Endoscope with detachable camera module

Abstract

A modular endoscope system including a first modular section and a second modular section insertable into a patient, the first modular section including an imaging unit and an illumination unit, the second modular section detachable from the first modular section via an attachment mechanism, wherein the first modular section is positionable at a distal end section of the second modular section and configured to illuminate and image a portion of the patient anatomy. A method of using a modular endoscope system, the method including: attaching a first modular section of the modular endoscope system to a second modular section of the modular endoscope system; positioning at least a portion of the modular endoscope system within a patient; illuminating and imaging a portion of the patient anatomy via the first modular section; removing the modular endoscope system from the patient; and detaching the second modular section from the first modular section after removing the modular endoscope system from the patient.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of priority to U.S. Provisional Patent Application No. 62 / 951,157, filed December 20, 2019, entitled “MODULAR ENDOSCOPE WITH DETACHABLE AND SELECTIVELY DISPOSABLE COMPONENTS”; U.S. Provisional Patent Application No. 63 / 031,312, filed May 28, 2020, entitled “ENDOSCOPE WITH DETACHABLE CAMERA MODULE”; and U.S. Provisional Patent Application No. 63 / 031,316, filed May 28, 2020, entitled “ENDOSCOPE WITH DETACHABLE HANDLE MODULE”; the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to medical devices comprising an elongated body configured to be inserted into an incision or opening in a patient’s anatomy to provide diagnostic or therapeutic procedures.

[0004] More specifically, this disclosure relates to endoscopes for imaging and / or providing access to treatment devices toward various anatomical parts, including the gastrointestinal tract (e.g., esophagus, stomach, duodenum, pancreaticobiliary duct, intestine, colon, etc.), the renal region (e.g., kidney, ureter, bladder, urethra) and other internal organs (e.g., reproductive system, sinus cavities, submucosal regions, respiratory tract), etc. Background Technology

[0005] Conventional endoscopy can be involved in a variety of clinical procedures, including, for example, illumination, imaging, detection and diagnosis of one or more disease states, delivery of fluids toward an anatomical area (e.g., saline or other preparations via a fluid channel), providing access to one or more treatment devices (e.g., via a working channel) for sampling or processing of the anatomical area, and providing aspiration access for collecting fluids (e.g., saline or other preparations).

[0006] In conventional endoscopes, the distal portion can be configured for use, for example, supporting and directional treatment devices using a lift mechanism. However, in some cases, this distal portion can make sterilization or reprocessing after use difficult. For example, conventional endoscope devices are fully reusable, which can make the gaps between components or the spaces within the functional parts of the distal portion difficult to access and clean. Summary of the Invention

[0007] The inventors have recognized that, among other things, problems to be solved using conventional medical devices, particularly endoscopes and duodenoscopes, include those that are particularly difficult to disassemble or not constructed to be easily disassembled: 1) the need for and difficulty in cleaning and sterilizing endoscopes after use, 2) the cost of maintaining multiple endoscopes in stock for different surgical techniques or treatments for different patients, and 3) the cost of purchasing medical devices with redundant or unnecessary capabilities for specific patients. This disclosure can help provide solutions to these and other problems by providing systems, apparatus, and methods for designing, constructing, using, and disassembling modular endoscopes. In particular, this application relates to attachment systems for detachable camera modules and detachable control modules for use in medical devices such as endoscopes and duodenoscopes. The camera and control modules can be configured for reuse after proper cleaning and sterilization, while the insertion sheath and shaft connected to the camera and control modules can be configured for single use. Thus, more expensive camera and control components can be modularly attached to inexpensive single-use insertion sheaths and shafts. The modular camera and control components can be configured for cleaning, for example, by being encapsulated, while the insert sleeve and shaft can be inexpensively manufactured to perform only the desired procedure and then disposed of after use. This configuration eliminates the need for cleaning hard-to-reach areas in a fully assembled device and the need to maintain a large inventory of devices with different or redundant capabilities.

[0008] The inventors have also recognized that, among other things, problems to be solved using conventional medical devices, and particularly endoscopes and duodenoscopes, include the potential difficulties arising from the need to attach modular components and the associated need to maintain the attachment of these modular components during surgery. This disclosure can help provide solutions to these and other problems by providing systems, apparatus, and methods that include attachment mechanisms for modular components, particularly modular imaging and illumination units. The attachment systems described herein facilitate simple and easy assembly, allowing surgeons and other personnel to assemble the camera module to the insertion module in an operating room environment when needed, while still providing sufficient coupling to prevent unintentional or accidental displacement of the camera module from the insertion module, for example, when the camera module is inserted into the patient's body using the insertion module.

[0009] The inventors have also recognized that, among other things, problems to be solved using conventional medical devices, particularly endoscopes and duodenoscopes, include the need to control endoscopes with different capabilities. In particular, modular endoscopes can be constructed with modular functional components that perform a wide range of tasks, including various treatment options such as cutting, cauterization, and ablation. Therefore, conventional endoscope control devices may be limited in accommodating additional functions or adapting to modular attachments. This disclosure can help provide solutions to these and other problems by providing systems, apparatus, and methods that include modular control modules that can be coupled to the proximal end of an insertion module to control different functional modules attached to the distal end of the insertion module. The control modules of this disclosure can be provided with a wide variety of inputs, such as buttons, joysticks, and touchscreens, which can be configured to control a variety of outputs.

[0010] In the example, the modular endoscope system may include: a first modular segment including an imaging unit and an illumination unit; and a second modular segment that can be detachably connected to the first modular segment via an attachment mechanism, the second modular segment being insertable into a patient, wherein the first modular segment can be positioned at a distal end segment of the second modular segment and configured to illuminate and image a portion of the patient's anatomy.

[0011] In another example, a method of using a modular endoscope system may include: attaching a first modular segment of the modular endoscope system to a second modular segment of the modular endoscope system; positioning at least a portion of the modular endoscope system within a patient; illuminating and imaging a portion of the patient's anatomy via the first modular segment; removing the modular endoscope system from the patient; and detaching the second modular segment from the first modular segment after removing the modular endoscope system from the patient.

[0012] In yet another example, the insertion segment module for an endoscope may include: a shaft including a flexible elongated body extending from a proximal end to a distal end; and a coupling mechanism located at the proximal end of the distal end, the coupling mechanism being configured to releasably secure a camera module to the insertion segment module.

[0013] In another example, a method of assembling a modular endoscope system includes: bringing a first modular segment of the modular endoscope system close to a second modular segment of the modular endoscope system, the first and second modular segments each including a near-field communication chip; establishing near-field communication between the first and second modular segments when the first and second modular segments are in a disassembled state to verify the second modular segment; and attaching the first modular segment to the second modular segment. Attached Figure Description

[0014] Figure 1 It is a schematic diagram of an endoscopic system that includes an imaging and control system as well as an endoscope, such as a duodenoscope.

[0015] Figure 2 It includes an endoscope connected to a control unit of the imaging and control system. Figure 1 A schematic diagram of an endoscope system.

[0016] Figure 3A This is a schematic top view of a camera module that includes optical components for a side-viewing endoscope and a lifting mechanism.

[0017] Figure 3B It is along Figure 3A An enlarged cross-sectional view taken from plane 3B-3B shows the optical components.

[0018] Figure 3C It is along Figure 3A An enlarged cross-sectional view taken from plane 3C-3C shows the elevator mechanism.

[0019] Figure 4A It is an end view of a camera module including optical components for end-viewing endoscopes.

[0020] Figure 4B It is along Figure 4A The cross-sectional view taken from plane 4B-4B shows the optical components.

[0021] Figure 5 It is suitable for use as Figures 1 to 4B A schematic diagram of a modular endoscope, which includes a camera module, an insertion section module, and a navigation and control module configured to be detachable from each other.

[0022] Figure 6A yes Figure 5 A schematic diagram illustrating an example of a camera module for a modular endoscope.

[0023] Figure 6B It includes communication circuitry, a rechargeable power supply, an imaging unit, and an illumination unit. Figure 6A A schematic diagram of the camera module.

[0024] Figure 7 It is based on the example of connection to the wireless imaging and control system. Figure 6A and Figure 6B A schematic diagram of a modular camera.

[0025] Figure 8A It is used to secure the detachable camera module of this disclosure to Figure 5 A schematic diagram of a first example of an attachment mechanism for the distal portion of an insertion section module of a modular endoscope, the attachment mechanism including a retaining strap.

[0026] Figure 8B It is Figure 8A The attached mechanism is a schematic diagram of the camera module in Figure 6.

[0027] Figure 8C It is suitable for and Figure 8A and Figure 8B A perspective view of the hook mechanism used together with the retaining strap.

[0028] Figure 9A It is used to secure the detachable camera module of this disclosure to Figure 5 A schematic diagram of a second example of an attachment mechanism for the distal portion of the insertion section module of a modular endoscope, the attachment mechanism including a retaining clamp system.

[0029] Figure 9B It is used for Figure 9A A schematic diagram of the clamping fixture of the holding clamping system.

[0030] Figure 9C It is Figure 9A The attached mechanism is a schematic diagram of the camera module in Figure 6.

[0031] Figure 9D yes Figure 9A A schematic diagram of a retaining clamp system, showing a retaining clamp mounted to a platform.

[0032] Figure 10A It is used to secure the detachable camera module of this disclosure to Figure 5 A schematic diagram of a third example of an attachment mechanism for the distal portion of the insertion section module of a modular endoscope, the attachment mechanism including a hinged basket-shaped member.

[0033] Figure 10B It is in an expanded state. Figure 10A A schematic diagram of a hinged basket-shaped component.

[0034] Figure 11A It is used to secure the detachable camera module of this disclosure to Figure 5 A schematic diagram of a fourth example of an attachment mechanism for the distal portion of an insertion section module of a modular endoscope, the attachment mechanism including an expandable sleeve.

[0035] Figure 11B The diagram illustrates the state of expansion. Figure 11A A schematic diagram of an expandable sleeve.

[0036] Figure 12A It is used to secure the detachable camera module of this disclosure to Figure 5 A schematic diagram of a fifth example of an attachment mechanism for the distal portion of the insertion section module of a modular endoscope, the attachment mechanism including a screw-in retainer.

[0037] Figure 12B It is connected to Figure 12A The attached mechanism of the camera module in Figure 6 is shown as separate from the insertion section module of the modular endoscope.

[0038] Figure 13A It is based on the first example for Figure 5 A schematic diagram of the navigation and control module of a modular endoscope.

[0039] Figure 13B It is used for Figure 13A A schematic diagram of the control circuit of the navigation and control module.

[0040] Figure 14A It is cut along plane 14A-14A. Figure 13A A schematic diagram of the cross-section of the navigation and control module.

[0041] Figure 14B It is intercepted along plane 14B-14B. Figure 13A A schematic diagram of the cross-section of the navigation and control module.

[0042] Figure 15 It is based on another example used for... Figure 5 A schematic diagram of the navigation and control module for controlling a modular endoscope.

[0043] Figure 16 It is configured as Figure 15A block diagram of an example machine for navigation and control modules, on which any one or more of the techniques discussed herein can be performed, and any of the devices discussed herein can be used with the example machine.

[0044] Figure 17 This is a schematic diagram of a sterilization apparatus for sterilizing camera modules according to the present disclosure.

[0045] Figure 18 This is a block diagram illustrating a method for processing modular endoscopic components to perform one or more surgical procedures. Detailed Implementation

[0046] Figure 1 This is a schematic diagram of an endoscope system 10, including an imaging and control system 12 and an endoscope 14. Figure 1 The system described herein is an illustrative example of an endoscope system suitable for use with the systems, apparatus, and methods described herein—such as modular endoscope systems, modular endoscopes, and methods for designing, constructing, using, deconstructing, and reusing endoscope modules. According to some examples, endoscope 14 may be inserted into an anatomical region for imaging and / or provide access to one or more sampling devices for biopsy or access to one or more therapeutic devices for treating a disease state associated with the anatomical region. In an advantageous aspect, endoscope 14 may interface with and connect to an imaging and control system 12. In the illustrated example, endoscope 14 includes a duodenoscope, but other types of endoscopes may also be used with the features and teachings of this disclosure.

[0047] The imaging and control system 12 may include a controller 16, an output unit 18, an input unit 20, a light source 22, a fluid source 24, and a suction pump 26.

[0048] The imaging and control system 12 may include various ports for coupling with the endoscope system 10. For example, the controller 16 may include data input / output ports for receiving data from and transmitting data to the endoscope 14. The light source 22 may include an output port for transmitting light to the endoscope 14, for example, via an optical fiber link. The fluid source 24 may include a port for transmitting fluid to the endoscope 14. The fluid source 24 may include a pump and a tank of fluid or may be connected to an external tank, container, or storage unit. The suction pump 26 may include a port for creating a vacuum from the endoscope 14 to generate suction, for example, to extract fluid from an anatomical region in which the endoscope 14 is inserted. The output unit 18 and the input unit 20 may be used by the operator of the endoscope system 10 to control the functions of the endoscope system 10 and to observe the output of the endoscope 14. The controller 16 may also be used to generate signals or other outputs based on the treatment of the anatomical region in which the endoscope 14 is inserted. In the example, controller 16 can generate electrical output, acoustic output, fluid output, etc., for use in treating anatomical areas using methods such as cauterization, cutting, freezing, etc.

[0049] The endoscope 14 may include an insertion section 28, a functional section 30, and a handle section 32 that can be connected to a cable section 34 and a connector section 36.

[0050] Insertion segment 28 extends distally from handle segment 32, and cable segment 34 extends proximally from handle segment 32. Insertion segment 28 may be elongated and include a curved segment and a distal end to which functional segment 30 may be attached. The curved segment may be controllable (e.g., via a control knob 38 on handle segment 32) to manipulate the distal end through tortuous anatomical pathways (e.g., stomach, duodenum, kidney, ureter, etc.). Insertion segment 28 may also include one or more working channels (e.g., internal lumens) that may be elongated and support the insertion of one or more therapeutic instruments of functional segment 30. The working channels may extend between handle segment 32 and functional segment 30. Insertion segment 28 may also provide additional functionality (e.g., via aspiration or flushing pathways, etc.), such as fluid pathways, guide cables, and traction cables.

[0051] The handle section 32 may include a knob 38 and a port 40. The knob 38 may be connected to a pull wire extending through the insertion section 28. The port 40 may be configured to connect various cables, fluid conduits, etc., to the handle section 32 for connection with the insertion section 28.

[0052] According to the example, the imaging and control system 12 can be mounted on a mobile platform (e.g., a trolley 41) having shelves for housing the light source 22, the suction pump 26, the image processing unit 42, etc. Alternatively, Figure 1and Figure 2 Several components of the imaging and control system 12 shown can be directly mounted on the endoscope 14 so that the endoscope can be "independent".

[0053] Figure 2 yes Figure 1 A schematic diagram of an endoscope system 10 including an imaging and control system 12 and an endoscope 14. Figure 2 The components of an imaging and control system 12 connected to an endoscope 14 are schematically illustrated. In the illustrated example, the endoscope 14 includes a duodenoscope. The imaging and control system 12 may include a controller 16, which may include or be connected to an image processing unit 42, a treatment generator 44, a drive unit 46, a light source 22, an input unit 20, and an output unit 18.

[0054] Image processing unit 42 and light source 22 can each interface with endoscope 14 via a wired or wireless connector. Imaging and control system 12 can accordingly illuminate the anatomical region, collect signals representing the anatomical region, process signals representing the anatomical region, and display images representing the anatomical region on display unit 18. Imaging and control system 12 may include light source 22 to illuminate the anatomical region using light of a desired spectrum (e.g., broadband white light, narrowband imaging using preferred electromagnetic wavelengths, etc.). Imaging and control system 12 can be connected to endoscope 14 (e.g., via endoscope connector) for signal transmission (e.g., light output from the light source, video signals from the imaging system in the distal end, etc.).

[0055] Fluid source 24 may include one or more air sources, saline sources, or other fluid sources, as well as associated fluid passages (e.g., air passages, flushing passages, suction passages) and connectors (barbed fittings, fluid seals, valves, etc.). Imaging and control system 12 may also include drive unit 46, which may be an optional component. Drive unit 46 may include a motorized actuator for advancing the distal segment of endoscope 14, as described at least in the PCT Publication No. WO 2011 / 140118 A1 by Frassica et al., entitled “Rotate-to-Advance Catheterization System,” the entire contents of which are incorporated herein by reference.

[0056] Figures 3A to 3C The diagram shows... Figure 2 The first example of the functional section 30 of the endoscope 14. Figure 3A The diagram shows a top view of functional section 30, and Figure 3B The diagram illustrates along Figure 3AThe cross-sectional view of the functional segment 30 cut from the cross-sectional plane 3B-3B. Figure 3A and Figure 3B Each illustration depicts a "side-viewing endoscope" (e.g., a duodenoscope) camera module 50. In the side-viewing endoscope camera module 50, the illumination and imaging systems are positioned such that the viewing angle of the imaging system corresponds to the target anatomical structure transverse to the central longitudinal axis A1 of the endoscope 14.

[0057] exist Figure 3A and Figure 3B In the example, the side-viewing endoscope camera module 50 may include a housing 52, a lift 54, a fluid outlet 56, an illumination lens 58, and an objective lens 60. The housing 52 may form a fluid-tight connection with the insertion section 28. The housing 52 may include an opening for the lift 54. The lift 54 ​​may include a mechanism for moving a device inserted through the insertion section 28. Specifically, as shown in the reference... Figure 3C In more detail, the lift 54 ​​may include means for bending an elongated device extending along axis A1 through the insertion section 28. The lift 54 ​​can be used to bend the elongated device at an angle relative to axis A1, thereby treating an anatomical region adjacent to the lateral endoscope camera module 50. The lift 54 ​​is located, for example, radially outward from axis A1, next to the illumination lens 58 and the objective lens 60.

[0058] If it is possible Figure 3B As observed, the insertion section 28 may include a central lumen 62 through which various components may extend to connect the functional section 30 and the handle section 32. Figure 2 For example, illumination lens 58 can be connected to light emitter 64, which may include extensions to light source 22. Figure 1 ) fiber optic cables or cable bundles. Similarly, objective lens 60 can be connected to prism 66 and imaging unit 67, and imaging unit 67 can be connected to wiring 68. In addition, fluid outlet 56 can be connected to fluid line 69, fluid line 69 may include extensions to fluid source 24 ( Figure 1 The tube. Other elongated components, such as tubes, wires, and cables, can extend through the lumen 62 to connect the functional section 30 with components of the endoscope system 10, such as the suction pump 26. Figure 1 ) and treatment generator 44 ( Figure 2 )connect.

[0059] Figure 3CThis is a schematic cross-sectional view taken along section plane 3C-3C of FIG. 30, showing the elevator 54. The elevator 54 may include a deflector 55 that can be disposed in space 53 of housing 52. The deflector 55 may be connected to a line 57 that extends through tube 59 to connect to handle section 32. The line 57 may be actuated, for example, by rotating a knob, pulling a lever, or pushing a button on handle section 32. Movement of the line 57 may cause rotation of the deflector 55 from a first position around pin 61, for example clockwise, to a second position of the deflector 55 indicated by 55'. The deflector 55 may be actuated by the line 57 to move the distal portion of the instrument 63 extending through window 65 in housing 52.

[0060] The housing 52 may include a receiving space 53 for accommodating the deflector 55. The instrument 63 may include forceps, catheters, etc., extending through the lumen 62. The proximal end of the deflector 55 may be attached to the housing 62 at a pin 618 disposed on the rigid tip 21. When the deflector 55 is in a lowered or unacted state, the distal end of the deflector 55 may be located below the window 65 within the housing 62. When the deflector 55 is raised or actuated by the line 57, the distal end of the deflector 55 may extend at least partially out of the window 65. The instrument 63 may slide on an angled inclined surface 51 of the deflector 55 to initially deflect the distal end of the instrument 63 toward the window 65. The angled inclined surface 51 may facilitate the extension of the distal portion of the instrument 63 from the window 65 at a first angle relative to the axis of the lumen 62. The angled inclined surface 51 may include a groove 69, such as a V-shaped notch, to receive and guide the instrument 63. The deflector 55 can be actuated to bend the instrument 63 at a second angle relative to the axis of the lumen 62, the second angle being closer to perpendicular than the first angle. When the line 57 is released, the deflector 55 can be rotated back to the lowered position, for example, counterclockwise, by pushing or releasing the line 57.

[0061] Figure 4A and Figure 4B The diagram shows... Figure 2 A second example of the functional section 30 of the endoscope 14. Figure 4A The diagram illustrates an end view of functional section 30, and Figure 4B The diagram illustrates along Figure 4A The cross-sectional view of the functional segment 30 cut from the cross-sectional plane 4B-4B. Figure 4A and Figure 4B Each illustration depicts an end-viewing endoscope (e.g., gastroscope, colonoscope, cholangioscope, etc.) camera module 70. In the end-viewing endoscope camera module 70, the illumination and imaging systems are positioned such that the observation angle of the imaging system corresponds to the target anatomical structure located near the end of the endoscope 14 and aligned with the central longitudinal axis A2 of the endoscope 14.

[0062] exist Figure 4A and Figure 4B In this example, the end-viewing endoscope camera module 70 may include a housing 72, a treatment unit 74, a fluid outlet 76, an illumination lens 78, and an objective lens 80. The housing 72 may include an end cap for the insertion section 28, thereby providing a seal for the lumen 82.

[0063] If it is possible Figure 4B As observed, the insertion section 28 may include a lumen 82 through which various components may extend to connect the functional section 30 and the handle section 32. Figure 2 For example, illumination lens 78 can be connected to light emitter 84, which may include extensions to light source 22. Figure 1 ) fiber optic cables or cable bundles. Similarly, objective lens 80 can be connected to imaging unit 87, and imaging unit 87 can be connected to wiring 88. In addition, fluid outlet 76 can be connected to fluid line 89, fluid line 89 may include extensions to fluid source 24 ( Figure 1 The tube. Other elongated components, such as tubes, wires, and cables, can extend through the lumen 82 to connect the functional section 30 with components of the endoscope system 10, such as the suction pump 26. Figure 1 ) and treatment generator 44 ( Figure 2 (Connection). For example, treatment unit 74 may include a large-diameter lumen for receiving other treatment components such as cutting devices and treatment devices.

[0064] Figure 3A and Figure 3B Side-viewing endoscope camera module 50 and Figure 4A and Figure 4B Both endoscope camera modules 50 and 70 share several common elements. Specifically, endoscope camera modules 50 and 70 may include optical components for collecting image signals (e.g., objectives 60 and 80, prism 66, imaging units 67 and 87, wiring 68 and 88) and optical components for transmitting or generating light (e.g., illumination lenses 58 and 78, light emitters 64 and 84). Endoscope camera modules 50 and 70 may also include photosensitive elements, such as charge-coupled devices (“CCD” sensors) or complementary metal-oxide-semiconductor (“CMOS”) sensors. In either example, imaging units 67 and 87 may be coupled (e.g., via wired or wireless connections) to image processing unit 42. Figure 2The imaging and control system 12, along with imaging units 67 and 87, can transmit signals representing an image (e.g., video signals) from a photosensitive element to an image processing unit 42, which then displays the image on a display such as an output unit 18. In various examples, the imaging and control system 12 and the imaging units 67 and 87 can be configured to provide output at a desired resolution suitable for endoscopic procedures (e.g., at least 480p, at least 720p, at least 1080p, at least 4K UHD, etc.).

[0065] As mentioned, the inventors have recognized that conventional endoscopes, particularly duodenoscopes, may include a lift section, which comprises a delicate and complex structure that can be expensive and difficult to clean. The inventors have developed solutions to these and other problems by creating an endoscope that includes an attachment mechanism and system that facilitates simple and easy attachment and detachment of the camera module, as well as a control module that can be separated from the disposable insertion section sheath. Therefore, the camera and control module can include high-quality or high-performance components that are reusable and enclosed in an easy-to-clean housing. For example, the camera module may include a 4K high-imaging unit that can be housed in a sealed container with cutouts or windows for imaging and illumination lenses, thereby eliminating or reducing cracks and gaps that trap biological material. Furthermore, the control module may include various inputs for fixed or programmable control of the functional module outputs, such as buttons or a touchscreen connected to a programmable computer system including at least a processor and memory. Additionally, the control module can be packaged for easy cleaning and can wirelessly communicate with the functional modules for operation in sterile or non-sterile environments.

[0066] Figure 5 It is suitable for use as an endoscope 14 and with Figure 3A and Figure 3B 50 or 50 endoscopic camera modules Figure 4A and Figure 4B A schematic diagram of a modular endoscope 100 used in conjunction with a camera module 70. The modular endoscope 100 may include a modular, detachable functional module 102, an insertion segment module 104, and a navigation and control module 106. Modules 102, 104, and 106 may include components with customizable features and parts. Therefore, the modular endoscope 100 can be customized to perform specific procedures for specific patients. Individual modular components can be constructed as reusable or disposable components. Thus, inexpensive or difficult-to-clean components can be disposed of, and expensive or easily cleaned components can be reused after proper cleaning and sterilization.

[0067] Functional module 102 may include functional module 30, camera module 50, camera module 150 (FIG. 6) or other types of modules. Functional module 30 may include one or both of imaging devices, treatment devices, and auxiliary treatment devices, as well as other devices as described herein.

[0068] The insertion segment module 104 may include a tubular element, a sheath, or a shaft, and the functional module 102 may be mounted on or in the tubular element, sheath, or shaft for insertion into the patient's anatomical structure.

[0069] Navigation and control module 106 may include Figure 1 and Figure 2 The handle section 32, the cable section 34, and the connector section 36, and Figure 13A The navigation and control module 300 and the navigation and control module 400 of Figure 14.

[0070] In the example, functional module 102 may include camera module 150 as described herein or a camera module of an endoscope as described in U.S. Provisional Patent Application 63 / 024,674, filed May 14, 2020, entitled “Endoscope with a Low-Profile Distal Section,” the entire contents of which are incorporated herein by reference.

[0071] In the example, the insertion segment module 104 may include an insertion segment 28, which may be configured to include one or more sheaths and shaft components of U.S. Provisional Patent Application 63 / 017,901, filed April 30, 2020, entitled "Insertion Sheath for Modular Endoscope with Detachable and Selectively Disposable Components," the entire contents of which are incorporated herein by reference.

[0072] As previously mentioned, the components of endoscope 14 can be modular, such as... Figure 5 The modular endoscope 100 shown allows these components to be attached by the operator to initially construct a device for patient use, and to be removed by the operator after use. In other examples, the modular components can be assembled and disassembled by the manufacturer or a removal service provider without operator intervention. In the example, Figure 5 The diagram shows... Figure 2The endoscope 14, wherein its components are shown in a disassembled state. Although Figure 5 The illustration depicts an endoscope 14 comprised of three modular components: a functional module 102 [functional segment 30], a navigation and control module 106 [handle segment 32], and an insertion segment module 104 [insertion segment 28]; however, additional or fewer components are also conceivable, depending on the surgical procedure performed using the configuration of the endoscope 14 constructed or designed by the operator. Each of the functional module 102, navigation and control module 106, and insertion segment module 104 is detachable from each other. Furthermore, each of modules 102, 104, and 106 can be disposed of after a single clinical use. Alternatively, each of modules 102, 104, and 106 can be constructed using materials that would allow for multiple clinical uses. In this case, modules 102, 104, and 106 can be constructed to undergo sterilization after each clinical use.

[0073] In some advantageous aspects, Figure 2 Endoscope 14 and Figure 5 The modular structure of the modular endoscope 100, and the modular structure of endoscopes as discussed herein, allows for the mixing and matching of disposable and reusable modules, enabling some modules, such as expensive and / or easy-to-clean modules, to be reused while others, such as simple and / or difficult-to-clean modules, can be disposable. For example, some modules can be removed from the endoscope after clinical use for sterilization, reprocessing, and reuse in subsequent clinical uses, while the remaining modules can be disposed of. For example, there are concerns about inadequate reprocessing of parts of a duodenoscope (e.g., the lift section). Therefore, single-use endoscopes that can be disposed of after a single clinical use (to prevent infection between uses) have been developed. However, currently available single-use endoscopes—where the entire endoscope is disposed of—can be constructed using lower-cost materials, resulting in a lower price to maintain competitiveness for each clinical use. In many clinical situations, lower-cost materials may lead to poorer clinical performance (e.g., lower image quality, insufficient maneuverability, damage to insertion segment modules during insertion, poor ergonomics of the endoscope handle, etc.). Therefore, substandard components may cause practitioners to be unwilling to use such devices.

[0074] therefore, Figure 2 Modular endoscope 14 and Figure 5The modular endoscope 100, and other endoscopes described herein, are advantageously configured to allow end-users (e.g., healthcare providers and facilities) to recycle certain modules of the endoscope 14 for reuse, while disposing of susceptible areas after a single clinical use. Additionally, the reusable portions of the endoscope can be configured to reduce the accumulation of biomaterials (e.g., be fully encapsulated) and can also be fluidly isolated from susceptible areas. This configuration facilitates the combined use of higher-quality (and more expensive) reusable components for multiple clinical uses with lower-cost disposable portions, while reducing the risk of infection and achieving desired clinical performance. Disposable components can not only be configured to include the functionality required only for a specific surgical procedure, but the materials and structure can also be designed to withstand only one use, both of which contribute to reducing the cost of disposable components. For example, an insertion sheath can be configured to withstand the pressure of a single operation, rather than being robustly constructed to withstand the repeated pressure of multiple procedures.

[0075] In the example, Figure 5 The endoscope 100 may include a duodenoscope, the functional module 102 may be configured as a reusable camera module, the navigation and control module 106 may include a reusable handle module, and the insertion segment module 104 may include a disposable unit having multiple lumens. Therefore, the camera module and the navigation and control module may each include a connector that maintains each of the camera module and the navigation and control module attached to the insertion segment module during patient use. After each use, the camera module and the navigation and control module can be separated (e.g., using connectors, such as...). Figures 8A to 12B The attachment mechanisms 200, 220, 240, 260, and 260 are then processed for subsequent use with new insertion segment modules. Conversely, the insertion segment modules used can be disposed of after a single use.

[0076] Additionally, the connectors for the camera module and navigation and control module, as well as the camera module and navigation and control module themselves, can be made of materials designed to reduce any ingress of biological materials and can optionally be fluid-tight.

[0077] Modular endoscope 100 can be configured in a "side-view" configuration (e.g.) Figures 3A to 3B (as shown) or "end view" configuration (such as) Figures 4A to 4B(As shown). In one example, the modular endoscope 100 is configured as a side-viewing device (e.g., a side-viewing duodenoscope), and the distal modular segment (e.g., a camera module) may be offset relative to the longitudinal axis of the intermediate modular segment (e.g., an insertion module) to accommodate additional components (e.g., a lift mechanism, etc.). In other examples, the modular endoscope 100 is configured as an end-viewing device (e.g., a gastroscope, colonoscope, cholangioscope, etc.), and the distal modular segment (e.g., a camera module) may be positioned substantially coaxially along the longitudinal axis of the intermediate modular segment (e.g., an insertion module).

[0078] Figure 6A It is a perspective view of a detachable camera module 150 including housing 152, recess 154, imaging lens 156, illumination lens 158, and flushing nozzles 160A and 160B.

[0079] Figure 6B This is a schematic diagram of a detachable camera module 150 including a wireless communication circuit 162, a memory 163, a rechargeable power supply 164, an imaging unit 166, and an illumination unit 168. Figure 7 It is based on the example connection to the wireless imaging and control system 12 ( Figure 1 and Figure 2 )of Figure 6A and Figure 6B A schematic diagram of the camera module 150. The wireless imaging and control system 12 may include a wireless communication unit 172, a rechargeable power supply 174, and an image processing unit 42. Figure 2 ) and light source unit 22 ( Figure 2 ). Discuss at the same time Figures 6A to 7 .

[0080] Camera module 150 can use any attachment mechanism described herein, such as Figures 8A to 12B The attachment mechanisms shown are attached to Figure 5 Insertion segment module 104. Figure 6 and Figure 7 The illustration shows a detachable camera module 150 with orifices for flushing nozzles 160A and 160B to provide lens cleaning functions, etc. However, in other examples, flushing nozzles 160A and 160B may be omitted.

[0081] The housing 152 may include a robust, fluid-tight enclosure that can be configured to limit the accumulation of biofilms or other biological material during clinical use. In the illustrated example, the camera module 150 may include ports that allow fluid passage; however, the remainder of the housing 152 may be fluid-tight to reduce the chance of fluid ingress or egress and may not include seams or other gaps that tend to accumulate biological material. In the example, the housing 152 may include a first housing 153A and a second housing 153B, which may be joined together at a recess 154, for example, via a snap-fit ​​connection. A seal, such as an O-ring, may be positioned in the recess 154. Additionally, housings 153A and 153B may be made of a clear or transparent material that allows light to enter and exit lenses 156 and 158, thereby preventing fluid from entering external cracks and gaps in the housing 152. Alternatively, housing 153A may be provided with ports for lenses 156 and 158, which may be sealed using O-rings. Therefore, Figure 6 and Figure 7 The housing 152 can be removed from the insertion segment module 104 after each clinical use, and can be removed before subsequent clinical use, for example, by using a reference. Figures 8A to 12B The described attachment mechanism is then reprocessed.

[0082] The camera module 150 can be "standalone". For example, as Figure 7 As schematically illustrated, the detachable camera module 150 may include a wireless communication circuit 162 operatively communicating with each other, a rechargeable power supply 164, an imaging unit 166, and an illumination unit 168. Therefore, the camera module 150 is capable of powering itself, capturing images using the imaging unit 166, generating light using the illumination unit 168, and transmitting the captured images to an external device using the wireless communication circuit 162 without the assistance or intervention of an external device or system.

[0083] The rechargeable power source 164 may include one or more batteries (e.g., lithium-ion batteries) that can provide power throughout the entire duration of a clinical procedure (e.g., up to 8 hours, including 8 hours). (Referring to herein...) Figure 17 As explained, power supply 164 can be "recharged" between uses, during sterilization, or reprocessing. Rechargeable power supply 164 can be wirelessly recharged through housing 152, or may include a plug or socket, power cord or cable, such as power cable 510. Figure 17 () can be inserted into it.

[0084] The lighting unit 168 may include one or more lamps—for example, such as Figure 6B and Figure 7The LEDs illustrated herein—or other suitable light sources in the desired spectrum—are used to allow imaging of patient anatomy, for example, using Olympus Corporation's Narrow Band Imaging or other technologies. The illumination unit 168 can be coupled to a rechargeable power supply 164 to provide power to the illumination unit 168 for the duration of one or more clinical procedures.

[0085] Imaging unit 166 may include one or more of a CCD or CMOS photosensitive element. Imaging unit 166 may be coupled to rechargeable power supply 164 to provide power to imaging unit 166 for the duration of one or more clinical procedures. The output of imaging unit 166, such as a still digital image or digital video, may be transmitted to wireless communication circuitry 162 for transmission to devices and systems outside camera module 150.

[0086] The wireless communication circuit 162 can be connected to the illumination unit 168, the imaging unit 166, the rechargeable power supply 164, and any endoscope control unit 16 (such as...). Figure 2 and Figure 7 Wireless communication is established between the camera module 150 and the endoscope controller 16. The wireless communication circuit 162 can send and receive wireless signals that can transmit data or commands between the camera module 150 and the wireless communication unit 172 of the endoscope controller 16. Commands may include navigation commands to guide the distal end of the endoscope 100 toward a desired location within the anatomical structure via the insertion segment module 104. Commands may also include commands to the imaging unit 166 or the illumination unit 168, such as turning the illumination unit 168 on or off, turning the imaging unit 166 on or off, capturing images using the imaging unit 166, and capturing video using the imaging unit 166. The wireless communication circuit 162 may also include a memory 163 integrated therein or communicating with it. The memory 163 may include a non-transitory storage medium containing information stored therein regarding manufacturing information, model identification information, and serial number information related to the camera module 150. Furthermore, the insertion segment module 104 may include wireless communication circuitry and memory that can be configured similarly to the wireless communication circuitry 162 and memory 163 to transmit and store information relating to manufacturing information, model information, and serial number information of a particular insertion segment module 104. The memory 163 may include tangible computer-readable media such as hard disks, removable disks, removable optical disks (e.g., high-density disks and digital video disks), magnetic tape cassettes, memory cards or sticks, random access memory (RAM), read-only memory (ROM), etc.

[0087] In favorable examples, the wireless signal may include data (e.g., identification of the mirror such as a serial number), the location of the camera module in the anatomical structure (e.g., using Olympus's ScopeGuide technology), the remaining battery power, the strength of the wireless signal, and images or videos recorded by the imaging unit, etc.

[0088] According to the illustrative example, the wireless communication circuit 162 may include a transponder or beacon, which can use technologies such as 3G, 4G, and 5G. It communicates with sophisticated wireless communication protocols such as 802.11 and WiFi. On the positive side, Bluetooth can be used to achieve the desired data transfer rate and low power consumption.

[0089] Furthermore, the wireless communication circuit 162 may also include a near-field communication (NFC or radio frequency) chip or device to communicate with other modules (e.g., an NFC chip disposed on an insertion segment module having memory) to verify identification data (e.g., the serial number of the insertion segment module) stored in the memory. The wireless communication circuit 162 can transmit the identification data collected from the insertion segment module 104 to the control unit 16 and verify that the insertion segment module 104 is appropriate (e.g., compatible with the camera module 150) and ready for use. Additionally, this example can ensure that the correct insertion segment module 104 has been used for a specific clinical procedure. In this case, the control unit 16 can be programmed (e.g., using computer-readable instructions):

[0090] • Receive identification data from the insertion segment module read by the near-field communication chip of the camera module;

[0091] • Verify that the inserted segment module is appropriate;

[0092] • Optionally, for example, the specifications (size, manufacturer, serial number, previous usage data, etc.) of the insertion segment module can be displayed to the healthcare provider on the display unit 18;

[0093] Optionally, if the specifications of the insertion segment module match one or more criteria for clinical surgery (previously unused, correct size, type, manufacturer, valid serial number), information indicating that the device is ready for use is displayed on display unit 18; and

[0094] • If the specifications of the working section do not match one or more standards (incorrect type, manufacturing or mirror size, previous use, unauthorized serial number), the display unit 18 will display a message that the device is not ready for use.

[0095] According to an advantageous aspect, in the example using an NFC chip, the above steps can be performed before the camera module 150 is inserted and coupled to the insertion segment module 104. For example, the wireless communication circuit 162 of the camera module 150 can interrogate the wireless communication circuit of the insertion segment module 104, and the wireless communication circuit of the insertion segment module 104 can communicate with the control unit 16 of the imaging and control system 12 to ensure, for example, that only a compatible insertion segment module 104 is used with the camera module 150 and is suitable for the intended medical procedure.

[0096] Alternatively, or in some examples, the camera module 150 may be configured as a capsule endoscope system similar to those of Olympus.

[0097] Figures 8 through 12 illustrate various attachment mechanisms for attaching the detachable camera module 150, and any of the other examples disclosed or referenced herein, to the insertion section module 104, and any of the other examples disclosed or referenced herein. In various examples, the disclosed attachment mechanisms may attach to the camera module 150 via a recess 154 or another attachment feature such as a hole, socket, channel, etc.

[0098] Figures 8A to 12B Each of the attachment mechanisms can be configured to withstand the loads experienced during the insertion of the mirror 100 into the patient's anatomy. Furthermore, in an example where the camera module 150 is intended to be reusable, portions of the recess 154 on the camera module 150 can be designed to withstand mechanical loads, high-pressure and high-temperature water washing, UV radiation, etc.

[0099] Figure 8A This is a schematic diagram of the attachment mechanism 200, which is used to secure the detachable camera module 150 of this disclosure to... Figure 5 The elongated insertion section module 104 of the modular endoscope 100 Figure 5 The distal portion 202 of ) Figure 8B It is Figure 8A A schematic diagram of the camera module 150 in Figure 6, fixed by the retaining band 204. Figure 8A and Figure 8B In the example, attachment mechanism 200 may include retaining strap 204. Meanwhile, for... Figure 8A and Figure 8B Let's have a discussion.

[0100] The distal portion 202 of the insertion segment module 104 may include a tubular body defining a lumen 206. The retaining band 204 may include an annular member, i.e., a partial ring, having a first end 208A connected to the distal portion 202 at attachment 210A and a second end 208B connected to the distal portion 202 at attachment 210B.

[0101] The retaining band 204 may include a rigid or resilient member extending between a first end 208A and a second end 208B. Attachments 210A and 210B may include a fixed or releasable connection between the retaining band 204 and the distal portion 202. In the example, attachments 210A and 210B may include a metallurgical bond (e.g., a weldment or solder), a chemical bond (e.g., an adhesive or glue), or a mechanical bond (e.g., a fastener and a pin).

[0102] In the example, the retaining band 204 may include an elastic band, and attachments 210A and 210B can be secured. Therefore, as... Figure 8B As shown, the camera module 150 can be slid into the retaining strap 204, for example, by being expanded by the user. The retaining strap 204 can be released to be positioned within the recess 154. Therefore, in the relaxed state, the retaining strap 204 can be smaller than the diameter of the housing 152, but can be expanded to be larger than the diameter of the housing 152. The retaining strap 204 can also be smaller than the diameter of the recess 154 in the relaxed state, such that the retaining strap 204 can apply tension to the housing 152.

[0103] In another example, the retaining strap 204 may include a rigid strap, and one or both of attachments 210A and 210B may include a releasable fastener. Specifically, one or each of attachments 210A and 210B may include a hook, such as a reference... Figure 8C The hooks described herein. Therefore, the retaining strap 204 can extend between the first end 208A and the second end 208B to have a radius smaller than that of the housing 152 and just larger than the radius of the recess 154. Thus, when both attachments 210A and 210B are closed or fastened, the retaining strap 204 can be captured within the recess 154, preventing the housing 152 from being released from the retaining strap 204. In this example, the hooks including attachments 210A and 210B can be spring-loaded. Therefore, the attachment mechanism 200 can be actuated by pressing to open the spring-loaded hooks to remove the notch at the distal edge. The removed notch allows the arm of the hook to extend laterally, thereby allowing placement of the camera module 150. Once the camera module 150 is placed, the arm can be closed and the notch restored.

[0104] Figure 8C It is suitable for and Figure 8A and Figure 8BA perspective view of a latching mechanism 212 used in conjunction with a retaining band 204. The latching mechanism 212 may include eyelets 213A and 213B, a hook 214, a handle 215, a ring 216, a latch 218, and a spring 219. The ring 216 may be attached to a second end 208B of the retaining band 204. The hook 214 may be releasably attached to a first end 208A of the retaining band 204. The handle 215 may be actuated to orient the latch 218 toward the ring 216 (see reference). Figure 8C Move to the right to open hook 214. Thus, eyelet 213A can be positioned inside hook 214. Handle 215 can be released to close hook 214. Force from spring 219 can push latch 218 back into engagement with hook 214 to close hook 214.

[0105] Figure 9A This is a schematic diagram of the attachment mechanism 220, which is used to secure the detachable camera module 150 of this disclosure to... Figure 5 The distal portion 202 of the elongated insertion section module 104 of the modular endoscope 100. Figure 9B It is a schematic diagram of the attachment mechanism 220 including the retaining clamp 222. Figure 9C It is Figure 9A The attachment mechanism 220 is a schematic diagram of the camera module 150 in Figure 6. Figure 9D yes Figure 9A A schematic diagram of the attachment mechanism 220 shows the retaining clamp 222 mounted to the platform 228. Simultaneously, for Figures 9A to 9D Let's have a discussion.

[0106] The retaining clamp 222 may include a spring support comprising a base 224 and a first end 226A and a second end 226B. The attachment mechanism 220 may include one or more retaining clamps 222 mounted to the platform 228. The platform 228 may include a flange or ring clamp connected to the distal portion 202, on which the retaining clamp 222 may be mounted. The platform 228 may be attached to the distal portion 202 by any suitable means, including via the use of fasteners, metallurgical bonding methods, adhesives, and bonding agents. The base 224 of the retaining clamp 222 may be secured to the platform 228 such that the ends 226A and 226B extend radially inward toward the centerline 230. The first end 226A and the second end 226B may be profiled to mate with the housing 152, which includes a recess 154. The retaining clamp 22 can be actuated (e.g., manually during attachment of the camera module 150) onto a recess 154 in the housing 152 of the camera module 150 (as shown in FIG. 6). Therefore, the housing 152 of the camera module 150 can be pushed radially downward between ends 226A and 226B, such that ends 232A and 232B are inserted into the recess 154.

[0107] If it is possible Figure 9D As observed, platform 228 may include base 234. In the illustrated example, base 234 may include a ring with ends 236A and 236B, which may be coupled to distal portion 202 in any suitable manner, such as those described herein. Thus, base 224 of retaining clamp 222 may be seated in the ring of base 234 projecting outward from platform 228 to receive housing 152. Base 224 may be coupled to base 234 via metallurgical, chemical, or mechanical fastening.

[0108] Figure 10A This is a schematic diagram of the attachment mechanism 240, which is used to secure the detachable camera module 150 of this disclosure to... Figure 5 The distal portion 202 of the elongated insertion section module 104 of the modular endoscope 100. Figure 10B It is in a state of expansion. Figure 10A A schematic diagram of the attachment mechanism 240. Simultaneously, regarding... Figure 10A and Figure 10B Let's have a discussion.

[0109] The attachment mechanism 240 may include a hinge mechanism comprising a base 242, a fixed gripper 244, and a movable gripper 246. The fixed gripper 244 may be rigidly fixed to the base 242. The fixed gripper 244 and the movable gripper 246 may be coupled by means of devices serving as hinges and springs, such as one or more hinges 248A and 248B at the connector 250. In the illustrated example, hinges 248A and 248B may include elastic bands. Hinges 248A and 248B are shown on one side of grippers 244 and 246, and a similar pair of hinges may be positioned on opposite sides of grippers 244 and 246. The fixed gripper 244 and the movable gripper 246 may include a retainer or housing for receiving the camera module 150, and thus may include an internal volume conforming to or substantially conforming to the external shape of the housing 152 of the camera module 150. Hinges 248A and 248B may have opposite ends respectively connected to the fixed gripper 244 and the movable gripper 246. Hinges 248A and 248B may include both spring characteristics and hinge characteristics. For example, hinges 248A and 248B may include an elastic band that can be stretched to position the movable gripper 246. Figure 10B In extended or expanded positions. In other examples, the movable gripper 246 may be connected to the fixed gripper 244 via a separate spring mechanism and hinge mechanism, the separate spring mechanism pulling the movable gripper 246 to such an extended or expanded position. Figure 10AAs shown, engaging with the fixed jaw 244, the hinge mechanism allows the movable jaw 246 to pivot relative to the fixed jaw 244 at a fixed pivot axis, such as pin 254. For example, when the movable jaw 246 is pulled away from the fixed jaw 244 in the distal direction 252 or rotated at axis 254, the movable jaw 246 can disengage at joint 250 to expand the internal volume of the retainer formed by the fixed jaw 244 and the movable jaw 246. Therefore, the housing 152 of the camera module 150 can be positioned within the internal volume between the fixed jaw 244 and the movable jaw 246. When the movable jaw 246 is released and returned to the closed position of FIG. 10, the housing 152 can be secured within the internal volume between the fixed jaw 244 and the movable jaw 246.

[0110] Figure 11A This is a schematic diagram of the attachment mechanism 260, which is used to secure the detachable camera module 150 of this disclosure to... Figure 5 The distal portion 202 of the elongated insertion segment module 104 of the modular endoscope 100. The attachment mechanism 260 may include an expandable sleeve 262. The sleeve 262 may include a base 264, an opening 266, and an internal space 268. The sleeve 262 may include a shield or pouch configured to partially surround the housing 152 of the camera module 150. The sleeve 262 may be attached to the base 264, which may be attached to the distal portion 202. The sleeve 262 may be made of an elastic material that can be stretched or expanded to allow the housing 152 of the camera module 150 to pass through the opening 266. (As can be...) Figure 11A As observed, sleeve 262 may include an adjustable or stretchable strap that can extend across opening 266 to help secure camera module 150 within sleeve 262.

[0111] If it is possible Figure 11B As observed, the expandable sleeve 262 can be stretched along the distal direction 270 to expand the opening 166 to at least one dimension larger than the diameter or width of the housing 152. Thus, the housing 152 can be pushed through the opening 266 and into the interior space 268. Once the housing 152 is within the interior space 258, the sleeve 262 can retract or shrink to a smaller size to surround the housing 152 and at least partially conform to the shape of the housing 152.

[0112] Figure 12A This is a schematic diagram of the attachment mechanism 280, which is used to secure the detachable camera module 150 of this disclosure to... Figure 5The modular endoscope 100 includes a distal portion 202 of an elongated insertion section module 104. An attachment mechanism 280 may include a threaded engagement 282. The threaded engagement 282 may include a threaded socket 284 for connection to the attachment mechanism 280 and a threaded edge 286 for connection to the distal portion 202 or a portion of the distal portion 202. Figure 12B This is a schematic diagram of the attachment mechanism 280, in which the threaded socket 284 is separated from the threaded edge 286.

[0113] Attachment mechanism 280 may include any attachment mechanism disclosed or contemplated herein, such as attachment mechanisms 200, 220, 240, and 260. In the illustrated example, threaded socket 284 may include a ring into which distal portion 202 may be inserted via a threaded engagement. Therefore, threaded socket 284 may include internal threads 288 (in... Figure 12B (shown in dashed lines), and the threaded edge 286 may include a portion of the distal portion 202 having an external thread 290. In other examples, the distal portion 202 may be provided with an internal thread to engage the external thread of the socket 284.

[0114] In the example where the endoscope 100 is a duodenoscope, the distal portion 202 of the insertion segment module 104 may be provided with a lift section (e.g., Figure 3A The lift 54), which is used for orienting and supporting multiple treatment tools (e.g., biopsy forceps, cholangioscopy, etc.). In such a configuration, Figures 8A to 12B The attachment mechanisms 200, 220, 240, and 260 in any of these configurations can be positioned radially outside, for example, the central axis CA of the insertion section module 104, adjacent to the lifting mechanism. In other configurations, the attachment mechanisms can be positioned axially spaced from the lifting mechanism, such as... Figure 12B As shown, the camera module 150 (at the far end) is axially displaced relative to the elevator 54.

[0115] If it is possible Figure 8B , Figure 9A , Figure 11A and Figure 12B As observed, the housing 152 of the camera module 150 can be positioned in different orientations relative to the central axis CA within the various attachment mechanisms disclosed herein. Furthermore, although the described attachment mechanisms are shown in a side view configuration, they can be constructed in an end view configuration. Figure 12B As shown, the housing 152 and attachment mechanism 280 of the camera module 150 may have shapes other than the circular or annular shapes described herein.

[0116] In an optional example, a protective sleeve may be placed around the camera module 150 to further reduce the entry of biological material into the camera module. The protective sleeve may include a flexible pouch that can be positioned on the camera module 150 and the attachment mechanism 280 and secured to the distal portion 202. In one example, the protective sleeve may be secured via a threaded engagement 282. In other examples, the protective sleeve may include a rigid structure that conforms to the shape of the attachment mechanism 280, secured by a force or snap-fit ​​engagement at a threaded socket 284.

[0117] In the example, attachment mechanism 280, and other attachment mechanisms disclosed herein, may include a fluid outlet 76, which may be connected to a fluid line 89 via a conduit 292 (the only conduit within the attachment mechanism). Furthermore, the distal portion 202 may include a lumen 82 through which other components or functional parts may be inserted to connect to attachment mechanism 280. In other examples, the distal portion 202 may be sealed, for example, for use with a fully independent camera module.

[0118] According to some examples, the navigation and control module 106 of the modular endoscope 100 ( Figure 5 The device may include an ergonomically shaped handle 32 with controllers, such as buttons and knobs 38, which may allow known endoscope navigation and control functions. While the handle 38 may include any handle known in the art (e.g., handles that may be used with Olympus endoscopes, such as the TJF-Q180V or TJF-Q190V series endoscopes), in an alternative, this disclosure provides a detachable navigation and control module according to one or more examples.

[0119] Figure 13A , Figure 14A and Figure 14B A detachable navigation and control module 300 including an example of a navigation and control module 106 according to the present disclosure is schematically illustrated. As shown in FIG14, the navigation and control module 106 may include joysticks 302A and 302B, arrow buttons 304A to 304D, auxiliary buttons 306A to 306D, programmable buttons 308A and 308B, lock buttons 310A and 310B, a lock indicator 312, and a connector 314.

[0120] The navigation and control module 300 can be detachably connected to the insertion section module 104, for example, via connector 314. Furthermore, the navigation and control module 300 can be fluidly isolated from the insertion section module 104 and therefore can be kept in a sterile environment for reuse after a single clinical procedure. For example, the holes in the housing 315 for each of the illustrated joysticks and buttons can be sealed with O-rings or the like. In another example, the illustrated buttons may comprise portions of the housing 315 connected thereto via a monolithic membrane within the housing 315. The housing 315 may be ergonomically shaped to allow a user to grip the module 300 and easily manipulate the joysticks 302A and 302B and the buttons 304A to 310B. Although the module 300 is illustrated as having joysticks and buttons, the module 300 may be configured to include other operator inputs, such as triggers and gesture controllers (e.g., gyroscopes).

[0121] like Figure 14A and Figure 14B As shown, the joystick 302A may include a joystick driver 316, a pivot shaft 318, a pivot gear 320, an upper / lower axis 322, angle lines 324A and 324B, a rotation shaft 326, a rotation gear 328, and traction lines 330A and 330B.

[0122] The joystick 302A can be configured to control the directionality of the insertion section module 104, for example, by acting on the traction cable. The joystick 302A can replace the up / down and left / right angle knobs (e.g., those used on a conventional endoscope handle) Figure 2 (knob 38). The joystick driver 316 can be moved by the user, for example by engaging with the thumb, in the up-down and left-right directions to advance the distal segment 202 of the insertion segment module 104. While a single joystick driver may be sufficient, in some advantageous examples, the navigation and control module 300 may include a second joystick driver provided by the joystick 302B in the example. Joystick 302B can advantageously drive a second endoscope. For example, in some duodenoscopy procedures (e.g., endoscopic retrograde cholangiopancreatography, hereinafter referred to as “ERCP”), an auxiliary endoscope (also called a daughter endoscope or cholangiopancreatoscope) may be attached and the auxiliary endoscope advances through the working channel of the “master endoscope” (also called the mother endoscope or duodenoscope) (e.g., within the insertion segment module 104). In this case, it may be advantageous to include a joystick 302B for navigating the auxiliary endoscope (e.g., advancing at an angle, up-down, or left-right).

[0123] Continue to refer to Figure 13AThe navigation and control module 300 may include one or more buttons. For example, in this example, module 300 may include buttons 310A and 310B for locking the angle set by the joystick 302A. The functions of buttons 310A and 310B can be related to... Figure 2 The angle buttons on the endoscope handle shown are similar (and similarly connected to). Button 310A may include an "up" locking button to prevent the joystick 302A from moving upward. Button 310B may include a "right" locking button to prevent the joystick 302A from moving to the right. Button 310C may include a "down" locking button to prevent the joystick 302A from moving downward. Button 310D may include a "left" locking button to prevent the joystick 302A from moving to the left. Buttons 310A to 310D may be configured to physically impede movement of the joystick 302A via a suitable linkage mechanism, or may be configured to, for example, electronically actuate a linkage mechanism via a motor to impede movement of the joystick 302A.

[0124] Module 300 may also include additional buttons for facilitating other endoscopic functions, these additional buttons having programmable functions (e.g., capturing images, recording video, opening the suction valve, opening the flushing valve, closing the suction valve, closing the flushing valve, etc.). Button 308A may be configured to command camera module 150 to operate imaging unit 166. Button 308B may be configured to command camera module 150 to operate illumination unit 168. Furthermore, similar to buttons 304A to 304D, buttons 308A to 308D may be programmable or may provide angle locking for the auxiliary endoscope. Additional buttons may be provided in the duodenoscope to improve operator ergonomic comfort, such as a quick-lock button located near the joystick driver to easily lock the endoscope in its current position without requiring the operator to remove their fingers from the joystick driver, or additional buttons for lift functions.

[0125] Figure 14A The example shows the path along... Figure 13A The cross-sectional view of the joystick 302A taken from plane 14A-14A is shown. Figure 14B The example shows the path along... Figure 13AThe diagram shows a cross-sectional view of the joystick 302A taken from planes 14B-14B. The navigation and control module 300 can be operatively coupled to the insertion section module 104 to achieve angle and / or other controls. For example, according to an example, the joystick driver 316 can be connected via gear 320 to angle lines 324A and 324B, and via gear 328 to angle lines 330A and 330B. An appropriate tension adjustment mechanism is provided on the working module section (e.g., at the bending section) to control the angle (up / down, left / right). The connector 314 can include sockets 332A and 332B that can connect angle lines 324A and 324B to lines within the insertion section module 104. The connector 314 can also include sockets 334A and 334B that can connect angle lines 330A and 330B to lines within the insertion section module 104.

[0126] like Figure 14A As shown, when the operator manipulates the joystick driver 316 in a back-and-forth motion as indicated by arrow 336, the movement is transmitted via shaft 318 to gear 320 on axis 322. Gear 320 can be coupled to angle lines 324A and 324B to control the angle of endoscope 100, for example, in the vertical direction. Similarly, as... Figure 14B As shown, when the operator manipulates the joystick driver 316 with a rotational movement as indicated by arrow 338, the movement is transmitted via shaft 318 to gear 328 on axis 326. Gear 328 can be coupled to angle lines 330A and 330B to control the angle of endoscope 100, for example, in the left-right direction. Although not illustrated for simplicity, gears 322 and 328 can be connected to a gear system that amplifies or suppresses the movement of joystick 302A to create a greater or lesser correlation between the movement of joystick 302A and the movements of angle lines 324A, 324B, 330A, and 330B.

[0127] Although Figure 14A and Figure 14B The diagram illustrates the angle mechanism associated with the primary mirror (e.g., the insertion section module 104), but the joystick 302B ( Figure 13A The angle lines can be similarly connected to the auxiliary endoscope (e.g., a sub-endoscope or cholangioscope) to control the angle of the auxiliary endoscope for certain procedures (e.g., ERCP). In another configuration, one of the levers 302A and 302B can be configured to control the vertical angle of the primary endoscope, while the other of the levers 302 and 302B can be configured to control the horizontal angle.

[0128] Figure 13B It is used for Figure 13AA schematic diagram of the control circuitry for the navigation and control module 300. In some optional examples, Figures 13A to 14B The controller 300 shown may include suitable electronics for communicating with and controlling other components, such as camera module 150. The control circuitry may include a processor 340, a memory 342, a wireless communication unit 344, a force sensor 346, and a haptic motor 348. Furthermore, the control circuitry may be connected to a power source, such as a wireless rechargeable battery. For example, the wireless communication unit 344 may include a wireless repeater, a beacon, or other circuitry for wireless communication with camera module 150 and / or insertion segment module 104 according to any of the disclosed examples. Figures 13A to 1 The controller 300 shown in Figure 4 can be programmed to provide tactile feedback (e.g., via vibration of a joystick) to alert the user to excessive thrust or bending force or other adverse consequences during insertion. For example, the controller 300 may be operatively coupled to one or more sensors 346 (e.g., force transducers or proximity sensors) to detect force or contact. The processor 340 and memory 342 may include a controller programmed to: receive sensor input from the sensors 346; determine whether the sensor input exceeds a threshold (whether the force exceeds a safety limit, or the proximity to the abdominal wall is below a safety limit); and provide a signal to an electromagnetic or piezoelectric actuator (e.g., a haptic motor 348) to generate vibrations to provide tactile feedback to the user.

[0129] Figure 15 This is a schematic diagram of a navigation and control module 400 according to another example, which is used to control according to another example. Figure 2 Modular endoscope 100. Although Figure 15 The navigation and control module 400 shown can be used in many conventional endoscope systems, but the navigation and control module 400 can be particularly adapted to cases where the endoscope system 10 includes a motorized actuator (e.g., the motorized actuator disclosed in the aforementioned PCT disclosure No WO 2011 / 140118 A1 by Frassica et al.) and the camera module 150 is separate, as shown in Figures 6 to 7. Figure 12B As shown in the image.

[0130] The navigation and control module 400 may include a touchscreen display comprising a housing 402 and a touchscreen 404. The control module 400 may include a wireless communication device for wireless communication 405 with the camera module 150 of the modular endoscope 100 and one or more systems, such as a motorized actuator for automatically advancing the endoscope 100 upon receiving instructions from an operator 405, the instructions being provided by one or more "gestures" 406 on the touchscreen 404.

[0131] An operator can interact with touchscreen 404 to send commands to endoscope 100, including camera module 150, to perform one or more endoscopic functions. For example, an operator can interact with touchscreen 404 of the endoscope using one or more gestures provided on the touchscreen display, including a "pan" gesture (horizontal or vertical). Once a gesture is received, touchscreen 404 can communicate with imaging and control system 12 (e.g., including drive motor 46) to begin advancing the endoscope in a direction corresponding to the movement of the operator's finger provided during the finger gesture. Furthermore, "pinch" gestures can be used for zooming and "tap" gestures for focusing.

[0132] The control module 400 can be programmed so that the touchscreen 404 can display one or more indicators or interface icons. In the illustrated example, the touchscreen 404 may display a battery icon 407, a wireless switch 408, a power switch 411, an angle lock switch 412, a lighting switch 410, a video recording switch 414, and a still image switch 416. The touchscreen 404 may also display navigation aids, such as an imaging unit field of view 418 and an anatomical diagram 420 with a camera position indicator 422.

[0133] The operator can communicate with the imaging and control system 12 (e.g., a motorized lens assembly for the objective lens) by tapping the touchscreen 404 to focus or refocus on the anatomical region. The operator can tap once... Figure 15 The "Endoscopic Imaging Unit: Field of View" button 418 is shown. This gesture can be transmitted (wired or wirelessly) to the imaging unit, such as imaging unit 166. Figure 6B The imaging unit may include imaging optics (e.g., lenses and prism assemblies) disposed on a movable housing, which may be moved, for example, by a motorized actuator. In this case, a “tap” gesture can be translated into an instruction to actuate the movable imaging optics to focus on or refocus on an area or a nearby area (a subsequent tap gesture). Alternatively, the imaging optics may include a “zoom lens” that can zoom in response to a tap gesture.

[0134] Other gestures may include tapping the "Record Video" switch 414, tapping the "Record Still Image" switch 416 to capture a single image of the endoscopic field of view, pressing and holding the "Record Still Image" switch 416 to take a screenshot of the current screen for medical recording, or taking a series of photos. Furthermore, gestures may include tapping various areas of the interactive graphical user interface, such as the angle switch 412 for angle locking, adjusting the intensity of the light output provided by the illumination module 168 using the illumination switch 410, and toggling wireless communication via the wireless switch 408.

[0135] Touchscreen 404 may include an interactive graphical user interface, enabling the operator to receive different types of data (e.g., range specifications such as serial number, type, manufacturer, etc., the location of the camera module overlaid on the anatomical diagram, the remaining battery power on the camera module, etc.). Anatomical diagram 420 may be provided by medical imaging uploaded to control module 400, or may include a general anatomical diagram to indicate the overall shape of the anatomy. Position indicator 422 may be provided by a locator mounted on wireless camera module 150, such as a locator that can be used with a surgical tracking system, or a locator that can triangulate the position of camera module 150 within the tracking field.

[0136] Figure 16 The diagram illustrates the construction as follows: Figure 15 A block diagram of an example machine 1700 with a navigation and control module 400 is provided, and any one or more of the techniques discussed herein can be implemented on the example machine 1700, and any of the devices discussed herein can be used with the example machine 1700. For example, the machine 1700 may include a computing system including components connected to... Figure 1 The imaging and control system 12 is a computing system. Machine 1700 may include an example of a controller for endoscope system 10. Therefore, instructions 1724 can be executed by processor 1702 to control modular camera module 150. Information regarding the operation of battery icon 407, wireless switch 408, power switch 411, angle lock switch 412, illumination switch 410, video recording switch 414, still image switch 416, imaging unit field of view 418, and anatomical diagram 420 with camera position indicator 422 can be stored in main memory 1704 and accessed by processor 1702. Main memory 1704 may also include instructions for operating the wireless camera module 150 based on gestures performed on touchscreen 404. Main memory 1704 may additionally include inventory information for manufacturers and healthcare providers of modular endoscope components to provide verification capabilities for modular components. Main memory 1704 may additionally include patient-specific anatomical information, such as medical image files.

[0137] In alternative examples, machine 1700 may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, machine 1700 may operate as a server machine, a client machine, or both in a server-client network environment. In the examples, machine 1700 may be used as a peer-to-peer (P2P) (or other distributed) network environment. Machine 1700 may be a personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, network application, network router, switch, or bridge, or any machine capable of (sequentially or otherwise) executing instructions specifying actions to be taken by that machine. Furthermore, although only a single machine is illustrated, the term "machine" should also be understood to include any collection of machines that individually or collectively execute one or more sets of instructions for performing any one or more of the methods discussed herein, such as cloud computing, Software as a Service (SaaS), or other computer cluster configurations.

[0138] Machine (e.g., computer system) 1700 may include a hardware processor 1702 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), main memory 1704, and static memory 1706. Some or all of these machines may communicate with each other via an interconnect link (e.g., a bus) 1708. Machine 1700 may also include a display unit 1710, an alphanumeric input device 1712 (e.g., a keyboard), and a user interface (UI) navigation device 1714 (e.g., a mouse). In this example, the display unit 1710, the input device 1712, and the UI navigation device 1714 may be a touchscreen display. Machine 1700 may additionally include a storage device (e.g., a drive unit) 1716, a signal generation device 1718 (e.g., a speaker), a network interface device 1720, and one or more sensors 1721 such as a global positioning system (GPS) sensor, a compass, an accelerometer, or other sensors. Machine 1700 may include an output controller 1728, such as serial (e.g., Universal Serial Bus (USB)), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection, to communicate with or control one or more peripheral devices (e.g., printers, card readers, etc.). Input device 1712 may include a wireless switch 408, a power switch 411, an angle lock switch 412, a lighting switch 410, a video recording switch 414, and a still image switch 416. As described herein, output controller 1728 may control the operation of a motor used to advance insertion section module 104. Display unit 1710 may include a touchscreen 404. Sensor 1721 may include a force sensor for sensing the advance of insertion section module 104. Sensor 1721 may also include a position sensor from wireless camera module 150.

[0139] Storage device 1716 may include machine-readable medium 1722 thereon storing one or more sets of data structures or instructions 1724 (e.g., software) that implement or are utilized by any or more of the techniques or functions described herein. Instructions 1724 may also reside wholly or at least partially in main memory 1704, static memory 1706, or hardware processor 1702 during execution by machine 1700. In this example, one or any combination of hardware processor 1702, main memory 1704, static memory 1706, or storage device 1716 may constitute a machine-readable medium.

[0140] Although machine-readable medium 1722 is illustrated as a single medium, the term "machine-readable medium" can include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) configured to store one or more instructions 1724. The term "machine-readable medium" can include any medium capable of storing, encoding, or carrying instructions or data structures that are executed by machine 1700 and cause machine 1700 to perform any or more of the techniques disclosed herein, and that the data structures are used by or associated with such instructions. Examples of non-limiting machine-readable media can include solid-state memory as well as optical and magnetic media.

[0141] Commands 1724 can also be sent or received on the communication network 1726 via the network interface device 1720 using a transmission medium, utilizing any of several transport protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Example communication networks may include local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), conventional telephone (POTS) networks, and wireless data networks (e.g., those referred to as…). The Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards, known as The network interface device 1720 may include one or more physical jacks (e.g., Ethernet, coaxial, or telephone jacks) or one or more antennas connected to the communication network 1726. In the example, the network interface device 1720 may include multiple antennas to enable wireless communication using at least one of Single-Input Multiple-Output (SIMO), Multiple-Input Multiple-Output (MIMO), or Multiple-Input Single-Output (MISO) technologies. The term "transmission medium" should be understood to include any intangible medium capable of storing, encoding, or carrying instructions for execution by the machine 1700, and the term "transmission medium" includes digital or analog communication signals or other intangible media to facilitate communication of such software. The interface device 1720 may be configured to communicate with the wireless communication circuitry 162 of the camera module 150, the wireless communication unit 172 of the control unit 16, the wireless communication unit of the insertion section module 104, the wireless communication unit 344, and other wireless communication devices described herein.

[0142] Figure 17This is a schematic diagram of a sterilization apparatus 500 including a camera module 150 for sterilizing the camera module according to this disclosure. The sterilization apparatus 500 may include a housing 502, an access panel 504, a light source 506, a fluid nozzle 508, a power cable 510, and a fluid cable 512. The power cable 510 may be connected to a power source 514, and the fluid cable 512 may be connected to a fluid source 516. The sterilization apparatus 500 can be used to sterilize the camera module 150 after a single use and before reuse. The sterilization apparatus 500 may include one or more ultraviolet light sources 506 and optionally one or more fluid nozzles 508 that can supply a high-pressure, high-temperature fluid jet (water, cleaning agent, etc.) suitable for cleaning the camera module 150 before reuse. The sterilization process can be controlled to achieve a desired level of sterilization to reduce any biological matter, thereby complying with standards (e.g., provided by regulatory agencies such as the U.S. Food and Drug Administration). The camera module 150 and controller 400 can be configured to withstand the pressure and temperature generated by the sterilization equipment 500. The sterilization equipment 500 can be operated in medical facilities, such as hospitals.

[0143] The examples disclosed in this article can yield many advantages, including modular construction, improved ergonomics, and a separate camera module for endoscopes.

[0144] Figure 18 This is a block diagram illustrating a method 900 for processing modular endoscopic components used to perform surgical procedures. At step 902, a specific patient can be diagnosed as having a specific condition or requiring specific evaluation. A surgeon or other qualified medical professional can make the diagnosis.

[0145] At step 904, a patient's specific condition can be identified as requiring interaction from a specific therapy or assessment procedure. For example, a specific organ or anatomical region can be identified as requiring a specific intervention or assessment.

[0146] At step 906, a specific treatment plan can be developed to address the condition identified at step 904. The treatment plan may include a selection of therapies to be performed, such as ablation, cryotherapy, cauterization, cutting, or attachment. The treatment plan may also include plans for performing surgical techniques, such as instructions for delivering the selected therapy to a specific organ or anatomical region, for example, by using a camera-enabled endoscope.

[0147] At step 908, components of the medical device for delivering the selected therapy can be selected. For example, a specific treatment module can be selected to provide the selected therapy, a specific sheath or shaft can be selected to deliver the treatment module, and a specific control module can be selected to control the operation of the modular medical device. Features and characteristics of the selected sheath or shaft can be chosen, such as the number of delivery lumens required to provide the therapy, the selected treatment plan, and the guidance and manipulation capabilities required for the therapy. Similarly, the camera module and control module can be selected to facilitate guiding the treatment module and observing anatomical regions or organs.

[0148] At step 910, the selected components from step 908 can be assembled. At step 912A, the selected components can be assembled at the medical facility where the surgery will be performed. For example, modular components can be assembled by the user. In particular, the camera module can be attached using an attachment mechanism such as one of the attachment devices described herein, such as attachment devices 200, 220, 240, 260, and 280. Additionally, a control module, such as module 300 or module 400, can be selected. At step 912B, the selected components can be assembled at the manufacturing facility.

[0149] At step 914, the medical device assembled at step 910 can be used to perform the surgery planned at step 906.

[0150] At step 916, the assembled medical device used in the procedure at step 914 can be disassembled. This medical device can be disassembled at the medical facility in step 912A, or it can be transported off-site to be disassembled at the manufacturing facility in step 912B or another reuse facility. The user can disassemble the modular components by operating the attachment mechanism.

[0151] At step 918, the disassembled parts can be classified into parts that can be disposed of at step 920A and parts that can be reused at step 920B.

[0152] At step 922, the disposable component may be disposed of, for example, by destruction or discarding. The disposable component may include a disposable insert sleeve.

[0153] At step 924, the reusable component from step 920B can be cleaned and sterilized for reuse. The reusable component may include a detachable camera module and a detachable control module. Therefore, the cleaned and sterilized component can be returned to the inventory of a medical facility or manufacturing facility for use in another surgical procedure. In the example, camera module 150 and control module 300 can be cleaned and sterilized using sterilization equipment 500.

[0154] Various notes and examples

[0155] Example 1 may include or use, for example, a modular endoscope system that may include a first modular segment and a second modular segment, the first modular segment including an imaging unit and an illumination unit, the second modular segment being detachably connected to the first modular segment via an attachment mechanism, the second modular segment being insertable into a patient, wherein the first modular segment is positioned at a distal end segment of the second modular segment and configured to illuminate and image a portion of the patient's anatomy.

[0156] Example 2 may include the theme of Example 1 or may optionally combine with the theme of Example 1 to optionally include a second modular segment, the second modular segment including an insertion segment module, the insertion segment module including an elongated working segment.

[0157] Example 3 may include the theme of one or any combination of Examples 1 or 2, or may optionally combine the theme of one or any combination of Examples 1 or 2, to optionally include a third modular section that can be detachably connected to the second modular section by a user.

[0158] Example 4 may include a theme of one or any combination of Examples 1 to 3, or may optionally combine a theme of one or any combination of Examples 1 to 3, to optionally include a third modular section, which may include a navigation and control module operatively connectable to the elongated working section.

[0159] Example 5 may include the subject of one or any combination of Examples 1 to 4, or may optionally combine with the subject of one or any combination of Examples 1 to 4, to optionally include a distal end segment of the second modular segment, the distal end segment including a lifting mechanism configured to orient and support one or more treatment tools extending through the second modular segment.

[0160] Example 6 may include the subject of one or any combination of Examples 1 to 5, or may optionally combine with the subject of one or any combination of Examples 1 to 5, to optionally include a lifting mechanism that may be fluidly isolated from the first modular section and the third modular section.

[0161] Example 7 may include a theme of one or any combination of Examples 1 to 6, or may optionally combine a theme of one or any combination of Examples 1 to 6, to optionally include a first modular segment, the first modular segment further including a rechargeable power supply configured to provide power to the imaging unit and the illumination unit of the first modular segment.

[0162] Example 8 may include the subject of one or any combination of Examples 1 to 7, or may optionally combine with the subject of one or any combination of Examples 1 to 7, to optionally include a first modular segment, the first modular segment may further include wireless communication circuitry configured to transmit or receive data or instructions from the second modular segment or the imaging and control system.

[0163] Example 9 may include the subject of one or any combination of Examples 1 to 8, or may optionally combine with the subject of one or any combination of Examples 1 to 8, to optionally include a first modular segment and a second modular segment, the first modular segment and the second modular segment being positioned substantially coaxially along the longitudinal axis of the second modular segment when attached.

[0164] Example 10 may include the subject of one or any combination of Examples 1 to 9, or may optionally combine with the subject of one or any combination of Examples 1 to 9, to optionally include a first modular segment that is radially offset relative to the longitudinal axis of the second modular segment when attached.

[0165] Example 11 may include the subject of one or any combination of Examples 1 to 10, or may optionally combine with the subject of one or any combination of Examples 1 to 10, to optionally include an attachment mechanism including a retaining strap.

[0166] Example 12 may include the subject of one or any combination of Examples 1 to 11, or may optionally combine with the subject of one or any combination of Examples 1 to 11, to optionally include a retaining strap, the retaining strap including a hook.

[0167] Example 13 may include the subject of one or any combination of Examples 1 to 12, or may optionally combine with the subject of one or any combination of Examples 1 to 12, to optionally include a retaining band comprising an elastic material.

[0168] Example 14 may include the subject of one or any combination of Examples 1 to 13, or may optionally combine with the subject of one or any combination of Examples 1 to 13, to optionally include an attachment mechanism comprising a resilient clamp.

[0169] Example 15 may include the subject of one or any combination of Examples 1 to 14, or may optionally combine with the subject of one or any combination of Examples 1 to 14, to optionally include an attachment mechanism comprising a plurality of resilient clamps mounted to a base.

[0170] Example 16 may include the subject of one or any combination of Examples 1 to 15, or may optionally combine with the subject of one or any combination of Examples 1 to 15, to optionally include an attachment mechanism comprising a hinged basket element.

[0171] Example 17 may include one or any combination of the themes of Examples 1 to 16, or may optionally combine with one or any combination of the themes of Examples 1 to 16, to optionally include an articulated basket member, the articulated basket member including a fixed gripper and a movable gripper, the fixed gripper being coupled to a distal end section of the second modular section, and the movable gripper being coupled to the fixed gripper.

[0172] Example 18 may include the subject of one or any combination of Examples 1 to 17, or may optionally combine with the subject of one or any combination of Examples 1 to 17, to optionally include a movable gripper hinged to the fixed gripper at the axis of rotation.

[0173] Example 19 may include the subject of one or any combination of Examples 1 to 18, or may optionally combine with the subject of one or any combination of Examples 1 to 18, to optionally include a movable gripper that is hinged to the fixed gripper via a plurality of elastic bands.

[0174] Example 20 may include the subject of one or any combination of Examples 1 to 19, or may optionally combine with the subject of one or any combination of Examples 1 to 19, to optionally include an attachment mechanism that includes an expandable sleeve.

[0175] Example 21 may include the subject of one or any combination of Examples 1 to 20, or may optionally combine with the subject of one or any combination of Examples 1 to 20, to optionally include an attachment mechanism comprising a threaded engagement between the first modular segment and the second modular segment.

[0176] Example 22 may include the subject of one or any combination of Examples 1 to 21, or optionally may be combined with the subject of one or any combination of Examples 1 to 21, to optionally include a first modular segment and a second modular segment, the first modular segment including a first near-field communication device, and the second modular segment including a second near-field communication device, wherein near-field communication can be established between the first modular segment and the second modular segment.

[0177] Example 23 may include one or any combination of the themes of Examples 1 to 22, or may optionally be combined with one or any combination of the themes of Examples 1 to 22, to optionally include a second modular section, the second modular section including a memory in which one or more of manufacturer information, model information and serial number information are stored.

[0178] Example 24 may include the subject of one or any combination of Examples 1 to 23, or may optionally combine with the subject of one or any combination of Examples 1 to 23, to optionally include an attachment mechanism configured to fix the first modular segment along the end view orientation.

[0179] Example 25 may include one or any combination of the themes of Examples 1 to 24, or may optionally combine with one or any combination of the themes of Examples 1 to 24, to optionally include an attachment mechanism configured to secure the first modular segment along a side view orientation.

[0180] Example 26 may include or use the subject matter of a method, such as using a modular endoscope system, the method comprising attaching a first modular segment of the modular endoscope system to a second modular segment of the modular endoscope system; positioning at least a portion of the modular endoscope system within a patient; illuminating and imaging a portion of the patient's anatomy via the first modular segment; removing the modular endoscope system from the patient; and detaching the second modular segment from the first modular segment after removing the modular endoscope system from the patient.

[0181] Example 27 may include the subject matter of Example 26 or may optionally combine it with the subject matter of Example 26 to optionally include assembling the first and second modular components of the modular endoscope system at a surgical facility.

[0182] Example 28 may include the subject of one or any combination of Examples 26 or 27, or may optionally combine the subject of one or any combination of Examples 26 or 27, to optionally include a first modular component and a second modular component, the first modular component including an insertion segment module and the second modular component including a camera module.

[0183] Example 29 may include one or any combination of the themes of Examples 26 to 28, or may optionally combine one or any combination of the themes of Examples 26 to 28, to optionally include processing the insertion segment module and cleaning and disinfecting the camera module.

[0184] Example 30 may include one or any combination of the themes of Examples 26 to 29, or may optionally combine with one or any combination of the themes of Examples 26 to 29, to optionally include cleaning and disinfecting the camera module by positioning the camera module within a sterilization apparatus, the sterilization apparatus including an enclosure having an ultraviolet light source and a fluid jet nozzle.

[0185] Example 31 may include the subject matter of one or any combination of Examples 26 to 30, or may optionally be combined with the subject matter of one or any combination of Examples 26 to 30, to optionally include the reuse of cleaned and sterilized reusable components in subsequent medical procedures.

[0186] Example 32 may include the subject of one or any combination of Examples 26 to 31, or may optionally combine the subject of one or any combination of Examples 26 to 31, to optionally include positioning at least a portion of the modular endoscope system within the patient by inserting a portion of the insertion segment module into the patient, thereby positioning the camera module adjacent to the anatomical structure to be imaged.

[0187] Example 33 may include one or any combination of the themes of Examples 26 to 32, or may optionally be combined with one or any combination of the themes of Examples 26 to 32, to optionally include establishing a near-field communication link between the first modular segment and the second modular segment.

[0188] Example 34 may include one or any combination of the themes of Examples 26 to 33, or may optionally be combined with one or any combination of the themes of Examples 26 to 33, to optionally include a second modular section, the second modular section including a memory in which one or more of manufacturer information, model information and serial number information are stored.

[0189] Example 35 may include the subject matter of one or any combination of Examples 26 to 34, or may optionally combine with the subject matter of one or any combination of Examples 26 to 34, to optionally include determining a specific treatment plan for the patient, and selecting the first modular segment capable of treating the patient with the determined treatment plan.

[0190] Example 36 may include or use a subject such as an insertion segment module for an endoscope, the insertion segment module may include a shaft and a coupling mechanism, the shaft including a flexible elongated body extending from a proximal end to a distal end, the coupling mechanism being located at the proximal end of the distal end, the coupling mechanism being configured to releasably secure a camera module to the insertion segment module.

[0191] Example 37 may include the subject of Example 36 or may optionally combine with the subject of Example 36 to optionally include an attachment mechanism, the attachment mechanism including a retaining strap.

[0192] Example 38 may include the subject of one or any combination of Examples 36 or 37, or may optionally combine with the subject of one or any combination of Examples 36 or 37, to optionally include a retaining strap, the retaining strap including a hook.

[0193] Example 39 may include the subject of one or any combination of Examples 36 to 38, or may optionally combine with the subject of one or any combination of Examples 36 to 38, to optionally include a retaining band comprising an elastic material.

[0194] Example 40 may include the subject of one or any combination of Examples 36 to 39, or may optionally combine with the subject of one or any combination of Examples 36 to 39, to optionally include an attachment mechanism comprising a resilient clamp.

[0195] Example 41 may include the subject of one or any combination of Examples 36 to 40, or may optionally combine with the subject of one or any combination of Examples 36 to 40, to optionally include an attachment mechanism comprising a plurality of resilient clamps mounted to a base.

[0196] Example 42 may include one or any combination of the themes of Examples 36 to 41, or may optionally combine with one or any combination of the themes of Examples 36 to 41, to optionally include an attachment mechanism comprising a hinged basket element.

[0197] Example 43 may include one or any combination of the themes of Examples 36 to 42, or may optionally combine with one or any combination of the themes of Examples 36 to 42, to optionally include an articulated basket member, the articulated basket member including a fixed gripper and a movable gripper, the fixed gripper being coupled to a distal end section of the second modular section, and the movable gripper being coupled to the fixed gripper.

[0198] Example 44 may include the subject of one or any combination of Examples 36 to 43, or may optionally combine with the subject of one or any combination of Examples 36 to 43, to optionally include a movable gripper hinged to the fixed gripper at the axis of rotation.

[0199] Example 45 may include the subject of one or any combination of Examples 36 to 44, or may optionally combine with the subject of one or any combination of Examples 36 to 44, to optionally include a movable gripper that is hinged to the fixed gripper via a plurality of elastic bands.

[0200] Example 46 may include the subject of one or any combination of Examples 36 to 45, or may optionally combine with the subject of one or any combination of Examples 36 to 45, to optionally include an attachment mechanism that includes an expandable sleeve.

[0201] Example 47 may include the subject of one or any combination of Examples 36 to 46, or may optionally combine with the subject of one or any combination of Examples 36 to 46, to optionally include an attachment mechanism comprising a threaded engagement between the first modular segment and the second modular segment.

[0202] Example 48 may include or use the subject matter of a method for assembling a modular endoscope system, the method including bringing a first modular segment of the modular endoscope system close to a second modular segment of the modular endoscope system, the first modular segment and the second modular segment each including a near-field communication chip; establishing near-field communication between the first modular segment and the second modular segment to verify the second modular segment when the first modular segment and the second modular segment are in a disassembled state; and attaching the first modular segment to the second modular segment.

[0203] Example 49 may include the subject of Example 48 or may optionally combine with the subject of Example 48 to optionally include transmitting identification data read from the second modular segment via one or more wireless communication circuits disposed on the first communication module while verifying the second modular segment, for display on a display together with an image collected by the imaging unit of the first modular segment.

[0204] Each of these non-restricted examples can exist independently, or can be combined with one or more of the other examples in various permutations or combinations.

[0205] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those shown or described. However, the inventors also contemplate examples that provide only those elements shown or described. Furthermore, the inventors contemplate examples of any combination or substitution of those elements (or one or more aspects thereof) shown or described with respect to specific examples (or one or more aspects thereof) shown or described herein, or other examples (or one or more aspects thereof) shown or described herein.

[0206] In the event of any inconsistency between the usage of this document and any other document incorporated by reference, the usage in this document shall prevail.

[0207] In this document, as is common in patent documents, the term "a" or "an" is used to include one or more, independent of any other instances or uses of "at least one" or "one or more". In this document, unless otherwise stated, the term "or" is used to mean non-exclusive "or", such that "A or B" includes "A but not B", "B but not A", and "A and B". In this document, the terms "comprising" and "in" are used as concise English equivalents to the corresponding terms "including" and "wherein". Furthermore, in the appended claims, the terms "comprising" and "including" are open-ended, meaning that any system, apparatus, article, composition, formulation, or process in a claim that includes elements other than those listed after these terms is still considered to fall within the scope of that claim. Additionally, in the appended claims, the terms "first", "second", and "third", etc., are used merely as designations and are not intended to impose numerical requirements on their objects.

[0208] The methods described herein may be implemented, at least in part, by a machine or computer. Some examples may include computer-readable or machine-readable media encoded with instructions operable to configure an electronic device to perform the methods described in the examples above. Implementations of such methods may include code such as microcode, assembly language code, higher-level language code, etc. Such code may include computer-readable instructions for performing various methods. The code may form part of a computer program product. Furthermore, in the examples, such as during execution or at other times, the code may be tangibly stored on one or more volatile, non-transitory, or non-volatile tangible computer-readable media. Examples of such tangible computer-readable media may include, but are not limited to, hard disks, removable disks, removable optical disks (e.g., high-density disks and digital video disks), magnetic tape cartridges, memory cards or sticks, random access memory (RAM), read-only memory (ROM), etc.

[0209] The above description is intended to be illustrative and not restrictive. For example, the examples above (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used by those skilled in the art upon review of the above description. An abstract is provided to allow the reader to quickly determine the nature of the disclosure. The abstract is submitted on the understanding that it is not intended to interpret or limit the scope or meaning of the claims. Furthermore, in the detailed description above, various features may be combined to simplify the disclosure. This should not be construed as meaning that any unclaimed features are necessary for any claim. Rather, the subject matter of the invention may lie in fewer than all features of a particular disclosed embodiment. Therefore, the appended claims are incorporated herein by reference to the detailed description as examples or embodiments, wherein each claim is an independent, separate embodiment, and it is conceivable that these embodiments may be combined with each other in various combinations or substitutions. The scope of the invention should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A modular endoscope system, comprising: The first modular section includes an illumination unit and an imaging unit with an observation angle; as well as A second modular segment includes a patient-insertable elongated shaft extending along an axis from a proximal portion to a distal portion. The second modular segment is detachably connectable to a first modular segment via an attachment mechanism connected to the distal portion of the second modular segment. The attachment mechanism includes a retaining strap with a first end and a second end extending from a distal facet of the distal portion of the second modular segment. The retaining strap also includes a rigid or elastic member extending between the first and second ends, designed to retain the first modular segment such that the imaging unit is located distal to the distal facet of the distal portion of the second modular segment, such that the viewing angle is oriented to either radially outward of the second modular segment in a lateral viewing orientation or distally outward of the second modular segment in an end-view orientation. The first modular segment can be positioned at the distal portion of the second modular segment and configured to illuminate and image a portion of the patient's anatomy.

2. The modular endoscope system according to claim 1, wherein, The second modular section includes an insertion section module, which includes an elongated working section.

3. The modular endoscope system according to claim 2 further includes a third modular section, which can be detachably connected to the second modular section by a user.

4. The modular endoscope system according to claim 3, wherein, The third modular section includes a navigation and control module operably connectable to the elongated working section, the navigation and control module including a handle detachably connectable to the second modular section.

5. The modular endoscope system according to any one of claims 3 and 4, wherein, The distal portion of the second modular section includes a lift mechanism configured to orient and support one or more treatment tools extending through the second modular section, wherein the first modular section is located at the distal end of the lift mechanism of the second modular section.

6. The modular endoscope system according to claim 5, wherein, The elevator mechanism is fluidly isolated from the first modular section and the third modular section.

7. The modular endoscope system according to any one of claims 1 to 4, wherein, The first modular section also includes a rechargeable power supply configured to provide power to the imaging unit and illumination unit of the first modular section.

8. The modular endoscope system according to any one of claims 1 to 4, wherein, The first modular section further includes a wireless communication circuit configured to transmit or receive data or instructions from the second modular section or the imaging and control system.

9. The modular endoscope system according to any one of claims 1 to 4, wherein, The first modular segment and the second modular segment are positioned approximately coaxially along the longitudinal axis of the second modular segment when attached.

10. The modular endoscope system according to any one of claims 1 to 4, wherein, The first modular segment is radially offset relative to the longitudinal axis of the second modular segment when it is attached.

11. The modular endoscope system according to claim 1, wherein, The retaining strap includes a buckle.

12. The modular endoscope system according to claim 1, wherein, The retaining band comprises an elastic material.

13. The modular endoscope system according to any one of claims 1 to 4, wherein: The first modular segment includes a first near-field communication device; and The second modular section includes a second near-field communication device; Among them, it is possible to establish near-field communication between the first modular segment and the second modular segment.

14. The modular endoscope system according to claim 13, wherein, The second modular section includes a memory that stores one or more of manufacturer information, model information, and serial number information.

15. The modular endoscope system according to any one of claims 1 to 4, wherein, The attachment mechanism is configured to fix the first modular segment along the end view orientation.

16. The modular endoscope system according to any one of claims 1 to 4, wherein, The attachment mechanism is configured to fix the first modular segment along the side view orientation.

17. A module for an endoscope, the module for an endoscope comprising: An insertable elongated shaft for the patient, the elongated shaft comprising a flexible elongated body extending along an axis from a proximal end to a distal end; as well as An attachment mechanism located distal to the distal end of the patient-insertable elongated shaft, the attachment mechanism being configured to releasably secure a camera module to the endoscope module, wherein the attachment mechanism includes a retaining strap including a first end and a second end extending from the distal end face of the patient-insertable elongated shaft, the retaining strap further including a rigid or elastic member extending between the first end and the second end, the rigid or elastic member being designed to retain the camera module such that the viewing angle of the camera module is oriented to view the radially outer side of the endoscope module in a lateral viewing orientation or to view the distally outer side of the endoscope module in an end-view orientation.

18. The module for an endoscope according to claim 17, wherein, The retaining strap includes a buckle.

19. The module for an endoscope according to any one of claims 17 and 18, wherein, The retaining band comprises an elastic material.

20. A method of assembling the modular endoscope system according to claim 1, comprising: The first modular section of the modular endoscope system is brought close to the second modular section of the modular endoscope system, and the first modular section and the second modular section each include a near-field communication chip; When the first modular segment and the second modular segment are in a disassembled state, near-field communication is established between the first modular segment and the second modular segment to verify the second modular segment; as well as The first modular section is attached to the second modular section.

21. The method of claim 20, further comprising: While the second modular section is being verified, identification data read from the second modular section is transmitted via one or more wireless communication circuits disposed on the first communication module, and displayed on a display together with an image collected by the imaging unit of the first modular section.

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