e.g., forward and backward). A cutting tool 300 is attached to the carrier 120, and a cable 301 is attached to the cutting tool 300. The cable 301 connects to a control panel 80 and also passes through the endoscope 60 or the multi-cavity 70, thereby allowing operator control of the operation of the cutting tool 300. During the movement of the carrier 120 along the track 110, a blade 302 cuts the raised tissue 520 along a pre-determined cutting line 521. According to some embodiments, the cutting of the raised tissue 520 is progressive. In other words, as the carrier 120 travels around the raised tissue 520, the blade 302 cuts the raised tissue 520 at a specific depth within it. Then, during the subsequent travel of the carrier 120 along the track 110, the blade extends further from the cutting tool 300 and cuts further within the raised tissue. Thus, during the cutting process, the blade 302 can extend out of the cutting tool 300 and return into it in a straight line direction specified by the double-headed straight arrow 940.

[0119] Now for reference Figure 11 The diagram schematically illustrates a cutting tool according to an exemplary embodiment, the cutting tool comprising a laser blade attached to a carrier. Figure 11 Another embodiment of the blade for the cutting tool 300 is shown—a laser blade. The laser blade includes a control panel 80 (such as...) Figure 9An optical fiber 303 extends through an endoscope 60 and optionally through a multi-cavity 70 toward a cutting tool 300. The distal fiber edge 304 of the optical fiber 303 is attached to a lens 305, and a spherical transparent medium 306 remains in contact with the lens 305. The optical fiber 303 is configured to allow a laser beam to pass through it. The lens 305 is configured to focus the laser beam and guide it toward the spherical transparent medium 306. The spherical transparent medium 306 is configured to allow the focused laser beam to pass toward the tissue 520, such as a raised tissue 520, to be cut by the focused laser beam. Line 307 shows the direction of the focused laser beam through the spherical transparent medium 306. The spherical transparent medium 306 is also configured to prevent the focused laser beam from passing through air. Therefore, the spherical transparent medium is always in contact with the lens 305 and the tissue 520 to be cut by the focused laser beam. Therefore, the spherical transparent medium 306 is spherical to allow it to rotate and slide over the tissue 520 to be cut during the movement of the carrier 120. This embodiment is achieved by a retainer 308 configured to hold the spherical transparent medium 306 and maintain continuous contact between the spherical transparent medium 306 and the lens 305 and the tissue 520 to be cut. Any shape of retainer 308 is within the scope of this subject matter, such as a retainer 308 with a spiral shape, like... Figure 11 As shown.

[0120] Figure 11 The diagram further illustrates a carrier 120 with the laser blade attached, and a track 120 for the movement of the carrier 120. A multi-cavity 70 through which components are transported is also shown.

[0121] also, Figure 11 An imaging device 130, such as a camera 130, is shown attached to a carrier 110. The imaging device 130 includes an imaging device lens 132, which may include at least one light source 134, such as a light-emitting diode (LED), configured to illuminate an area imaged or photographed by the imaging device 130. Preferably, the number of light sources 304 is even, for example, as shown below. Figure 11 Four are visible in the image to achieve symmetrical illumination of the area being imaged or photographed.

[0122] Now for reference Figure 12 The diagram schematically illustrates a carrier including at least one bearing and at least one drive wheel according to an exemplary embodiment. According to one embodiment, the carrier 120 can be moved along the track 110 by pushing or pulling the carrier 120 using a cable attached to the carrier 120 and optionally passing through the multi-cavity 70 and the endoscope 60. Similar to... Figure 9The cable 301 shown extends all the way to the control panel 80. According to another embodiment, the carrier 120 may include at least one bearing 123 configured to roll over the track 110 and reduce frictional forces applied to the carrier 120 during movement along the track. The at least one bearing 123... Figure 12 As shown in the image.

[0123] According to another embodiment, such as Figure 12 As shown, the vehicle 120 includes drive wheels 125 configured to roll over the track 110 and drive the vehicle 120 to move. This embodiment provides the vehicle 120 with autonomous capability to drive itself along the track 110. Figure 12 The vehicle 120 shown also includes an internal motor (not shown) configured to provide kinetic energy to the drive wheel 125.

[0124] Now for reference Figure 13 The illustration schematically shows a vehicle that also includes an external motor according to an exemplary embodiment. In another embodiment, the aforementioned motor 127 is external, and as shown... Figure 13 As can be seen in the text.

[0125] Now for reference Figure 14 Another view of a vehicle including drive wheels according to an exemplary embodiment is shown schematically. Figure 14 It shows Figure 12 and Figure 13 Different views of the same embodiment are shown. Figure 14 As can be clearly seen, the drive wheel 125 is configured to attach to the track 110 when rotating, so as to drive the vehicle 120 to move along the track 110.

[0126] exist Figure 14 Another embodiment seen in the diagram relates to an imaging device 130. According to one embodiment, the imaging device 130 is configured to change its orientation upward and downward relative to the carrier 120, as indicated by the bidirectional curved arrow 950. This can be achieved, for example, by using at least one arm 135, such as... Figure 14 This is achieved by the two arms 135 shown, which are connected to the imaging device 130 and the carrier 120 and are configured to change the orientation of the imaging device 130 upward and downward relative to the carrier 120.

[0127] Return now Figure 6 .like Figure 6 As can be seen, the track 110 is configured to bend and form a loop structure when deployed outside the endoscope 60 or multi-lumen 70. In other words, the track 110 is configured to exit the endoscope 60 or multi-lumen 70, rotate and return to the endoscope 60 or multi-lumen 70, while presenting a loop structure, such as... Figure 6 As shown.

[0128] Return now Figure 9 . Figure 9 The track 110 shown surrounds the raised tissue 520 and presents the outline structure of the raised tissue 520 at the position where the track 110 surrounds the raised tissue 520. For example... Figure 9 As can be seen, the outline of the raised tissue 520 is amorphous, but the track 110 is configured to even present an amorphous structure related to the outline structure of the raised tissue 520. In other words, the track 110 is configured to present any two-dimensional structure on the planar surface.

[0129] Now for reference Figure 15 The diagram schematically shows a side view of a track extending from a multi-cavity structure according to an exemplary embodiment. Figure 15 A side view is shown of a track 110 extending from the multi-cavity 70 and a vehicle 120 standing statically on the track 110. Line 960 is the horizontal line exiting the multi-cavity. Figure 15 As can be seen, track 110 bends downward relative to the horizontal line 960, forming an angle 962 between track 110 and the horizontal line 960. This indicates that track 110 is configured to bend vertically relative to the horizontal plane. It should be noted that, similar to bending downward relative to the horizontal line 960, track 110 is also configured to bend upward relative to the horizontal line 960. This embodiment allows track 110 to exhibit any contour structure of the surface texture 510 on which track 110 is located, both vertically and vertically, relative to the horizontal line 960.

[0130] In summary, the track 110 is configured to present any structure in any dimension, and the structure of the track 110 is adapted to the contour and surface features of the raised structure 520 around which the track is surrounded and the surface structure 510 on which the track is located. This embodiment can be achieved due to the elasticity and flexibility of the track 110.

[0131] Now for reference Figure 16 The image schematically illustrates a track according to an exemplary embodiment, the track comprising an inflatable element surrounding a raised tissue. Figure 16 The track 110 surrounding the raised tissue 520 is shown. In order to achieve the contour structure of the raised tissue 520, portions of the track 110 must move toward the raised tissue, as indicated, for example, by arrow 970 for some portions of the track 110. This is possible due to the elasticity and flexibility of the track 110.

[0132] After the track 110 has been given the desired structure, in order to allow the vehicle 120 to move along the track 110, it is necessary in some cases to make the track 110 rigid, because in some embodiments of the track 110 and the vehicle 120, the vehicle 120 cannot move along the elastic or flexible track 110. One of the mechanisms for making the track 110 or a portion thereof rigid, for example, after the track has been given the desired structure, is... Figure 16 As shown in the diagram. According to this embodiment, the track 110 includes a plurality of inflatable elements 111 attached to and configured to be inflated along the track 110. Thus, the inflatable elements 111 are connected to at least one conduit 112 for conveying fluid to the inflatable elements 111, and are also configured to convey fluid from the inflatable elements 111, for example, to empty the fluid from the inflatable elements 111 and restore the track 110 to its elasticity and flexibility. For this purpose, at least one conduit 112 extends through the track 110 to the inflatable elements 111, and from the track 110 through the endoscope 60, and occasionally through the multi-cavity 70 to the control panel 80. Any type of fluid is suitable for inflating the inflatable elements 111, such as gases like air, nitrogen, carbon dioxide, etc.; or liquids like water, saline solution, oil, etc.

[0133] Now for reference Figure 17 The diagram schematically illustrates the vehicle surface and tissue surface of a track according to an exemplary embodiment. According to one embodiment, track 110 includes a vehicle surface 113 and a tissue surface 114 along track 110. Vehicle surface 113 is configured to face a vehicle 120 standing on or moving along track 110, and in some embodiments, vehicle surface 113 is also configured to contact the vehicle 120 standing on or moving along track 110. Tissue surface 114 is configured to contact raised tissue 520 surrounded by track 110.

[0134] Figure 17 Further exemplary embodiments of the structure of the carrier surface 113 and the mechanism for moving the carrier along the track 110 are shown. In this embodiment, the track 110 includes a flat tissue surface 114 and a plurality of extensions 115 having gaps 116 between them, protruding substantially perpendicular to and away from the tissue surface 114 from its upper and lower sides, thereby forming a groove-like structure of the carrier surface 113 having groove walls composed of the extensions 115 and the gaps 116 between them. This structure of the groove walls gives the track 110 flexibility and facilitates bending of the track 110 when a desired structure or profile is presented. The groove-like structure of the carrier surface 113 is configured to receive a carrier cable 128, which is attached to the carrier 120, passes along the track 110 through the endoscope 60, and optionally through the multi-cavity 70, to the control panel 80. The carrier 120 is moved by pushing and pulling the carrier cable 128. To facilitate smooth movement of the vehicle cable 128, the track 110 may also include a plurality of balls 117 captured in a grooved structure on the vehicle surface 113 along the track 110, the balls 117 being configured to contact the vehicle cable 128 and rotate when the vehicle cable 128 is pushed or pulled.

[0135] Now for reference Figure 18 The diagram schematically illustrates a raised structure surrounded by a track including a carrier cable and a plurality of balls, according to an exemplary embodiment. Figure 18 Track 110 is shown, which is similar to Figure 17 The track 110 shown includes a vehicle cable 128 and a plurality of balls 117 to facilitate smooth movement of the vehicle cable 128. Figure 18 The illustrated track 110 also includes a carrier surface 113 with a grooved structure configured to capture balls 117 along the track 110. However, compared with... Figure 17 Compared to the track 110 shown, the grooved structure has slotted walls and is formed by extensions 115 and gaps 116 between the extensions. Figure 18 The walls of the groove-like structure on the surface 113 of the vehicle shown are either intact or completely ungrooved. Therefore, Figure 18 The walls of the vehicle surface 113 of the track 110 shown are made of an elastic or flexible material to allow the track 110 to present any desired structure according to the contour of the raised structure 520 that must be surrounded by the track 110, such as... Figure 18 As can be seen, the raised tissue 520 rises above the surface tissue 510, and the tissue surface 114 is in contact with the raised tissue 520.

[0136] Now for reference Figure 19 The illustration schematically depicts a raised tissue surrounded by a track including a carrier cable and multiple balls, according to an exemplary embodiment, and a carrier having a cutting tool that moves along the track. It should be noted that... Figure 18 and Figure 19 The raised tissue 520 shown is transparent. Therefore, the tissue surface 114 of the track 110 attached to the rear surface of the raised tissue 520 can be seen through the so-called transparent raised tissue 520. Figure 19 The track 110 shown is Figure 18 The orbital shown is similar to orbital 110. Furthermore, Figure 19 A vehicle 120 is shown on a vehicle surface 113 of track 110. As described above, a vehicle cable 128 passing through a grooved structure on the vehicle surface 113 is attached to the vehicle 120 to allow the vehicle 120 to be driven to move along track 110 by pushing or pulling the vehicle cable 128 from control panel 80. Figure 19 A cutting tool 300 attached to a carrier 120 is also shown, which cuts raised tissue 520 during movement of the carrier 120.

[0137] In addition to the aforementioned embodiments, Figure 19The direction of movement of the cutting tool 300 is also shown, and the direction of movement of the blade 302 of the cutting tool 300 is further and more specifically shown. According to one embodiment, the cutting tool 300 is configured to move in the direction of and away from the raised tissue 520, such as... Figure 19 As indicated by arrow 980. This embodiment is important for the cutting process of the raised tissue 820 during the movement of the carrier 120 and the cutting tool 900 attached to the carrier 120 along the track 110. This embodiment allows for control of the cutting depth in the raised tissue 520. When the cutting tool 300, the blade 302, or both the cutting tool 300 and the blade 302 move toward the raised tissue 520, this increases the cutting depth of the raised tissue 520, and vice versa.

[0138] Now for reference Figure 20 The diagram schematically illustrates a section of track having a toothed carrier surface and a folded tissue surface according to an exemplary embodiment; and now refers to Figure 21 This schematically illustrates an embodiment of the invention. Figure 20 The diagram shows a track surrounding the raised tissue and a carrier with a cutting tool that moves along the track. Figure 20 An embodiment of the toothed carrier surface 113 of the track 110 is shown, as well as an embodiment of the folded tissue surface 114 of the track 110. Figure 21 Another embodiment of a vehicle 120 is shown, which is configured to move along as indicated by arrow 990 and to contact the toothed vehicle surface 114 of track 110.

[0139] According to one embodiment, such as Figure 20 and Figure 21 As shown, the vehicle surface 113 is toothed. In other words, the vehicle surface 113 includes a plurality of teeth 1132 along the vehicle surface 113, and gaps 1134 between the teeth 1132. According to one embodiment, the teeth may be perpendicular to the base 1136 of the vehicle surface 113, such as... Figure 20 As shown. According to another embodiment, the tooth may be inclined relative to the base 1136 of the carrier surface 113, as... Figure 21 As shown.

[0140] According to one embodiment, the carrier 120 includes at least one gear 129 configured to contact and roll along the toothed carrier surface 113 of the track 110. Therefore, the orientation of the teeth 1292 of the gear 129 corresponds to the orientation of the teeth 1132 of the carrier surface 112 of the track 110. For example, the teeth 1292 of the gear 129 are similarly inclined to the teeth 1132 of the carrier surface 113, and the gear 129 is configured to contact and move along the carrier surface, such as... Figure 21 As shown. Similarly, as Figure 20As shown, the gear 129, which is configured to contact and move along the toothed carrier surface 113 having vertical teeth 1132, also has vertical teeth 1292.

[0141] The vehicle 120, including at least one gear 129, can be used, for example, by using Figure 19 The vehicle cable 128, etc., shown can move along the track 110 in any mechanism. Preferably, the vehicle 120, including at least one gear 129, can be moved along the track 110 by using a motor 127, for example, as... Figure 13 As shown.

[0142] Return now Figure 20 According to one embodiment, the tissue surface 114 of the track 110 is pleated. In other words, according to this embodiment, the tissue surface 114 includes a plurality of folds 1142 along the length of the tissue surface 114. The folds 1142 increase the surface area of ​​the tissue surface 114 and tighten the attachment of the tissue surface 114 of the track 110 to the raised tissue 520. Due to the pleated tissue surface 114 of the track 110, therefore Figure 21 The track 110 shown is closely attached to the raised tissue 520.

[0143] Now for reference Figure 22 and Figure 23 The diagram schematically illustrates a cross-sectional view of a track according to some exemplary embodiments, the track comprising a pleated tissue surface with various fold structures. The folds 1142 of the pleated tissue surface 114 of track 110 can have any type of structure and relative dimensions, examples of which are shown in... Figure 22 and Figure 23 As shown in the image. Figure 22 and Figure 23 The interaction between the raised tissue 520 and the folded tissue surface is also illustrated. The folds 1142 increase the surface area of ​​the tissue surface 114, thereby tightening the attachment of the raised tissue to the folded tissue surface 114 of the track 110. This embodiment reduces the chance of separation between the track 110 and the raised tissue 520, or of the track 110 slipping off the raised tissue 520, during manipulation, such as cutting the raised tissue 520.

[0144] Now for reference Figure 24 and Figure 25 The diagram schematically shows a perspective view of a track according to an exemplary embodiment, the track comprising a pleated tissue surface having various fold structures. Figure 24 and Figure 25 The diagram illustrates the three-dimensional structure of two exemplary folded tissue surfaces 114 of track 110, and how folds 1142 increase the surface area of ​​tissue surfaces 114.

[0145] Figures 22 to 25Another embodiment of the track 110 is shown, according to which the track 110 includes at least one hardened conduit 118 passing through its interior. The hardened conduit 118 passes through the control panel 80 and is configured to allow fluid to pass through the hardened conduit 118 to harden the track 110 and make it more rigid, for example after the track 110 has been wrapped around the raised tissue 520, for the purposes described above with respect to the inflatable element 111. Any type of fluid is within the scope of this subject matter, such as gases like air, nitrogen, carbon dioxide, etc.; or liquids like water, saline solution, oil, etc.

[0146] Figures 22 to 25 Another embodiment of the track 110 is shown, according to which the track 110 includes at least one suction conduit 119 passing through the interior of the track 110, and at least one suction orifice 1192 fluidly connected to the suction conduit 119 located on the tissue surface 114. Figure 25 In this configuration, the cross-section of track 110 passes through a specific suction conduit 119-1 and is fluidly connected to a specific suction orifice 1192-1 of the specific suction conduit 119, illustrating the fluid connection between the suction conduit 119 and the suction orifice 1192. The suction conduit 119 passes through control panel 80. The suction conduit 119 is configured to allow negative pressure to be created at the suction orifice 1192 for suction of raised tissue 520 in contact with tissue surface 114 and at least one suction orifice 1192 on tissue surface 114. Suction of the raised tissue 520 through at least one suction orifice 1192 tightens the contact between track 110 and the raised tissue 520.

[0147] Now for reference Figure 26 The diagram schematically illustrates a track according to an exemplary embodiment, the track having a tubular structure and a longitudinal slot along the track. Figure 26 A multi-cavity 70 is shown, from which a track 110 extends. The track 110 is cut open to show its outline. According to... Figure 26 In the illustrated embodiment, track 110 has a tubular structure and a longitudinal slot 152 along track 110. Due to the tubular structure of track 110, the track also includes an internal space 154.

[0148] Now for reference Figure 27 The image schematically illustrates a vehicle according to an exemplary embodiment, the vehicle including at least one vehicle bearing configured to be received in a track having a tubular structure and a longitudinal slot along the track. Figure 27 The illustration shows a carrier 120, a cutting tool 300 including a blade 302 and attached to the carrier 120, and an imaging device 130 including an imaging device lens 132 and at least one, for example, two, light sources 134, which is also attached to the carrier 130. Figure 27 The vehicle 120 is configured to attach to and move along the track 110, the track having a... Figure 26 The tubular structure and longitudinal slot 152 along the track 110 are described in detail. For this purpose, the carrier includes a bearing base 162 attached to the underside of the carrier 120, at least one bearing shaft 164 attached to the edge of the bearing base 162, and a carrier bearing 166 attached to each bearing base 16. The carrier bearing 166 is configured to be received within the interior space 154 of the track 110, and the bearing shaft 164 is configured to pass through the longitudinal slot 152 of the track 110, thereby connecting the carrier bearing 166 inside the interior space 154 of the track 110, wherein the bearing base 162 is located outside the track 110. During movement of the carrier 120 along the track 110, at least one carrier bearing 166 facilitates attachment of the carrier 120 to the track 110 and reduces friction with the track 110 to allow the carrier 120 to move smoothly along the track 110. Figure 27 As can be seen, the carrier bearing 166 is attached to the underside of the carrier 120, and the carrier 120 is positioned above the track 110. However, this relative position of the carrier 120 above the track 110 is merely exemplary and should not be considered as limiting the scope of this subject matter. The carrier 120 may be positioned relative to the track 110 in any location, for example, above the track 110, beside the track 110, or below the track 110, as described below, etc.

[0149] Now for reference Figure 28 The image schematically illustrates a vehicle according to an exemplary embodiment, the vehicle including at least one vehicle bearing configured to be positioned below a track. Figure 28 A vehicle 120 is shown, comprising at least one vehicle bearing 166, for example, four vehicle bearings 166. Figure 28 As shown. At least one carrier bearing 166 is configured to be housed within the internal space 154 of the track 110. Figure 28 As can be seen, three of the four vehicle bearings 166 are inside the track 110. As described above, the vehicle moves along the track using vehicle cables 128 attached to the vehicle 120. Figure 28 As can be seen further, vehicle 120 is positioned below track 110.

[0150] Another embodiment of the cutting tool 300 attached to the carrier 120 is in Figure 28The image shows the blade 302 of the cutting tool 300. The cable 301 attached to the cutting tool 300 is slotted, i.e., includes a plurality of cable slots 3012 preferably perpendicular to the length of the cable 301. Some cable slots 3012 may be longer than others. The cable slots 3012 give the cable 301 flexibility, which is important for the smooth movement and passage of the cable 301 through the endoscope 60 and occasionally through the multi-cavity 70.

[0151] Now for reference Figure 29 The diagram schematically illustrates an integrated carrier bearing of a carrier according to an exemplary embodiment. Figure 29 It shows the relationship with Figure 28 The vehicle 120 shown is similar to the one depicted. A cutting tool 300 with a blade 302 and a cable 301 is attached to the vehicle 120. In this embodiment, one vehicle cable 128 is attached to one side of the vehicle 120, while another vehicle cable 128 is attached to the other side of the vehicle 120. Figure 29 As can be further seen, the four carrier bearings 166 of the carrier 120 are divided into two pairs of 116-P integrated carrier bearings 166. For example, the integration of each pair of carrier bearings 166 can be achieved by a gradient structure on the circumference of the carrier bearings 166. The circumference of the carrier bearing 166 includes a lower step portion 1662 and an upper step portion 1664. In the pair of 116-P integrated carrier bearings 166, the lower step portion 1662 of one carrier bearing 166 is positioned next to the upper step portion 1664 of the second carrier bearing 166, and vice versa. This allows the carrier bearings 166 in each pair of 166-P to be integrated. One advantage of the integrated carrier bearings 166 is that this feature stabilizes the movement of the carrier 120 along the track 110 and makes the movement smoother, because the contact of the two carrier bearings 166 in each pair of 166-P prevents unnecessary friction of the carrier bearings 166 that may exist in the path of the carrier 120.

[0152] Now for reference Figure 30 Another perspective view of the integrated carrier bearing of the carrier according to an exemplary embodiment is shown schematically. Figure 30 It shows Figure 29 Another perspective view of the vehicle 120 shown. The cutting tool 300 is attached to the bottom of the vehicle 120, and the cable 301 of the cutting tool 300 is... Figure 30 Visible in the cross-section. For example... Figure 29 The integrated mechanism of the two pairs of 116-6 integrated carrier bearings 116 and the carrier bearing 116 is clearly visible as described. A clear view of an exemplary embodiment of the carrier 120 is shown in [the image / description]. Figure 30As shown in the diagram. According to this embodiment, the carrier 120 is elongated, and a carrier bearing 166 is connected to the carrier 120. Furthermore, a connector 122 is attached to the carrier 120, in this embodiment, to the bottom side of the carrier 120. A cutting tool 300 is connected to the connector 122, thereby connecting the cutting tool 300 to the carrier 120.

[0153] Now for reference Figure 31 The illustration schematically shows a track including a plurality of elongated windows, a carrier, and a cutting tool configured to operate together with the track including the plurality of elongated windows, according to an exemplary embodiment. Figure 31 An embodiment of track 110 is shown, the track having a strip-like structure with a plurality of elongated windows 172 along the track 110. Furthermore, track 110 includes extending edges 174 along both sides of the strip-like structure. The edges 174 are configured to capture a vehicle 120 between them, and the vehicle 120 is configured to be captured by the edges 174 near the strip-like structure of track 110 and to move along track 110. Figure 31 The cutting tool 300 attached to the carrier 120 and the cable 301 extending from the cutting tool 300 are further shown.

[0154] Now for reference Figure 32 and Figure 33 The exemplary embodiment schematically illustrates different projections of close-up views of a track including multiple elongated windows, a carrier, and a cutting tool configured to operate together with the track including multiple elongated windows. Figure 32 and Figure 33 The carrier 120, captured by the edge 174 of the strip-like structure of the track 110, and the cutting device 300 attached to the carrier 120 are clearly shown. In this embodiment, the carrier 120 includes two carrier portions 120-P configured to be captured between the edges 174 of the track 110. The portions 120-P of the carrier 120 may have any structure suitable for capture by the edges 174 of the track 110, such as a rod-like structure, etc. Figure 32 and Figure 33 As shown. The two parts 120-P of the carrier are connected to both sides of the cutting tool 300. Therefore, the cutting tool 300 moves together with the two parts 120-P of the carrier 120 along the track 110.

[0155] Now for reference Figure 34 The diagram schematically illustrates a track comprising multiple elongated windows according to an exemplary embodiment, and a cutting tool, cutting probe, or electrode extending through the windows. The cutting tool will be referred to as a blade. Figure 34 The area shown from one side of the raised tissue includes Figures 31 to 33The track 110 shows multiple elongated windows 172. The height of the windows should be less than the height of the track. When it is desired to cut the raised tissue, the blade 302 extends out of the cutting tool 300 through the window 172 and cuts the raised tissue during the movement of the carrier 120. The blade is protected within the isolation ring 302-2. When the blade 302 reaches the edge of the window 172, the blade 302 returns to the cutting tool 300, the carrier 120 moves further until the blade 302 is in front of the next window, and the blade 302 extends out of the cutting tool 300 again and through the window 172 to cut the raised tissue. As a result of this procedure, the cut of the raised tissue is disrupted or broken. To complete the cut, the track 110 can be moved slightly and brought to a position where the uncut area is in front of the window, and the above-described cutting procedure can be performed again to cut the uncut area. Due to the presence of the windows 172 in the track 110, another solution for discontinuous cutting of raised tissue will be described below.

[0156] Now for reference Figure 35 The illustration schematically depicts a carrier and a cutting tool according to an exemplary embodiment, the carrier and cutting tool being configured for manual holding and movement. Except for the handle 182 attached to the cutting tool 300, Figure 35 and Figure 31 Similar. The handle 182 is configured to be gripped by the operator's fingers, thereby allowing the operator to manually move the cutting tool 300 and the carrier 120 along the track 120. It should be noted that this embodiment of the handle 182 attached to the cutting tool 300 should be considered as limiting the scope of the subject matter. The handle 182 may be directly attached to any type of carrier 120 configured to move along any type of track 110, or directly attached to any type of tool attached to the carrier 120. This embodiment of the handle 182 attached to the carrier 120 or to a tool attached to the carrier 120 is suitable, for example, for open surgery, where raised tissue to be manipulated, for example, removed, using the system 1 of the subject matter can be accessed by the operator's hand.

[0157] Now for reference Figure 36 This schematically illustrates a tissue remover attached to a cutting tool according to an exemplary embodiment. The view is further away from track 110. Figure 36 and Figure 34Similar. During the cutting of raised tissue, especially when the cutting within the raised tissue is in its late stages, portions of the raised tissue may cover the track 110, carrier 120, and cutting tool 300, thereby interfering with the movement of carrier 120 along track 110 and the cutting process. To prevent this interference, a tissue remover 195 is attached to the upper portion of the cutting tool 300. Alternatively, the tissue remover 195 may be attached to the upper portion of carrier 120. The tissue remover 195 has a substantially flat structure and may be attached substantially diagonally above the cutting tool 300 or carrier 120. Thus, the raised tissue 520 is removed away from the cutting tool 300 or carrier 120.

[0158] Now for reference Figure 37 and Figure 38 The diagram schematically illustrates different views of a track including a continuous window, a carrier, and a cutting tool configured to operate together with the track including the continuous window, according to an exemplary embodiment. Figures 37 to 38 The track 110 shown solves the problem of discontinuous cutting of raised tissue caused by the track 110 including the above-mentioned multiple elongated windows 172. Figures 37 to 38 The illustrated track 110 is similar to the aforementioned track 110 which includes multiple elongated windows 172, except that instead of multiple elongated windows 172, track 110 includes continuous windows 173. This allows for continuous cutting of raised tissue using a blade 302 extending through the continuous windows 172, such as... Figure 37 As can be seen in the text.

[0159] Due to the continuous window 173, when the gap between the two strips 175 is the continuous window 173, the strip-like structure of the track 110 is divided into two strips 175. Figure 37 A carrier 120 is also shown, which is configured to attach to and move along a track 110 comprising two strips 175. In this embodiment, the carrier 120 is configured to surround the two strips 1f from the outside, while allowing the blade 302 of a cutting tool 300 attached to the carrier 120 to extend through a continuous window 173 located between the two strips 175.

[0160] Now for reference Figure 39 The illustration schematically shows a track comprising two strips and a continuous window, a carrier configured to be attached to and move along the track, a cutting tool, and a handle and a tissue remover attached to the cutting tool, according to an exemplary embodiment. Figure 39 The track 110, carrier 120 and cutting tool 300 shown are... Figures 37 to 38 The track 110, carrier 120 and cutting tool 300 shown are similar. Figure 39 The embodiment of the handle 182 shown is similar to Figure 35 The embodiment of the handle 182 shown, and Figure 39The embodiment of the tissue remover 195 shown is similar to Figure 36 An embodiment of the tissue remover 195 is shown.

[0161] Now for reference Figure 40 The diagram schematically illustrates an articulated vehicle according to an exemplary embodiment. Figure 40 The vehicle 120 shown has the same Figure 12 The vehicle 120 shown is the same embodiment. A further embodiment is shown here, according to which the vehicle is articulated. Therefore, the vehicle 120 includes a plurality of sections 612 connected by a pivot joint 614. For example, Figure 40 The illustrated vehicle 120 includes two sections 612 connected by a pivot joint 614. This embodiment gives the vehicle 120 flexibility and improves its ability to rotate, particularly in the sharp curves of the track 110.

[0162] Now for reference Figure 41 The diagram schematically illustrates a vehicle including sliding wheels according to an exemplary embodiment. Figure 41 The vehicle shown has the same characteristics as Figure 14 The carrier 120 shown is the same embodiment. A further embodiment is shown here, according to which the carrier 120 includes at least one sliding wheel 412. For example, Figure 41 The carrier 120 shown includes two sliding wheels 412. At least one sliding wheel 412 is attached to the side of the carrier 120 facing the raised tissue and is configured to slide on the raised tissue.

[0163] Now for reference Figures 42A to 42B The diagram schematically illustrates a tool holder in the form of a clamp according to an exemplary embodiment. Figures 42A to 42B The open and closed states of a retainer for a tool in the form of a clamp are shown respectively. The retainer includes two clamping arms 832, which are configured as follows: Figure 42A As shown, it is in the open state and as... Figure 42BThe clamping arms 832 are shown in the closed state. When the clamping arms 832 are in the open state, as indicated by arrows 932 and 933, a tool, such as a cutting tool 300, can be inserted between the clamping arms 832 or removed from the clamping arms 832. When the clamping arms 832 are in the closed state, as indicated by arrows 934 and 935, the clamping arms 832 hold the tool. According to one embodiment, the clamping arms 832 may be housed in a clamp housing 834, for example, to protect the clamping arms 832. The clamping arms 832 or the clamp housing 834 is pivotally connected to a clamp holder 838 via a clamping pivot 836, and the clamp holder is attached to a carrier. The clamping pivot 836 allows the clamping arms 832 or the clamp housing 834 to rotate about the clamping pivot 836 in the direction indicated by arrow 937, thereby allowing the tool, such as the cutting tool 300 and the blade 302 of the cutting tool 300, to rotate left and right relative to the clamping pivot 836. This embodiment allows the tool, such as the cutting tool 300, to be held by a carrier, and on the other hand, it allows for increased freedom of movement of the tool.

[0164] Now for reference Figures 43 to 44 The diagram schematically illustrates a lock of a tool according to an exemplary embodiment. Figures 43 to 44 A lock 750 is shown for locking a tool, such as a cutting tool 300, to a carrier 120 via a connector 122. Depending on the state of the lock 750, the tool can be free, such as... Figure 43 As shown, or locked in connector 122, as Figure 44 As shown. Figure 43 A carrier 120 is shown, including a connector 122 configured to connect a tool to the carrier 120. A cutting tool 300 is located adjacent to the carrier 120, the cutting tool including a cable 301 and a blade 302. Dashed line 772 indicates a blade line 772 extending along the blade 302. Dashed line 774 indicates a locking blade line 774 extending along the blade 302 when the cutting tool 300 is locked to the connector 122. The cutting tool 300 is shown in a free state. Figure 43 In this configuration, blade line 772 is substantially perpendicular to locking blade line 774. To lock the cutting tool 300 in the connector 122, the cutting tool 300 must be rotated until blade line 772 overlaps with locking blade line 774, as shown below. Figure 44 As shown. This is implemented using lock 750.

[0165] Lock 750 includes a lock frame 752 pivotally connected to one side of connector 122 via a lock pivot 754. At least one, for example two, lock pushers 756 are framed by the lock frame 752. Figures 43 to 44 As shown, the lock pusher 756 may have a cylindrical shape, or preferably a curved cylindrical shape with a concave surface. The lock pusher 756 is rotatable about its longitudinal axis. Figure 43In the free state shown, with the blade line 772 substantially perpendicular to the locking blade line 774, the locking frame 752 is in a first position that allows the cutting tool 300 and its cable 301 to rest beside the connector 122. To lock the cutting tool 300 in the connector 122, the locking frame 752 is configured to rotate about the locking pivot 754 in the direction of the cutting tool 300 and the cable 301 until the locking frame 752 reaches... Figure 44 The second state is shown. When the blade line 772 overlaps with the locking blade line 774, this causes the cutting tool 300 to rotate toward the retainer 122 and lock in the retainer 122.

[0166] Now for reference Figures 45 to 46 This schematically illustrates the ability of a tool to move relative to a vehicle according to an exemplary embodiment. Figures 45 to 46 A cutting tool 300 locked in connector 112 is shown, similar to Figure 44 The illustrated embodiment. To improve the cutting of raised tissue using the cutting tool 300, the cutting tool 300 and connector 122 have several degrees of freedom of movement, thereby increasing the maneuverability of the blade 302 for cutting raised tissue. According to one embodiment, the blade 302 is configured to enter and exit the cutting tool 300, as shown in the embodiment. Figure 45 and Figure 46 As indicated by arrow 992. According to another embodiment, connector 122, and thus the cutting tool 300 locked in connector 122, is configured to rotate left and right, as... Figure 45 and Figure 46 As indicated by arrow 994. According to yet another embodiment, connector 122, and thus the cutting tool 300 locked within connector 122, is configured to rotate upwards and downwards, as... Figure 46 As indicated by arrow 996. According to yet another embodiment, the blade 302 is configured to rotate about its length, as... Figure 46 As indicated by arrow 998. All these embodiments allow the blade 302 to move substantially in any desired direction and toward any desired location on the raised tissue.

[0167] Now for reference Figure 47 The illustration schematically depicts a track surrounding the raised tissue, a vehicle moving along the track, and a cutting tool attached to the vehicle and cutting the raised tissue in various directions, according to an exemplary embodiment. Figure 47 It shows according to Figures 45 to 46 An example of the cutting capability of the cutting tool 300 with degrees of freedom of movement and rotation shown in the embodiment. The cutting line 521 in front of the cutting tool 300 first curves upward and then downward. Due to... Figures 45 to 46The connector 122 shown and the rotational capability of the cutting tool 300 locked in the connector 122 are thus achieved.

[0168] Now for reference Figure 48 The diagram schematically illustrates a marker in the form of a collapsible marker rod attached to a track, according to an exemplary embodiment. Figure 48 Another component of System 1 is shown—a marker 67, which is configured to allow the operator to determine whether the hidden portion of track 110 is positioned correctly on the hidden side of the raised tissue. For example... Figure 48 As shown, endoscope 60 is positioned to the right of the bulge 520. The operator of endoscope 60 uses endoscope camera 602 to observe the bulge 520 and the area of ​​the bulge 520, the endoscope camera having a limited field of view 6021, indicated by dashed lines 6021. The opposite side of the bulge 520 relative to endoscope 60 is hidden by the bulge 520, and therefore the operator cannot see the opposite side of the bulge 520. Consequently, the operator cannot see whether the track 110 extending around the bulge 520 is positioned at the desired location on the hidden side of the bulge 520. Marker 67 is designed to provide a solution to this problem.

[0169] According to one embodiment, the marker 67 is a collapsible marker rod 67 having a plurality of marks 672 along the rod 67, which is attached to the track 110, for example, in a region of the track 110 that will be positioned at the hidden side of the raised tissue 520. The collapsible marker rod 67 collapses as the track 110 is advanced toward the raised tissue 520 via the endoscope 60 or also via the multi-lumen 70. After the track 110 is positioned in place around the raised tissue 520, the collapsible marker rod 67 stands upright, and its edge away from the track 110 extends along the track 67. Figure 48 The dashed line 967 in the image moves from a collapsed state to an upright state, and the upright state of the collapsible marker rod is as follows: Figure 48 As shown. Any mechanism used to erect the collapsible marker rod 67 is within the scope of this subject matter. For example, the collapsible marker rod 67 is inflatable. When in a collapsed state, the collapsible marker rod 67 is deflated. To erect the collapsible marker rod 67, the collapsible marker rod 67 is inflated, for example, using a fluid as defined above. When erected, for example, in a hollow organ such as the intestine, the collapsible marker rod 67 presses against the upper wall of the hollow organ, and thus, the edge of the collapsible marker rod 67 attached to the track 110 secures the track 110 in place. An operator observing the collapsible marker rod using an endoscope camera 602, for example, along a line of sight 6022, can determine the placement of the collapsible marker rod 67 and whether it is in the desired position based on observation and analysis of the marker 672. If not, the operator can adjust the position of the track 110 accordingly.

[0170] Now for reference Figure 49 The diagram schematically illustrates a marker in the form of a collapsible mirror attached to a track according to an exemplary embodiment. Figure 49 It shows Figure 48 Another embodiment of the marker described herein is a collapsible mirror 674 attached to the section of track 110 that will be placed in a hidden area using a collapsible retainer 6742. Similar to the collapsible marker lever 67, the collapsible mirror 674 collapses during transport through endoscope 60 and occasionally through multi-cavity 70, and stands upright when track 110 is deployed in place. The collapsible mirror 674 is positioned to allow the operator to observe the hidden area behind the raised tissue 520 through line of sight 6022 and determine whether track 110 is positioned correctly.

[0171] Now for reference Figures 50 to 51 The diagram schematically illustrates a mesh for collecting dissected raised tissue 520 according to an exemplary embodiment. After cutting the raised tissue 520, the dissected raised tissue 520 needs to be removed from the patient's body. When the dissected raised tissue 520 contains malignant cells such as cancer cells, it is necessary to remove the dissected raised tissue 520 during removal without spreading the malignant cells in order to prevent the formation of metastatic lesions. Figures 50 to 51 A mesh 592 is shown, configured to wrap around the raised tissue 520 during cutting and removal of the dissected raised tissue 520. According to one embodiment, the mesh 592 prevents individual cells or cell clusters from passing through it. The mesh 592 is dragged by the carrier 120 during movement around the raised tissue 520 in the direction 959 indicated by arrow 959. A mesh cable 594 is attached to the rear side of the mesh 592 relative to the direction of movement 959 of the carrier 120. The mesh is folded when passed through the endoscope 60 and occasionally through the multi-lumen 70. When it is necessary to wrap the raised tissue 520 with the mesh 592, the mesh 592 can be attached to the carrier 120 and dragged out of the endoscope 60 or the multi-lumen 70 by the carrier 120. When the mesh 592 is located in a desired position next to the raised tissue 520, as... Figure 50 As shown, the carrier 120 continues to move along the track 110 in direction 959, while preventing movement of the mesh 592 by pulling the mesh cable 594 toward the endoscope 60 or multi-cavity 70. This causes the mesh 592 to unfold on the raised tissue 520, as... Figure 51 As shown.

[0172] According to one embodiment, a strip 596 is placed between the mesh 592 and the carrier. The strip 596 facilitates the unfolding of the mesh 592 on the raised tissue.

[0173] After the entire dissected ridge 520 is wrapped by the mesh 592, the track 110 is pulled back into the endoscope 60 or multi-lumen 70, thereby using the mesh 592 to surround the wrapped dissected ridge 520. Thus, the dissected ridge 520 is removed from the body without diffusing cells from the ridge tissue.

[0174] Now for reference Figures 52 to 54 The diagram schematically illustrates a closing mechanism for bringing the ends of the tracks closer together according to an exemplary embodiment. When the tracks 110 are used to surround the bulge 520, the converging ends of the tracks 110 at the endoscope 60 or multi-lumen 70 can be far apart. Therefore, the cutting tool 300 attached to the carrier 120 cannot reach the area of ​​the bulge 520 located next to the converging position at the end of the tracks 110, and the cutting of the bulge 520 will be incomplete. This subject provides a closing mechanism 49 for bringing the converging ends of the tracks 110 closer together so as to facilitate complete cutting of the bulge 520 also in the area next to the converging position at the end of the tracks 110.

[0175] Figure 52 A closing mechanism 49 is shown, which brings the ends of the track 110 closer together in the region where they converge within the endoscope 60. Figure 52 The track 110 shown has a vehicle 120. Figure 53 and Figure 52 Similarly, it also shows a cutting tool 300 connected to the carrier 120, and a cable 301 that is withdrawn from the endoscope 60 and attached to the cutting tool 300. Figure 54 A detailed view of the closing mechanism 49 is shown.

[0176] According to one embodiment, such as Figure 52 As shown, the closing mechanism 49 includes a closing element 492, which is configured to push one end of the track 110 in a direction 949 toward the other end of the track 110 at a convergence position at both ends of the track 110. By using the closing element 492 to push one end of the track 110 toward the other end of the track 110, it is beneficial to completely cut the raised tissue 520 in this area.

[0177] like Figure 54 As shown, the closure mechanism 49 also includes a closure shaft 494. One end of the closure shaft 494 is pivotally connected to the closure element 492, and the other end of the closure shaft 494 is pivotally connected to the edge of the endoscope 60 or the multi-lumen 70, the two ends of the track 110 converging at said edge. Figures 52 to 54As shown, the closure element 492 can have any structure, preferably a wheel-like structure. Furthermore, a closure cable 496 is attached to the closure element 492, preferably to the pivot point between the closure element 492 and the closure shaft 494. The closure cable 496 passes from the closure element 492 through the endoscope 60 and occasionally through the multi-cavity 70 to reach the control panel 80. Additionally, the push element 492 is configured to contact the end of the track 110. Pulling the closure cable 496 causes the closure element 492 to move towards the end of the track 110, and thus pushes one end of the track 110 towards the other end of the track 110, thereby bringing the two ends of the track 110 closer together.

[0178] Now for reference Figures 55 to 56 The diagram schematically illustrates an electromagnetic track according to an exemplary embodiment. As mentioned above, any mechanism for moving the vehicle 120 along the track 110 is within the scope of this subject matter. Figures 55 to 56 Another embodiment of track 110 and a mechanism for moving vehicle 120 along track 110 are shown. According to one embodiment, track 110 is an electromagnetic track 110 in the form of an electromagnetic grid 1105 having a ring-shaped structure surrounding space 1106. When space 1106 is configured to accommodate raised tissue 520, electromagnetic grid 1105 is configured to unfold around raised tissue 520. Therefore, vehicle 120 includes elements configured to be attracted to a magnetic field, such as wheels made of magnetically attractive metal. When vehicle 120 stands on electromagnetic grid 1105, actuation of a region of electromagnetic grid 1105 generates a magnetic field in that region that attracts vehicle 120. Actuation of an electric field in another region of electromagnetic grid 1105 attracts vehicle 120 to that region, and so on. This mechanism essentially allows vehicle 120 to move on electromagnetic grid 1105 in a desired direction, as indicated by arrow 911. Therefore, on the one hand, the magnetic field generated in the electromagnetic grid 1105 drives the movement of the vehicle 120, and on the other hand, the magnetic field facilitates the attachment of the vehicle 120 to the electromagnetic track 110.

[0179] Any mechanism for deploying the electromagnetic mesh 1105 from the endoscope 60 or multi-cavity 70 is within the scope of this subject matter, such as a pair of deploying arms 1107 attached to the electromagnetic mesh 1105 and configured to withdraw from the endoscope 60 or multi-cavity 70 and deploy the electromagnetic mesh 1105 in the desired position.

[0180] Figure 56 A side view of an exemplary design of an electromagnetic grid 1105 is shown. According to one embodiment, the electromagnetic grid includes a plurality of electromagnetic elements 1109 arranged in two layers with gaps between them, wherein the electromagnetic elements 1109 of one layer overlap with the gaps in the other layer.

[0181] This subject further provides a method for cutting raised tissue in a patient's body, the method comprising:

[0182] Insert the track near the raised tissue;

[0183] Organize around the ridge using orbital pathways;

[0184] Place the vehicle on the track;

[0185] Connect the cutting device to the carrier;

[0186] The vehicle moves along the track while the cutting device cuts the raised tissue.

[0187] According to one embodiment, an endoscope is used to insert a track into the patient's body.

[0188] According to one embodiment, the cutting and utilization of the raised tissue can be controlled via an endoscopically operated control panel.

[0189] It should be understood that certain features of the subject matter described in the context of individual embodiments for clarity may also be provided in combination in a single embodiment. Conversely, for the sake of brevity, various features of the subject matter described in the context of a single embodiment may also be provided individually or in any suitable sub-combination.

[0190] Although the invention has been described in conjunction with specific embodiments thereof, it will be apparent to those skilled in the art that many variations, modifications, and alterations will be apparent. Therefore, it is intended to cover all such alternatives, modifications, and variations falling within the spirit and broad scope of the appended claims.

[0191] It should be understood that certain features of the subject matter described in the context of individual embodiments for clarity may also be provided in combination in a single embodiment. Conversely, for the sake of brevity, various features of the subject matter described in the context of a single embodiment may also be provided individually or in any suitable sub-combination.

[0192] Although the invention has been described in conjunction with specific embodiments thereof, it will be apparent to those skilled in the art that many variations, modifications, and alterations will be apparent. Therefore, it is intended to cover all such alternatives, modifications, and variations falling within the spirit and broad scope of the appended claims.

Claims

1. A system for allowing a tool to controllably access all sides of a raised tissue in a patient's body, the system comprising: A track, configured to surround the raised tissue; At least one vehicle configured to move along the track and carry at least one tool configured to manipulate the raised tissue; as well as A tissue remover having a substantially flat structure attached above the at least one tool or the at least one carrier.

2. The system according to claim 1, wherein, At least one connector is attached to the vehicle and configured to connect the at least one tool to the vehicle.

3. The system according to any one of claims 1 to 2, wherein, The track is configured to be inserted into the patient's body via an endoscope.

4. The system according to claim 1, wherein, The at least one carrier is configured to be inserted into the patient's body via an endoscope.

5. The system according to claim 1, wherein, The tool is a cutting tool, which includes a blade configured to cut the raised tissue.

6. The system according to claim 4, wherein, The system also includes a manifold head configured to store the carrier during transport through the endoscope.

7. The system according to claim 1, wherein, The vehicle also includes an imaging device.

8. The system according to claim 7, wherein, The vehicle also includes at least one light source.

9. The system according to claim 1, wherein, The vehicle cable is attached to the vehicle, and the vehicle moves along the track by pushing and pulling the vehicle cable.

10. The system according to claim 9, wherein, The vehicle cable is located inside the track.

11. The system according to claim 10, wherein, The track also includes ball bearings configured to contact the vehicle cable and rotate when the vehicle cable is pushed or pulled, to facilitate smooth movement of the vehicle cable inside the track.

12. The system according to claim 1, wherein, The vehicle moves along the track manually.

13. The system according to claim 1, wherein, The vehicle also includes at least one bearing configured to roll on the track and reduce the frictional force applied to the vehicle as it moves along the track.

14. The system according to claim 1, wherein, The vehicle also includes drive wheels configured to roll on the track and drive the vehicle to move, and motors configured to provide kinetic energy to the drive wheels.

15. The system according to claim 1, wherein, The track is configured to present any structure in any dimension, and the structure of the track adapts to the contour and surface features of the raised tissue around which the track surrounds and the surface tissue on which the track is located.

16. The system according to claim 1, wherein, The track is elastic and flexible, and is further configured to become rigid as needed.

17. The system according to claim 1, wherein, The surface of the track is toothed.

18. The system according to claim 17, wherein, The vehicle includes at least one gear configured to contact and roll along the toothed vehicle surface.

19. The system according to claim 1, wherein, The tissue surface of the track is folded.

20. The system according to claim 1, wherein, The track includes at least one suction conduit passing through the interior of the track, and at least one suction port fluidly connected to the suction conduit on the tissue surface, wherein the suction conduit is configured to allow negative pressure to be formed at the suction port in order to aspirate the raised tissue in contact with the tissue surface and the at least one suction port on the tissue surface.

21. The system according to claim 5, wherein, The blade is configured to be inserted into and removed from the cutting tool.

22. The system according to claim 2, wherein, The connector and the at least one tool are configured to rotate to the left and right, the tool being a cutting tool comprising a blade configured to cut the raised tissue.

23. The system according to claim 2, wherein, The connector and the at least one tool are configured to rotate upward and downward, the tool being a cutting tool comprising a blade configured to cut the raised tissue.

24. The system according to claim 7, wherein, The imaging device is configured to change its orientation upwards and downwards relative to the vehicle.

25. The system according to claim 1, further comprising: At least one control panel, the at least one control panel being configured to control the operation of the system.

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