Small robot endoscope

Abstract

The invention relates to a medical endoscope comprising a reusable portion, either of two different disposable portions can be manually snapped into place to form two different assembled endoscopes. When one of the disposable portions is assembled with the reusable portion, a motor in the reusable portion robotically rotates a cannula about the rear end of the disposable portion. When the other disposable portion is assembled with the reusable portion, the motor robotically rotates the front end of the cannula. The other medical endoscope is disposable overall and has a motor-driven cannula front end angle. The other has a manually controlled angle.

Description

[0001] Related applications

[0002] This application is a partial continuation of U.S. Patents 17 / 941,884, 17 / 843,217 and 17 / 349,674 and claims priority to Provisional Patent Application No. 63 / 417,340, filed October 19, 2022.

[0003] 17 / 941,884 is a partial continuation of each of 17 / 745,526, 17 / 720,143, 17 / 521,397, 17 / 473,587 (now patent 11,330,973), 17 / 362,043 and 16 / 363,209, and claims priority to the four provisional applications.

[0004] 17 / 745,526 is a partial continuation of 17 / 473,587, and proposes to claim priority over five provisional applications.

[0005] 17 / 720,143 is a continuation of part of 17 / 521,397.

[0006] 17 / 521,397 sets out priority for five provisional applications.

[0007] 17 / 473,587 is a partial continuation of each of 17 / 362,043 (now patent 11,350,816), PCT / US19 / 36060, and 16 / 363,209, and claims priority to the 17 provisional applications.

[0008] 17 / 362,043 (now patent 11,350,816) claims priority over 13 provisional applications.

[0009] PCT / US19 / 36060 is a partial continuation of 16 / 363,209, and sets out priority for seven provisional applications.

[0010] 16 / 363,209 is a continuation of PCT / US17 / 53171, and proposes priority over four provisional applications.

[0011] PCT / US17 / 53171 sets out priority for 15 provisional applications.

[0012] Case 17 / 843,217 is a division of case 16 / 363,209.

[0013] 17 / 349,674 is a continuation of part of 16 / 664,082.

[0014] 16 / 664,082 (now patent 11,071,442) claims priority to 26 provisional applications.

[0015] This application incorporates the entire contents of the aforementioned patent applications by reference and sets forth the filing dates of each of the aforementioned patent applications, as well as any applications directly or indirectly incorporated by reference thereto and all rights thereto, including the U.S. provisional applications, U.S. non-provisional applications, and international applications.

[0016] This patent application incorporates by reference the following U.S. patents and U.S. and international (PCT) patent applications:

[0017] No. 16 / 972,989, filed on December 7, 2020;

[0018] PCT / US21 / 50095, filed on September 13, 2021;

[0019] No. 17 / 835,624, filed on June 8, 2022;

[0020] PCT / US16 / 18670, filed on February 19, 2016;

[0021] Patent No. 14 / 913,867, filed on February 23, 2016, is now Patent No. 10,874,287.

[0022] PCT / US16 / 65396, filed on December 7, 2016;

[0023] Patent No. 15 / 371,858, filed on February 20, 2018, is now Patent No. 9,895,048;

[0024] Application No. 15 / 462,331, filed on March 17, 2017, is now Patent No. 10,524,636;

[0025] Application No. 15 / 651,526, filed on July 17, 2017, is now Patent No. 10,278,563;

[0026] Filed on December 27, 2017, 15 / 855,532 is now patent number 10,292,571;

[0027] PCT / US18 / 14880, filed on January 23, 2018;

[0028] Patent No. 16 / 407,028, filed on May 8, 2019, is now Patent No. 11,253,141;

[0029] Patent No. 16 / 413,160, filed on May 15, 2019, is now Patent No. 10,869,592.

[0030] Patent No. 16 / 407,251, filed on June 20, 2019, is now Patent No. 11,013,141.

[0031] PCT / US20 / 38349, filed on June 18, 2020;

[0032] PCT / US20 / 46018, filed on August 12, 2020;

[0033] No. 17 / 122,282, submitted on December 15, 2020;

[0034] Patent No. 17 / 145,466, filed on January 11, 2021, is now Patent No. 11,395,579;

[0035] No. 17 / 370,575, filed on July 8, 2021.

[0036] Filed on June 16, 2021, No. 17 / 349,674; and

[0037] No. 17 / 573,095, submitted on January 24, 2022. Technical Field

[0038] This patent specification relates to endoscopic instruments and methods. More specifically, some embodiments relate to portable instruments, including a reusable portion and a releasably connected disposable portion. Background Technology

[0039] Endoscopes have long been used to observe and treat internal tissues. In the case of traditional rigid and flexible endoscopes, the optical systems and related components are expensive and require multiple uses. Therefore, rigorous decontamination and sterilization procedures are necessary after each use, adding significant costs in terms of equipment and labor. In recent years, disposable endoscopes have been developed and improved, typically comprising a single-use section including a cannula with a camera at the tip. The cannula is releasably connected to a reusable section, which includes image processing electronics and a display. Disposable or single-use endoscopes significantly reduce the risk of cross-contamination and hospital-acquired infections, and eliminate the costs and time associated with the purification and sterilization required for non-disposable endoscopes. Disposable endoscopes can find applications in medical procedures such as imaging and treating the male and female urinary and reproductive systems and other internal organs. Embodiments of disposable or single-use endoscopes are discussed in the patents and applications incorporated herein by reference.

[0040] The subject matter described or claimed in this patent specification is not limited to the embodiments described to address any particular drawback or to operation only in specific environments such as those described above. Rather, the background above is provided merely to illustrate the feasibility of some embodiments described herein in exemplary technical fields. Summary of the Invention

[0041] As described in the originally filed claims, which may be amended upon filing this patent application, in some embodiments, a small robotic endoscope includes: a reusable portion configured for manual grasping and having an elongated slot with an open side extending along a cannula axis; a disposable portion including a cannula extending along the cannula axis; wherein the disposable portion has a front end and a rear end and includes: an imaging module located at the front end, including one or more cameras and one or more light sources; a rear end port located at the rear end, a front end port located at the front end, and an internal channel extending from the rear end port to the front end port; a drive element located at the rear end, configured to selectively change the physical parameters of the cannula during actuation; and a single-use electrical contact located at the rear end; wherein the reusable portion includes: an internal power supply; an internal motor; a gear shaft extending into the slot and coupled to the motor for selective rotation; and a reusable... Electrical contacts; one or more manually operated motor control buttons connected to a power supply and a motor, causing the motor to drive a gear shaft in a selected angular direction; one or more manually operated image control buttons configured to control the imaging module; wherein the rear end of the disposable portion is configured to engage with the slot of the reusable portion in a direction transverse to the cannula axis, thereby engaging the electrical contacts in a single movement and engaging the gear shaft with the drive element to form an assembled endoscope; and wherein, in the assembled endoscope: the one or more image control buttons are configured to selectively control the transmission of image data from the imaging module to display an image; and the one or more motor control buttons are configured to selectively control at least one of the following: (a) robot rotation about the cannula axis in a selected angular direction and through a selected angle and (b) the front end portion of the cannula in a selected direction relative to the cannula axis and through a selected angle relative to the cannula axis.

[0042] In some embodiments, the miniature robotic endoscope may additionally include one or more of the following: (a) one or more motor control buttons configured to selectively control robot rotation of the cannula about the cannula axis in a selected angular direction and through a selected angle; (b) one or more motor control buttons configured to selectively control the cannula tip portion in a selected direction relative to the cannula axis and through a selected angle relative to the cannula axis; (c) a display mounted on the reusable portion, connected to the imaging module, and configured to display images acquired therefrom; (d) a display mounted on the reusable portion. It has a rear-facing side configured to display the image data and a front-facing side, and includes: a front-facing camera module (FFC) configured to image an object at a great distance therefrom, and including an autofocus mechanism whose lens is configured to automatically maintain focus on the object during relative movement between the FFC and the DFC; a forward illumination module (FFL) configured to illuminate the object; (e) the FFC module may include at least two cameras spaced apart in a direction across the cannula axis, and configured to provide at least one of the following: (i) stereoscopic images, (ii) images in the wavelength range of light, these images (f) The reusable portion may further include a latch configured to move between an open position and a closed position, in which the latch clears the slot so that the disposable portion and the reusable portion are assembled only in a direction transverse to the cannula axis by relative movement therebetween; in the closed position, the latch holds the disposable portion and the reusable portion as an assembled endoscope; (g) an injection needle permanently mounted within the cannula and configured to move between an extended position in which the injection needle protrudes from the tip of the disposable portion and a retracted position in which the injection needle is fully retracted within the disposable portion, and mounted on... A needle controller on a disposable part and configured to move an injection needle between extended and retracted positions; (h) the cannula may be configured to rotate relative to the front end of the disposable part, and the drive element located at the rear end of the disposable part includes a first gear mounted on a gear shaft in the assembled endoscope to rotate about an axis transverse to the cannula axis, a second gear meshing with the first gear to rotate about an axis parallel to the cannula axis, a third gear connected to the second gear to rotate therewith, and a fourth gear engaging with the third gear to rotate about the cannula axis, thereby causing the front end of the cannula to rotate about the cannula axis relative to the rear end of the disposable part.(i) The tip of the cannula can be configured to angle through the selected angle, and the drive element at the rear end of the disposable portion includes a rotating disk mounted on a gear shaft in the assembled endoscope, thereby rotating about an axis transverse to the cannula axis, and the disposable portion includes a guidewire connecting the rotating disk to the distal end of the cannula, such that rotation of the rotating disk causes the tip of the cannula to angle relative to the cannula axis.

[0043] In some embodiments, a small robotic endoscope includes a reusable portion and two distinct disposable portions, wherein the first portion has a motor-driven cannula rotation and the second portion has a motor-driven cannula tip angle. The reusable portion is configured to be handheld and has an elongated slot with an open surface extending along the cannula axis, an internal motor, and a gear shaft extending into the slot and configured to be selectively rotated about the axis by the motor, and an electrical contact within the slot. The first disposable portion is configured to engage with the slot only in a direction transverse to the cannula axis, thereby coupling with the reusable portion to form a first assembled endoscope, including a front end with an imaging module, a rear end with a socket configured to fit the gear shaft for rotation about the axis within the first assembled endoscope, and a gear set connecting the socket to the front end of the first disposable portion, causing it to rotate relative to the rear end about the cannula axis at a selected angular direction and a selected degree. The second disposable portion is also configured to couple with the reusable portion, forming a second assembled endoscope by engaging the slot only in the direction of the transverse cannula axis, and including a front end with an imaging module and a rear end with a socket configured to fit the gear shaft for rotation about the axis in the second assembled endoscope. A guidewire connects the socket to the front end of the second disposable portion, such that the front end of the second disposable portion is angled relative to its rear end in a selected direction and to a selected degree relative to the cannula axis, thereby forming a first endoscope in which the front end of the first disposable portion is robotically rotated, or a second endoscope in which the front end of the disposable portion is robotically tilted.

[0044] In some embodiments, an apparatus includes a reusable portion and two distinct disposable portions, wherein the rear end of the first disposable portion further includes manual control associated with the front end of the first disposable portion to impart an angle relative to the rear end of the first disposable portion in a selected direction and to a selected degree relative to the cannula axis; (b) the rear end of the second disposable portion may further include manual control associated with the front end of the second disposable portion to rotate it about the cannula axis in a selected direction and to a selected degree relative to the rear end of the second disposable portion; (c) the reusable portion may include at most one display mounted thereon, the rear end face of which is configured to display an image obtained by the imaging module, and the front end face having a light source and one or more forward-facing cameras (FFCs) configured to image an object at its front end and provide autofocus on the object as the endoscope moves relative to the object.

[0045] In some embodiments, a robotic endoscope, which is generally disposable, includes: a handle having a front end and a rear end and configured to be gripped by a user, and further having a working channel port at its rear end; an internal motor having a motor shaft that rotates when the motor is energized; and a button configured to selectively energize the motor to rotate the motor shaft in a selected angular direction and through a selected angle; a hub whose rear end is permanently mounted to the front end of the handle for relative rotation about a cannula axis; a cannula whose rear end is permanently fixed to the front end of the hub, extending along the cannula axis, and having an imaging module and a working channel port at its front end; a working channel having a constant internal area extending from the working channel port at the rear end of the handle to the working channel port at the front end of the cannula; a coupling element connecting the motor shaft and the front end of the cannula, and configured to convert rotation of the motor shaft in a selected angular direction through a selected angle into an angle of the cannula front end, and to reach a selected degree relative to the cannula axis; and a transmission facility coupled to the imaging module for transmitting the acquired images to a display outside the disposable endoscope.

[0046] In some embodiments, the robotic endoscope described immediately preceding the preceding paragraph may further include one or more of the following: (a) a remote display and control facility coupled to the transmission facility and configured to control the imaging module and display images acquired by the imaging module; (b) the transmission facility may be wireless.

[0047] In some embodiments, an endoscope that is generally disposable includes: a handle having a front end and a rear end, configured to be gripped by a user, and further having a working channel opening at its rear end; and a lever configured to be manually moved relative to the handle between first and second positions; a cannula whose rear end is permanently fixed to the front end of a hub, extending along the cannula axis, and having an imaging module and a working channel opening at its front end; a working channel having a constant internal area extending from the working channel opening at the rear end of the handle to the working channel opening at the front end of the cannula; a motion translation mechanism within the handle, connected to the lever and the front end of the cannula, and configured to translate the movement of the lever in a selected direction and to a selected degree to an angle of the front end of the cannula in a selected direction and to a selected degree relative to the cannula axis; and a transmission facility connected to the imaging module for transmitting the acquired images to a display external to the disposable endoscope.

[0048] In some embodiments, the robotic endoscope described immediately preceding the preceding paragraph may further include one or more of the following: (a) a lever configured to pivot about an axis transverse to the cannula axis, and a motion translation mechanism including an element coupled to the lever to rotate with the pivoting of the lever and a guidewire connecting the element to the distal end of the cannula; (b) a remote display and control facility coupled to the transmission facility and configured to control the imaging module and display images acquired by the imaging module. Attached Figure Description

[0049] To further illustrate the above and other advantages and features of the subject matter protected by this patent specification, specific embodiments are described with reference to the accompanying drawings. These drawings should be understood as depicting only exemplary embodiments and therefore should not be considered as limiting the scope of protection of this patent specification or the appended claims. The subject matter of the invention is described and explained specifically and in detail using the following drawings, in which:

[0050] Figure 1A This is a perspective view of the first embodiment of the assembled endoscope, in which a cannula can be mechanically rotated;

[0051] Figure 1B This is a perspective view of the right side of an unassembled endoscope embodiment, showing its reusable and disposable portions;

[0052] Figure 1C It is a partial exploded 3D view of the left side of its single-use portion, and

[0053] Figure 1D This is a three-dimensional exploded view of the left side of an example of an unassembled endoscope in some embodiments;

[0054] Figure 2A This is a right view of the assembled endoscope of the second embodiment, in which the cannula can be mechanically adjusted at an angle;

[0055] Figure 2B This is a three-dimensional exploded view of the right side of the second endoscope embodiment when it is not assembled;

[0056] Figure 2C This is an exploded perspective view of the left side of the second endoscope embodiment when it is not assembled;

[0057] Figure 2D This is a bottom view of the left side of the disposable portion of the second endoscope embodiment;

[0058] Figure 2E This is an exploded three-dimensional view of the mechanism relating to the tip angle of the cannula in some embodiments of the second endoscope embodiment;

[0059] Figure 3 This is a partial stereoscopic view of the right side of the third endoscopic example, which can be viewed in other ways like... Figure 1A Endoscopic embodiments or Figure 2A Similar to the endoscopic embodiments, but in some embodiments, an illumination source is added to the front face of the display to provide a beam of light with a selected wavelength range, and a forward-facing camera (FFC) that may include an autofocus facility is further added.

[0060] Figure 4A This is a right-side perspective view of a fourth endoscope embodiment. The endoscope is for single use only, and its cannula can be angled and rotated under manual control. It is designed for use with a remote monitor.

[0061] Figure 4B It is a three-dimensional view on its left side;

[0062] Figure 4C These are exploded perspective views of components in some embodiments;

[0063] Figure 5A This is a right-side perspective view of a fifth embodiment of an endoscope, which is generally disposable, has a cannula, is robotically adjustable and manually rotated, and is designed for use with a remote monitor.

[0064] Figure 5B It is a three-dimensional view on its left side;

[0065] Figure 5C These are exploded perspective views of components in some embodiments. Detailed Implementation

[0066] A detailed description of preferred embodiments is provided below. Although several embodiments are described, it should be understood that the new subject matter described in this specification is not limited to any one or a combination of embodiments described herein, but includes many alternatives, modifications, and equivalents. Furthermore, although many specific details are set forth in the following description to provide a thorough understanding, some embodiments can be implemented without some or all of these details. Moreover, for clarity, certain technical materials known in the prior art have not been described in detail to avoid unnecessarily downplaying the new subject matter described herein. It should be clear that various features of one or more specific embodiments described herein can be used in combination with features or other features of other described embodiments. Furthermore, the same reference numerals and indications in the various drawings denote the same elements.

[0067] Similar numbers and names in the figures indicate similar elements. Furthermore, components that are structurally and functionally similar share the same second and third digits in their numbering. For the sake of brevity, components with the same last two digits in their numbering are described only in relation to the figure in which they are first mentioned, and are not described again in relation to figures discussed subsequently.

[0068] Figures 1A-1D A first embodiment of the endoscope is shown. In some embodiments, this embodiment uses a robot-controlled cannula to rotate maneuver about its long axis, with the disposable portion releasably connected to the rear end portion relative to the reusable portion to form an assembled endoscope.

[0069] Figure 1A This is a right-side perspective view of the assembled endoscope 100 in some embodiments. Figure 1B This is an exploded three-dimensional view of the right side of the endoscope 100 in some embodiments, undone, showing its reusable portion 102 and disposable portion 104. Figure 1C In some embodiments, an explosive partial perspective view of the left side of its reusable portion 102 is shown. Figure 1D This is a three-dimensional exploded view of the left side of the endoscope 100 when it is not assembled, in some embodiments.

[0070] like Figures 1A-1D As shown, the reusable portion 102 includes a handle 106 that extends along handle axis B and is configured for handheld use. The reusable portion 102 has... Figure 1BThe elongated groove 108 seen in the image has an open side facing right and extends along the cannula axis A across the handle axis B. The disposable portion 104 includes a cannula 110 extending along the cannula axis A and has a rear end 112 releasably connected at the groove 108 to the reusable portion 102 and a front end 114 having an imaging module 116 including one or more cameras and one or more light sources. One or more rear end ports 118, 120 are located at the rear end 122 of the cannula 110, and one or more front end ports 124 are located at the front end 114 of the cannula 110, while one or more internal channels 126 (shown in dashed lines) extend from the rear end ports 118, 120 to the front end ports 124 to allow fluid to flow between the rear and front end ports through the channels 126, and / or to allow surgical instruments to be inserted into one or more of the rear end ports 118, 120, through the channels 126, and protrude from the distal end of one or more of the front end ports 124.

[0071] like Figure 1B As shown, the reusable portion 102 includes an internal power source 109, such as a battery, and an internal motor 111; these are for illustrative purposes only. A gear shaft 113 extends into a slot 108 along an axis C perpendicular to the cannula axis A and the handle axis B, and is linked to the motor 111, allowing selective rotation at selected angles of rotation about axis C, clockwise and counterclockwise, as needed. The motor 111 may be a stepper motor, directly behind the gear shaft 113, causing the motor shaft to rotate about an axis parallel to axis C. The gear shaft 113 has a polygonal outer surface configured to engage with the cylinder 130 in the disposable portion 104 during endoscope 100 assembly. Figure 1C The meshing and actuation are further described below. The handle 106 has buttons 115 and 117 on its front face, which selectively couple the power supply 109 to the motor 111 to robotically rotate the gear shaft 113 in a selected angular direction. Buttons 115 and 117 are preferably positioned for operation by a user gripping the handle 106 with their index and / or middle fingers.

[0072] The reusable portion 102 preferably includes a display 142 mounted thereon and connected to the imaging module 116. Both are preferably powered by the power supply 109. Additionally, the reusable portion 102 has a button 144 at its rear end, positioned for operation with the thumb of a user gripping the handle 106. The button 144 is operatively connected to the imaging module 116 at the front end 114 of the cannula 110 to control the operation of the imaging module, such as imaging functions, and can be connected to the display 142 to control display functions. The button 144 may include two or more buttons or another suitable interface to control the respective functions of the imaging module 116 and / or the display 142. The reusable portion 102 also includes a pivot latch 146, in... Figure 1A The image shows the closed position to secure the reusable portion 102 and the disposable portion 104 together. Figure 1B The display shows the open position to allow the single-use portion 104 to be snapped into the slot 108 of the reusable portion 102.

[0073] The reusable portion 102 preferably further includes an electronic device 119, schematically displayed Figure 1A In, and coupled to imaging module 116 and / or display 142, and, if necessary, to buttons 115, 117 and 144, to facilitate processing and controlling image data from and controlling imaging module 116, controlling motor 111, and controlling one or more of displays 142. As described below, electrical contacts 121 in slot 108 of reusable portion 102 ( Figure 1B ) is configured to contact the electrical contact 123 of the disposable part 104. Figure 1C (matches)

[0074] The disposable part 104 includes a drive element 128 located within the rear end 112 of the disposable part 104, when the reusable part 102 and the disposable part 104 are assembled. Figure 1A In its configuration, the drive element mates with the gear shaft 113. Details of the driven element 128 are shown in [reference needed]. Figure 1C As shown in the figure, the driven element 128 includes a cylinder 130 with a polygonal inner surface forming a socket and a helical thread on the outside. When the endoscope 100... Figure 1A When assembled as shown, cylinder 130 is adapted to gear shaft 113 ( Figure 1B The polygonal inner surface 131 of the cylinder 130 intersects with the gear shaft 113. Figure 1BThe extreme polygonal surfaces of the endoscope are matched to allow rotation by gear shaft 113 within the assembled endoscope. Drive mechanism 128 is operatively coupled to cannula 110 to selectively rotate the cannula about cannula axis A relative to the rear end 112 of the disposable portion 104, thereby selectively altering the physical parameters of the cannula during actuation, namely the angular position of the cannula relative to the rear end 112 and the reusable portion 112. Drive element 128, in addition to including cylinder 130, includes a gear 132 meshing with the external helical thread of cylinder 130 for rotation about an axis parallel to cannula axis A, a shaft 134 with its rear end attached to gear 132, and another gear 136 with its distal end attached to shaft 134. A gear 138 meshes with gear 136, thereby rotating about the cannula axis A, and a shaft 140, connected to gear 138 and extending from its distal end, selectively rotating the cannula about the cannula axis A relative to the proximal end 112 of the disposable part 104 if connected to the rear end of the cannula 110. The disposable part 104 also includes an electrical contact 123. Figure 1C ), configured to connect with the electrical contact 121 of the reusable portion 102 ( Figure 1B Matching, thus positioning the endoscope 100 at... Figure 1A During assembly and configuration, power, control, and image data are transferred between reusable and disposable parts.

[0075] Figure 1D This is a left view of the unassembled endoscope 100, showing the left side of the rear end 112 of the reusable portion 102 enclosed within a housing with an opening into the inner surface 131 of the cylinder 130.

[0076] In some embodiments, the endoscope 100 permanently includes an injection needle 150 that moves between an extended position and a retracted position, wherein the tip of the needle 150 extends from the front end 114 of the cannula 110 and is substantially or completely within the cannula 110. The injection needle 150 can be manually moved between its positions via a knob 152 abutting the rear end of the needle 150 and configured to slide relative to the rear end 112 of the disposable portion 104. Fluid can be injected into the needle 150 through one of the ports 118, 120 when the ports are configured to communicate with fluid flow through the needle 150. For details on how the injection needle is incorporated into the disposable portion of the endoscope, see, for example, patents 10,524,636 and 10,874,287.

[0077] In operation, the single-use portion 104 is provided to the user in a sterile package. The user tears open the package and assembles the single-use portion 104 with the reusable portion 102. Figure 1AThe endoscope 100 is configured by inserting the rear end portion 104 into the slot 108, causing the gear shaft 113 to engage with the polygonal opening (receptacle) of the cylinder 130, and the electrical contacts 121 and 123 to engage to establish an electrical connection. No tools are required to assemble the endoscope 100. The user then secures the endoscope by removing the latch 146 from the... Figure 1B Rotate to the open position seen in the image. Figure 1A The closed position, as seen in the diagram, locks the reusable portion 102 and the disposable portion 104 together. The user can grasp and hold the handle 106 to insert the cannula 110 into the patient's body, for example, towards or into the urinary or reproductive organs. The cannula 110 can be robotically rotated relative to the handle 106; the angle, direction, and range of rotation are controlled by manually operated buttons 115 and 117. Because... Figure 1A and Figure 1B As shown, the front end 114 is at an angle to axis A, and rotation of the cannula allows observation of internal organs from different directions. For example, this rotation of the cannula 110 allows the imaging module 116 to examine all or almost all of the bladder's inner wall. In some embodiments, the degree of rotation of the cannula 110 can be limited, for example, to a semicircle or smaller in each direction, by means of appropriate mechanical baffles to prevent the cylinder 130 from rotating beyond a selected angle in each direction (and the angle can be different in different angular directions), or by electronically controlling the motor 111 via the electronic device 119. After use of the endoscope 100 during the medical procedure, the user moves the latch 146 to its open position, manually pulls the reusable portion 102 off the reusable portion 104 without tools, and discards the used disposable portion according to the medical waste disposal procedure. For other examples of rotating cannulation, see patents 9,895,048, 11,350,816, and 11,330,973, and U.S. patent applications 17 / 745,526 and 17 / 835,624, which are incorporated by reference.

[0078] Figures 2A-2E An endoscope 200 is shown, in some embodiments of which the endoscope robotically controls the electrically angled tip of a cannula, which is part of a disposable endoscope portion and a reusable portion, the disposable portion being releasably attached to the cannula to form an assembled endoscope.

[0079] Figure 2A This is a right view of the second assembled endoscope 200. Figure 2B This is an exploded 3D view of the right side of endoscope 200 before it is assembled. Figure 2C This is an exploded 3D view of the left side of endoscope 200 when it is not assembled. Figure 2D This is the rear left view of the disposable portion of the endoscope 200, and Figure 2EThis is an exploded three-dimensional view of the mechanism involving the cannulation tip angle of the endoscope 200 in some embodiments.

[0080] Figure 2A An assembled endoscope 200 is shown, wherein the reusable portion 202 can function similarly to the reusable portion 202 in endoscope 100, except that: (a) buttons 215, 217 control the angle of the tip 214 of the cannula 214; (b) electronics 219 control parameters relating to the angle of the tip 214, replacing in this respect the electronics 119 for controlling the rotation of the cannula; and (c) the mechanical nature of an electronic baffle can limit the extension of the angle. The reusable portion 202 is otherwise similar to the reusable portion 102 of endoscope 100, except that: (a) a gear shaft 113 meshes and rotates a disc 203 having a polygonal central opening (receptacle) 201. Figure 2C (a) The disc replaces the drive element 128 in the endoscope 100; (b) A wire or cable transmits the angle adjustment force to the front end 214; (c) A control device 250 can be provided for the angle adjustment direction; (d) The rotation of the cannula 210 relative to the rear end 212 of the reusable part 202 is manually controlled; and (e) An internal injection needle is not included in the illustrated example.

[0081] Reference Figure 2A Buttons 215 and 217 control the angle and degree of the tip 214 of the cannula 210. For example, when button 215 is pressed, it causes the tip 214 to curl upwards at an angle and degree such that... Figure 1A As shown, or depending on how long button 215 is pressed by the user's finger, button 217 causes the front end 214 to bend downward in the opposite angular direction, as shown by the dotted line, or depending on how long button 217 is pressed, to a lesser or greater degree. Figure 2A The display shows that latch 146 is in the open position, but in practice, when endoscope 200 is assembled and ready for use in a medical procedure, the latch will be in the closed position.

[0082] Figure 2B The right side of the reusable portion 202 and the disposable portion 204 is shown, which can be assembled into the endoscope 200, as discussed above for the disposable portion 104 and the reusable portion 102. The disposable portion 204 may include a 3-position manually operated switch 250, which the user can rotate to the U position to limit the angular direction of curling upward from the cannula axis A, and to the D position to limit the angular direction of curling downward from the cannula axis A, as well as an intermediate portion, in which the front end 214 can curl upward or downward depending on which button 215, 217 the user presses.

[0083] Figure 2CThe unassembled endoscope 200 is shown with its left disposable portion 204 and reusable portion 202. Externally, in this view, apart from the difference between the front ends 114 and 214, they are similar to... Figure 1D The single-use portion 104 and the reusable portion 102 seen in the image are the same. For example... Figure 2C As shown, the rear end 212 of the disposable portion 204 includes a rear end portion 252 that does not rotate relative to the reusable portion 202 in the assembled endoscope 200, and a portion 254 rotatably mounted on the portion 252 and rotating relative to the portion 252 about the cannula axis A. In embodiments of the endoscope 200, rotation of the cannula 210 is manual—for example, the user grasps the portion 254 or ports 118, 120 and rotates the cannula 210 to the desired angular direction and degree. The maximum degree of rotation can be limited by a mechanical stop on the non-rotating portion 252, for example, by a semicircle or smaller in each angular direction.

[0084] Figure 2D This is a partial plan view of the reusable portion 202 of the endoscope 200, cut from the left. Wires or cables 256 and 258 are secured at fixed positions 260 and 262 on the disposable portion 204, looped on the disc 203, and fixed at the tip 214 of the cannula 210 (not shown). Rotation of the disc 203 in one angular direction pulls one of the cables 256 and 258 and loosens the other, thus angulating the tip 214 in that angular direction. Rotation of the disc 203 in the opposite angular direction has the opposite effect on the tip 214. As previously mentioned, a mechanical stop can be installed to engage with the disc 203 as needed to prevent rotation in one angular direction from exceeding a selected angle. Mechanical baffles can limit rotation of the disc 203 in each direction to the same angle, or limit rotation of the disc 203 to different angles in different angular directions.

[0085] Figure 2E The components of the reusable portion 202 can be viewed in the same cross-section as those in endoscopes 100 and 200, and the components of the disc 203 of the disposable portion 204 can be viewed in a different cross-section than those in the reusable portion 102. The motor 111 is fixedly mounted in the reusable portions 102 and 202, to the left of the gear shaft 113, and drives the gear shaft 113 to the degree selected by meshing gears 260, 262 in angular direction and by buttons 115, 117 and electronics 119 in endoscope 100 or buttons 215, 217 and electronics 219 in endoscope 200. Figure 2EAs shown, the gear shaft 113 fits into the opening (insertion) 201 of the disk 203, so that the disk 203 rotates together with the gear shaft 113 in the assembled endoscope 200. The polygonal inner shape of the opening (insertion) 201 fits tightly with the polygonal circumference of the gear shaft 113 to ensure joint rotation, facilitate the mounting and dismounting of the disk 203 onto the shaft 113, and ensure a tight fit to prevent unwanted slippage or vibration during the start, stop, and reverse rotation. The cylinder 130 of the reusable portion 102 also fits similarly onto the gear shaft 113. Regarding another embodiment of the endoscope, in which the cannula rotates and has an angled tip, refer to patent 10,292,571, which is incorporated herein by reference.

[0086] In each endoscope 100 and 200, motor 111 can be a stepper motor. In endoscope 100, motor 111 can be coupled to and controlled by electronics 119, which keeps a count of the steps of motor 111. This count is a measure of the angle by which motor 111 rotates the cannula 110 about axis A in its respective angular direction, and this angle is also controlled by electronics 119. Therefore, the count stored in electronics 119 can be an indicator that electronics 119 can use to control parameters, such as how the image from imaging module 116 is displayed on display 142. In endoscope 200, electronics 219 can similarly calculate the motor steps as a measure of the direction and angle by which the tip 214 has rotated.

[0087] In one embodiment of endoscope 100, as cannula 110 rotates, imaging module 116 provides an image at an angle different from fixed vertical and horizontal planes, for example, relative to different angles of the room in which endoscope 100 is used during a medical procedure. The image on display 142 rotates in the same manner relative to display 142. This mode of displaying images may be referred to as a “rotating image” mode. However, some professionals, such as gynecologists, may be accustomed to the images they see with older rigid endoscopes, which operate like conventional telescopes, where the view does not rotate with the rigid endoscope's rotation about its long axis. In endoscope 100, a similar rotation of the image on display 142 can be provided by rotating the image on display 142 using the metric number of steps of motor 111. For this purpose, electronics 119 are configured to rotate the image on display 142 in the same direction and with the same degree of rotation relative to display 142 as cannula 110 rotates relative to the rear end 112 of reusable section 102, using motor steps and known image processing techniques developed for rotating images on a computer screen. Therefore, endoscope 100 can provide a "keep upright" mode to maintain the angular orientation of the image on display 142 relative to display 142 in the same direction as the angular orientation of the organ currently being viewed by the endoscope relative to the room. In some embodiments, the "keep upright" mode may be the only way to display images with endoscope 100. In other embodiments, endoscope 100 may provide both a "rotate image" mode and a "keep upright" mode simultaneously, and the endoscope may provide a switch that allows the user to select one of the modes for the patient's surgery.

[0088] Figure 3 This is a partial perspective view of the right side of an endoscope 300, which may otherwise resemble endoscope 100 or endoscope 200, but in some embodiments, a light source 304 is located on the front face of the display 302, providing a light beam having a selected wavelength range, and further includes a front-facing camera (FFC) 306, which may include an autofocus mechanism and has electronics 308 configured to operate in conjunction with the light source and the front-facing camera (FFC). The light source 304 may include a set of LEDs emitting light, such as white, blue, green, etc., within their respective selected wavelength ranges. The catalytic converter 306 may include two or more cameras configured to image light within the same or different wavelength ranges. Further examples of front-facing cameras (FFCs) for reusable portions of endoscopes are referenced to U.S. Patent Applications 17 / 473,587 and 17 / 835,624, incorporated by reference.

[0089] The catalyst 306 can be equipped with an autofocus system, the type used in contemporary smartphones, and a lens capable of electronic focusing to adapt to different object heights and working distances. The lens of the front-facing camera (FFC) 306 can be a liquid lens, a small, mechanically controlled unit containing an optical-grade liquid. When current or voltage is applied to the liquid lens unit, the shape of this unit changes. This change occurs within milliseconds and results in changes in light power, and therefore, focal length and working distance to the object being imaged. Figure 3 In one embodiment, the lens of the front-facing camera (FFCs) 306 can be controlled by the autofocus mechanism of the front-facing camera (FFCs). Alternatively, the front-facing camera (FFCs) 306 can provide a lens configured to move relative to the camera image plane, using the operating principle of a voice coil motor. This principle involves a permanent magnetic field and controls a spring by changing the direct current in the coil, thereby driving the lens toward or away from the image plane. Voice coil motors (VCMs) are widely used in contemporary camera modules. Another option is... TLens technology is considered to surpass the capabilities of many traditional voice coil motors (VCMs). It is anticipated that smartphones, wearable devices, consumer devices, and demanding industrial or medical applications will see a migration from VCMs to this new technology. technology. Its basic structure is very different from voice coil motor (VCM) technology. Voice coil motor (VCM) technology generates focus by moving the lens barrel, while... It does not require moving the lens barrel; it is simply connected to the lens barrel via an optical-mechanical means, and then a focusing lens effect is generated to adjust the optical characteristics of the combined lens group.

[0090] Figure 4A This is a right view of endoscope 400, which is a single-use endoscope overall. It has a cannula 410 that is manually adjustable in angle and rotatable, and is designed for use with a remote monitor 442. Figure 4B This is its left view. Figure 4C These are exploded perspective views of components in some embodiments.

[0091] Endoscope 400 includes a hub 454 with ports 418, 420 that connect to one or more internal channels 426 in cannula 410, extending to one or more ports 424 at the cannula tip 414. An imaging module 416 is located at the tip 414. The tip 414 is configured to be angled at a selected angular direction and a selected degree under the control of lever 470, which rotates about axis D of pin 471. Figure 4CThe working channel port 472 at the rear end of the handle 406 is connected to a working channel that extends from the front end of port 472, passes through the straight handle 406, through the hub 454, through the cannula 410 (or one of the channels 426), and terminates at one of the ports 424. Preferably, the cannula curve of the working channel from port 472 to the front end 414 is straight and remains straight all the way to the front end port 424 without being angled, and has the same diameter. Cable 474 can connect the endoscope 400 to an external display 442, or the connection can be wireless, such as via WiFi, as indicated by the WiFi symbol. Control device 478 can be integrated with display 442 or can be a separate device, connected to imaging module 416 via cable 474 and wires in endoscope 400, and linked to display 442 to control imaging and display functions. Endoscope 400 can be manufactured relatively inexpensively because it does not require power supply or image processing electronics. Power can be supplied by an external source, such as display 442 and / or control 478 or a separate source, while image processing can be performed by control 478 and / or display 442.

[0092] The cannula 410 is attached to the hub 454, which is rotatably mounted on the handle 406 and rotates relative to the handle 406 about the cannula axis A. Figure 4A and Figure 4B As shown, lever 470 can be manually rotated around pin 471, typically gripped by the user's thumb on handle 406.

[0093] Figure 4C This is an exploded perspective view of the endoscope 400 assembly, showing a unit including a cannula 410 and a hub 454, which is rotatably mounted on the front end of a handle 406 via a connector 480 so as to rotate about axis A relative to the handle 46 together with the cannula 410. The handle 406 includes a half-wheel 482 mounted on a needle 471 for rotation about axis D, and a lever 470 mounted on the needle 471 for rotation about axis D. The half-wheel 482 functions similarly to the disc 203.

[0094] The entire endoscope 400 is provided to the user in a sealed, sterile package. During the medical procedure, the user tears open the package and connects cable 474 to a remote display 442 and / or control 478, or establishes a wireless connection. The user controls imaging modules 416 via display 442 and / or control 478, which are configured to perform the required image processing, as described above for endoscopes 100, 200, and 300. After the medical procedure, the entire endoscope 400 is disposed of as medical waste.

[0095] Figure 5AThis is a right view of endoscope 500, which is similar to endoscope 400 in other respects, but the angle of the tip 514 of the cannula 510 is determined by motor 511. Figure 5C The mechanism for transmitting motion from the motor to the guide wire and cable is different from that of the buttons 515 and 517 that control the robot. Figure 5B This is its left view. Figure 5C These are exploded perspective views of components in some embodiments.

[0096] The components located away from the front end of handle 506 can function similarly to those located away from the front end of handle 406. The only difference between the corresponding components is the first digit of their part numbers. The only difference between handle 506 and handle 406 is that handle 506 includes a motor 511. Figure 5C The motor rotates plate 584 under the control of buttons 515 and 517, replacing manual control of the angle of endoscope 400.

[0097] refer to Figure 5C The handle 506 is formed by half-shells 506a and 506b and includes a motor 511 that rotates a gear shaft 560 about axis D. A half-wheel 582 is fitted on the gear shaft 560 to rotate therewith, and a plate 584 is fixed on the half-wheel 582 to rotate therewith about axis D.

[0098] Although the foregoing has been described in detail for clarity, it will be apparent that certain changes and modifications can be made without departing from the principles of the invention. It should be noted that many alternative ways of implementing the processes and apparatus described herein exist. Therefore, these embodiments should be considered illustrative rather than restrictive, and the subject matter of the work described herein is not limited to the details given herein, which can be modified within the scope and equivalents of the appended claims.

Claims

1. A small robotic endoscope, comprising: A reusable part, configured for handheld use, has an elongated slot with an open surface extending along the cannula axis; A single-use component includes a cannula extending along the cannula axis; The disposable portion has a front end and a back end, including: The imaging module located at the front end includes one or more cameras and one or more light sources; The back-end port located at the back end, the front-end port located at the front end, and the internal channel extending from the back-end port to the front-end port; The drive element located at the rear end is configured to selectively change the physical parameters of the cannula during actuation; and Disposable electrical contacts located at the rear end; The reusable portion includes: An internal power source; An internal motor; A gear shaft extending into the slot and linked to the motor allows for selective rotation; A reusable electrical contact located within the slot; One or more manually operated motor control buttons, connected to the power supply and the motor, enable the motor to drive the gear shaft at a selected angle. One or more manually operated image control buttons, configured to control the imaging module; The rear end of the disposable portion is configured to fit into the groove of the reusable portion in a direction transverse to the cannula axis, thereby engaging the electrical contacts and engaging the gear shaft with the drive element in a single movement to form an assembled endoscope; and In the assembled endoscope: The one or more image control buttons are configured to selectively control the transmission of image data from the imaging module for display; and The one or more motor control buttons are configured to selectively control at least one of the following: (a) robot rotation about the cannula axis in a selected angular direction and through a selected angle, and (b) robot angle of the front end portion of the cannula in a selected direction relative to the cannula axis and at a selected angle relative to the cannula axis.

2. The miniature robotic endoscope according to claim 1, characterized in that: The one or more motor control buttons are configured to selectively control the robot to rotate around the cannula axis in a selected angular direction and through a selected angle.

3. The miniature robotic endoscope according to claim 1, characterized in that: The one or more motor control buttons are configured to selectively control the cannula tip portion in a selected direction relative to the cannula axis and through a selected robot angle relative to the cannula axis.

4. The miniature robotic endoscope of claim 1, further comprising a display mounted on the reusable portion and coupled to the imaging module and configured to display images acquired therefrom.

5. The miniature robotic endoscope of claim 1, further comprising a display mounted on the reusable portion, and having a rear-facing side and a front-facing side configured to display the image data, comprising: A forward-facing camera module (FFC) is configured to image objects that are at a distance from it and includes an autofocus mechanism whose lens is configured to automatically keep the object in focus during relative movement between camera modules (FFCs). as well as A forward illumination module (FFL) is configured to illuminate the object.

6. The miniature robotic endoscope according to claim 5, characterized in that: The camera module (FFC) includes at least two cameras spaced apart in a direction transverse to the cannula axis and is configured to provide at least one of the following: (a) stereoscopic images, and (b) images in different wavelength ranges of light between the at least two cameras.

7. The miniature robotic endoscope according to claim 1, characterized in that: The reusable portion further includes a latch configured to move between an open position and a closed position. In the open position, the latch clears the slot, allowing the disposable portion and the reusable portion to assemble only in a direction transverse to the cannula axis through relative movement therebetween. In the closed position, the latch holds the disposable portion and the reusable portion together as an assembled endoscope.

8. The miniature robotic endoscope of claim 1, further comprising an injection needle permanently mounted within the cannula and configured to move between an extended position in which the injection needle extends from the front end of the disposable portion and a retracted position in which the entire injection needle is within the disposable portion, and a needle controller mounted to the disposable portion and configured to move the injection needle between the extended and retracted positions.

9. The miniature robotic endoscope according to claim 1, characterized in that: The cannula is configured to rotate relative to the front end of the disposable part, while the drive element located at the rear end of the disposable part includes a first gear mounted on a gear shaft in the assembled endoscope, thereby rotating about an axis spanning the cannula shaft. A second gear meshes with the first gear to rotate about an axis parallel to the cannula axis, a third gear connected to the second gear rotates accordingly, and a fourth gear meshes with the third gear to rotate about the cannula axis, thereby causing the front end of the cannula to rotate about the cannula axis relative to the rear end of the disposable part.

10. The miniature robotic endoscope according to claim 1, characterized in that: The tip of the cannula is configured to angle through the selected angle, and the drive element located at the rear end of the disposable portion includes a rotating disk mounted on a gear shaft in the assembled endoscope to rotate about an axis transverse to the cannula axis. The disposable portion includes a guide wire connecting the rotating disk to the tip of the cannula so that rotation of the rotating disk causes the tip of the cannula to angle relative to the cannula axis.

11. A small robotic endoscope assembly comprising a reusable portion and two distinct disposable portions, wherein the first portion has a motor-driven cannula rotation, and the second portion has a motor-driven cannula tip angle, wherein: The reusable part is configured to be handheld and has an elongated slot with an open surface extending along the cannula axis, an internal motor and a gear shaft extending into the slot and configured to be selectively rotated about the axis by the motor, and an electrical contact in the slot. The first disposable portion is configured to snap into the slot only in a direction transverse to the cannula axis, thereby coupling with the reusable portion to form a first assembled endoscope, including a front end with an imaging module. The rear end has a socket configured to engage with the gear shaft for rotation about an axis within the first assembled endoscope, and a gear set that connects the socket to the front end of the first disposable part, allowing it to rotate relative to the rear end about the cannula axis in a selected angular direction and to a selected degree. The second disposable part is also configured to couple with the reusable part, thereby forming a second assembled endoscope by snapping into the slot only in the direction of the transverse sleeve axis, and including a front end with an imaging module; The rear end has a socket configured to fit the gear shaft, thereby rotating about the axis in the second assembled endoscope. The guidewire connects the socket to the front end of the second disposable part, such that the front end of the second disposable part is angled relative to its rear end in a selected direction and to a selected degree relative to the cannula axis. Thus, the same reusable portion forms a first endoscope, wherein the tip of the first disposable portion is rotated robotically, or a second endoscope, wherein the tip of the disposable portion is tilted robotically.

12. The miniature robotic endoscope assembly according to claim 11, comprising a reusable portion and two different disposable portions, characterized in that: The rear end of the first disposable portion further includes manual control associated with the front end of the first disposable portion to make it angled relative to the rear end of the first disposable portion in a selected direction and at a selected degree relative to the cannula axis.

13. The miniature robotic endoscope assembly according to claim 11, comprising a reusable portion and two different disposable portions, characterized in that: The rear end of the second disposable portion further includes manual control associated with the front end of the second disposable portion to rotate about the cannula axis in a selected direction and to a selected degree relative to the rear end of the second disposable portion.

14. The miniature robotic endoscope assembly according to claim 11, comprising a reusable portion and two different disposable portions, characterized in that: The reusable portion includes a display mounted thereon and a rear end face configured to display images acquired by the imaging module, and a front end face having a light source and one or more forward-facing cameras (FFCs) configured to image objects at its front end and provide autofocus on the objects as the endoscope moves relative to them.

Images