Endoscopic instrument

Abstract

The present disclosure relates to instruments and methods for performing endoscopy. An endoscope for producing images of a procedure in vivo can include a hub and an imaging rod extending from the hub, the imaging rod configured to receive light and direct the light to an imaging sensor positioned proximate a distal end of the imaging rod, the hub and the imaging rod attached to form an assembly having a center of mass established distally of the hub. In other implementations, the hub can be omitted.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Application 63 / 065,037, filed August 13, 2020, which is incorporated herein by reference in its entirety. Background Technology

[0003] This disclosure relates to surgical instruments and methods, including endoscopes and methods for performing endoscopic examinations. Summary of the Invention

[0004] This disclosure relates to instruments and methods associated with performing surgical procedures such as endoscopy. The instrument can be inserted into a patient. One or more images can be obtained using the instrument.

[0005] An endoscope for generating in vivo surgical images according to a specific implementation of the present disclosure particularly includes a hub and an imaging rod extending from the hub. The imaging rod may be configured to receive light and direct the light to a region adjacent to a distal end of the imaging rod. An imaging sensor may be located at the distal end portion of the imaging rod. The hub and the imaging rod may be attached to form a hub assembly, the hub assembly having a center of mass located within the imaging rod.

[0006] An endoscope for generating in vivo surgical images according to a specific implementation of this disclosure particularly includes a communication component, a hub coupled to the communication component, and an imaging rod extending from the hub. The hub and the imaging rod can be connected to form a hub assembly having a center of mass that can be established distally on the hub. An imaging sensor can be coupled to a distal end portion of the imaging rod.

[0007] An endoscope for generating in vivo surgical images according to embodiments of the present disclosure particularly includes a communication component and a hub assembly coupled to the communication component. The hub assembly may include an imaging rod, an imaging sensor, and electronics coupled to the imaging sensor. The imaging rod may include a body extending a first length relative to a longitudinal axis between a proximal end portion and a distal end portion. The imaging sensor may be disposed adjacent to the distal end portion of the imaging rod. The electronics may be disposed within a cavity of the imaging rod. The hub assembly may have a center of mass established within the imaging rod at a second length from the proximal end portion. The second length may be greater than or equal to 50% of the first length.

[0008] A method for performing an endoscopy according to a specific implementation of this disclosure particularly includes: inserting a distal end portion of an imaging rod through an insertion point through the patient, the imaging rod extending from a hub to the distal end portion, and attaching the hub and the imaging rod to establish a hub assembly having a centroid established distal to the hub, and subsequently inserting the centroid through the insertion point. An imaging sensor may be located at the distal end portion of the imaging rod. The method may include acquiring an image by the imaging sensor at a location inward of the insertion point after the step of inserting the centroid. Attached Figure Description

[0009] Figure 1 A perspective view of an exemplary endoscope including a needle hub assembly and a cable assembly is shown.

[0010] Figure 2A It shows Figure 1 A perspective view of the needle hub assembly.

[0011] Figure 2B It shows Figure 1 Side view of the needle hub assembly.

[0012] Figure 3 It shows Figure 1 An exploded view of the endoscope.

[0013] Figure 4 It shows Figure 1 A perspective view of the needle hub assembly, including the support boot shown in dashed lines.

[0014] Figure 5 A perspective view of another exemplary endoscope is shown.

[0015] Figure 6 An exemplary electronic component is shown.

[0016] Figure 7 Another exemplary endoscope is shown.

[0017] Figure 8 The flowchart illustrates the procedure for performing a surgical operation.

[0018] Figure 9 The device is shown for positioning the insertion point near the patient.

[0019] Figure 10 The insertion of the instrument through is shown. Figure 9 Part of the insertion point.

[0020] Figure 11 The device is shown from Figure 10 The part where the insertion point was withdrawn.

[0021] Figure 12 Another exemplary device is shown.

[0022] Figure 13 Another exemplary device is shown.

[0023] Figure 14 Another exemplary device is shown.

[0024] The same reference numerals and names in the various figures indicate the same elements. Detailed Implementation

[0025] This disclosure relates to instruments and methods that can be used during surgical procedures such as endoscopy. Endoscopy generally involves inserting a catheter into a patient to visualize internal organs or tissues.

[0026] Endoscopes possess novel features. They are designed to free the hands of surgeons or other assistants. Endoscopes may have features that allow them to be inserted into a patient and held in place without being held by a surgeon or assistant. Unique combinations of size, weight, and / or shape factors can allow for these properties. Endoscopes may have an electronic housing and a rod extending from it for insertion into the patient. The rod may include a chip attached to its distal end, which includes imaging sensors.

[0027] In some implementations, the chip may also include illumination elements (e.g., LED elements, fiber bundles, light guides, etc.) to generate illumination within the chip. In other implementations, the illumination element is omitted. This is because the area can be flushed with a fluid, which can help cool the chip, which could otherwise generate heat, leading to design challenges in combining the imaging sensor and LED illumination on the same chip. The illumination element may be configured to surround the imaging sensor and may be individually controllable. The group of elements on the chip may have the same or different wavelengths and their intensity may be controlled based on a variety of factors, including feedback using image features and / or sensor features. In some implementations, one or more illumination sources may be included in the needle hub assembly, as further described below.

[0028] The housing can be symmetrical and balanced. For example, the housing can be cylindrical. The housing can be concentric with the rod. The housing and rod can be fixedly attached to form a single maneuverable body. The weight of the housing can be less than twice the weight of the rod, and in some specific implementations, less than 1.5 times the weight of the rod. In some instances, the weight of the housing can advantageously be less than the weight of the rod.

[0029] The length of the housing may be less than 0.75 times the length of the rod. In some instances, the length of the housing may advantageously be less than 0.25 times the length of the rod. In some instances, components of the housing may be incorporated into the rod.

[0030] The diameter of the housing may be less than five times the diameter of the rod. In some instances, the diameter of the housing may advantageously be the same as or less than the diameter of the rod.

[0031] The assembly of the housing and the rod may have a center of mass located distal to the housing (e.g., within the rod). Thus, when inserted during surgery, the center of mass can be configured to be located within the patient. Positioning the center of mass within the rod and / or within the patient allows the endoscope to be held more securely in place without intervention from a surgeon or assistant.

[0032] The housing can communicate wirelessly with the display or control device. Alternatively, the housing may have a cable length of more than 1.5 feet from the housing to the control / display device, thereby allowing the body to be positioned with sufficient cable slack to eliminate or further reduce any cable tension affecting the ends of the housing and generating forces acting at an angle to the central axis of the endoscope (which can cause the endoscope to deviate from the axis).

[0033] An endoscope for generating in vivo surgical images according to a specific implementation of the present disclosure particularly includes a hub and an imaging rod extending from the hub. The imaging rod may be configured to receive light and direct the light to a region adjacent to a distal end of the imaging rod. An imaging sensor may be located at the distal end portion of the imaging rod. The hub and the imaging rod may be attached to form a hub assembly, the hub assembly having a center of mass located within the imaging rod.

[0034] In another specific implementation, the imaging rod may extend a first length between the distal end portion and the interface between the imaging rod and its hub. The centroid may be established at a second length within the imaging rod from the interface. The second length may be greater than or equal to 10% of the first length.

[0035] In another specific implementation, the hub may include electronics configured to transmit image data from the imaging sensor.

[0036] In another specific implementation, the second length may be greater than or equal to 25% of the first length.

[0037] In another specific implementation, the hub may include a light supply.

[0038] In another specific implementation, the hub may include a power supply.

[0039] In another specific implementation, the hub may include electronics configured to wirelessly transmit image data.

[0040] In another specific implementation, the hub may include electronics configured to digitally transmit image data.

[0041] In another specific implementation, the hub may include electronics configured to transmit image data as analog signals via a coaxial cable.

[0042] In another specific implementation, the hub assembly may be symmetrical with respect to a reference plane extending along the longitudinal axis of the hub assembly.

[0043] In another specific implementation, the hub can be cylindrical.

[0044] In another specific implementation, the length of the hub can be less than 0.75 times the length of the imaging rod.

[0045] In another specific implementation, the diameter of the hub can be less than 5 times the diameter of the imaging rod.

[0046] In another specific implementation, the weight of the hub can be less than twice the weight of the imaging rod.

[0047] In another specific implementation, the hub may include electronics comprising electronic circuitry, a light supplier, and an optical coupler. The electronic circuitry may be configured to transmit image data from an imaging sensor. The light supplier may be connected to the electronic circuitry. The light supplier may be configured to generate illumination within the body, and the optical coupler may be configured to transmit light from the light supplier to an optical fiber. The optical fiber may be configured to transmit light from the hub to a distal end portion of the imaging rod. A housing may be constructed to enclose the electronic circuitry, the light supplier, and the optical coupler. The hub coupler connects the imaging rod to the housing.

[0048] In another specific implementation, the cable assembly may include a first cable, a second cable, a connector, and a push-button yoke having one or more controls. The first cable may be coupled to a proximal end portion of the hub assembly. The push-button yoke may interconnect the first cable with the second cable. The second cable may interconnect the push-button yoke with the connector. The connector may have terminals configured to engage with an external device.

[0049] An endoscope for generating in vivo surgical images according to a specific implementation of this disclosure particularly includes a communication component, a hub coupled to the communication component, and an imaging rod extending from the hub. The hub and the imaging rod can be connected to form a hub assembly having a center of mass that can be established distally on the hub. An imaging sensor can be coupled to a distal end portion of the imaging rod.

[0050] In another specific implementation, the centroid can be located within the imaging rod.

[0051] In another specific implementation, the light source may be located within the imaging rod, near the distal end portion.

[0052] In another specific implementation, the hub may include a housing configured to enclose electronic devices.

[0053] In another specific implementation, multiple light sources can be configured as an array to surround the imaging sensor.

[0054] In another specific implementation, multiple light sources can be configured to branch from a common light source along corresponding paths.

[0055] In another specific implementation, the light source can be individually controllable.

[0056] An endoscope for generating in vivo surgical images according to embodiments of the present disclosure particularly includes a communication component and a hub assembly coupled to the communication component. The hub assembly may include an imaging rod, an imaging sensor, and electronics coupled to the imaging sensor. The imaging rod may include a body extending a first length relative to a longitudinal axis between a proximal end portion and a distal end portion. The imaging sensor may be disposed adjacent to the distal end portion of the imaging rod. The electronics may be disposed within a cavity of the imaging rod. The hub assembly may have a center of mass established within the imaging rod at a second length from the proximal end portion. The second length may be greater than or equal to 50% of the first length.

[0057] In another specific implementation, the second length can be greater than 50% of the first length.

[0058] In another specific implementation, the electronics may be arranged adjacent to the distal end portion of the imaging rod.

[0059] In another specific implementation, the second length can be greater than 75% of the first length.

[0060] A method for performing an endoscopy according to a specific implementation of this disclosure particularly includes: inserting a distal end portion of an imaging rod through an insertion point through the patient, the imaging rod extending from a hub to the distal end portion, and attaching the hub and the imaging rod to establish a hub assembly having a centroid established distal to the hub, and subsequently inserting the centroid through the insertion point. An imaging sensor may be located at the distal end portion of the imaging rod. The method may include acquiring an image by the imaging sensor at a location inward of the insertion point after the step of inserting the centroid.

[0061] In another specific implementation, the centroid can be located within the imaging rod.

[0062] In another specific implementation, the hub may be located outside the insertion point during the acquisition step.

[0063] In another specific implementation, the method may include releasing the hub assembly such that the center of mass can be located within the body. The method may also include releasing the hub assembly such that the hub can extend substantially cantilevered outward from the insertion point from the imaging rod.

[0064] In another specific implementation, the length of the hub can be less than 0.75 times the length of the imaging rod. The weight of the hub can be less than twice the weight of the imaging rod.

[0065] In another specific implementation, the method may include transmitting light to an imaging sensor prior to the obtaining step.

[0066] In another specific implementation, the transmission step may include transmitting the light from the hub, and subsequently through the imaging rod, and then toward a region adjacent to the distal end portion of the imaging rod.

[0067] In another specific implementation, the transmission step may include transmitting light from a plurality of light sources adjacent to the distal end portion of the imaging rod. The light sources may be configured in an array to surround the imaging sensor.

[0068] In another specific implementation, the transmission step may include individually controlling the light source to transmit the light.

[0069] In another specific implementation, the insertion point can be established through an incision in the patient's skin.

[0070] Figures 1 to 4 An exemplary endoscope 110 is shown, which can be used to generate images of intraoperative procedures. (Reference) Figure 1 The endoscope 110 may include a needle hub assembly 112 and a cable (e.g., communication) assembly 113. Figure 1 and Figure 2B As shown, the needle hub assembly 112 may include an observation mirror 114 (e.g., a camera or imaging rod) fixed within the needle hub 116. The observation mirror 114 extends from the distal end of the needle hub 116. The observation mirror 114 and the needle hub 116 may be sized such that the needle hub assembly 112 is substantially symmetrical (e.g., mirror symmetrical) with respect to a reference plane REF, which extends along the longitudinal (e.g., central) axis X of the assembly 112, to divide the assembly 112 into two opposing portions, such as... Figures 2A to 2B As shown in the figure.

[0071] Various techniques can be used to dimensionalize the hub assembly 112. (See reference) Figure 2B And continue to refer to Figure 1 and Figure 2AThe observation mirror 114 may extend a first length L1 relative to the longitudinal axis X between the distal (e.g., distal) end 117 and the distal end of the observation mirror 114 and the hub 116. The interface 121 may be established at or near the proximal end of the observation mirror 114. In a specific implementation where the observation mirror 114 is flexible, the first length L1 corresponds to the maximum configurable length of the observation mirror 114. In a specific implementation where the hub 116 is omitted, the first length L1 may be established between the proximal and distal ends of the observation mirror 114. In a specific implementation, the first length L1 may be between approximately 100 mm and 300 mm. The hub 116 may extend a second length L2 relative to the longitudinal axis X between the opposing proximal and distal ends of the hub 116. The observation mirror 114 may have a first diameter D1. The hub 116 may have a second diameter D2. The first length L1 and the second length L2 and / or the first diameter D1 and the second diameter D2 may be the same or may be different. In some specific implementations, the length L2 of the hub 116 is less than 0.75 times the length L1 of the observation mirror 114, the diameter D2 of the hub 116 is less than 5 times the diameter D1 of the observation mirror 114, and / or the weight of the hub 116 is less than twice the weight of the observation mirror 114.

[0072] Hub 116 and observation mirror 114 may be attached to form a hub assembly 112 having a centroid CM. The centroid CM may be positioned longitudinally relative to the longitudinal axis X. The longitudinal position of the centroid CM may be aligned with the longitudinal position along the longitudinal axis X and along the longitudinal axis X of the observation mirror 114. The centroid CM may be positioned distal to the hub 116 relative to the longitudinal axis X. In a specific implementation, the centroid CM may be positioned within the observation mirror 114 along the longitudinal axis X. In other specific implementations, the hub assembly 112 may be configured such that the centroid is positioned near but offset from the observation mirror 114, such as centroid CM'( Figure 2A As shown in the figure. Endoscope 110 can be configured such that the centroid CM can be located inside or outside the patient during surgical procedures.

[0073] Hub 116 and / or observation mirror 114 can be symmetrical or asymmetrical to establish the center of mass CM. For example, observation mirror 114 may have a curved geometry such that one or more portions of observation mirror 114 are offset from the longitudinal axis X to establish an asymmetrical configuration. As another example, components within hub 116 may be arranged such that the center of mass of the components is offset from the longitudinal axis X.

[0074] The center of mass CM can be established at various locations relative to the observation mirror 114 and / or the needle hub 116. The hub assembly 112 can be configured such that a portion of the hub assembly 112, including the center of mass CM, can be positioned within the patient to improve the holding force of the endoscope 110 without surgical or assistant intervention, but another portion of the hub assembly 112 can be positioned outside the patient. The center of mass CM can be established at, near, or distal to the distal end of the needle hub 116.

[0075] The centroid CM can be established at a distance L from the near-side boundary of the first length L1. CM The proximal boundary of the first length L1 can be established by the interface 121 between the observation mirror 114 and the distal end of the hub 116, or, in a specific implementation omitting the hub 116, by the proximal end of the observation mirror 114. The hub assembly 112 can be configured such that the centroid CM' is offset from the observation mirror 114. Distance L CM It can be less than 10% of the first length L1. The centroid CM can be established at the interface 121 between the observation mirror 114 and the distal end of the needle hub 116. In a specific implementation, the centroid CM can be established within the hub 116 on the proximal side of the interface 121. The hub assembly 112 can be configured such that the distance L CM Greater than or equal to 10% of the first length L1, or more narrowly greater than or equal to approximately 25% of the first length L1. In a concrete implementation, the distance L... CM It may be less than or equal to approximately 50% of the first length L1. For the purposes of this disclosure, unless otherwise indicated, the terms “substantially,” “approximately,” and “about” mean ±10% of the stated value or relationship. Using the techniques disclosed herein, including the disclosed dimensional relationships and distributions, in a manner that reduces the likelihood of movement or intervention when the endoscope 110 is not held, a surgeon or assistant may position the hub assembly 112 in vivo.

[0076] refer to Figure 3 And continue to refer to Figure 1 The cable assembly 113 may include a first cable 118 (e.g., a miniature coaxial cable), a button yoke 120, a second cable 126, and a connector 128. The connector 128 may include a terminal 130 configured to communicate with an external device, such as a display or control device 131 (for illustrative purposes, in...). Figure 1 (Seen in dashed lines). In other specific implementations, the endoscope 110 communicates wirelessly with the control device 131. The needle hub assembly 112 or cable assembly 113 may include a power supply 133 that supplies power to the various electrical components of the endoscope 110 during operation (for illustrative purposes, in...). Figure 3 The dashed lines are shown as coupling to electronic circuit 138. In other specific implementations, power is provided by an external device and transmitted to various electrical components via terminals 130.

[0077] The observation mirror 114 may include an imaging sensor 108 located on, or near, the distal end portion 115 of the observation mirror 114 for acquiring images of the surgical site. The imaging sensor 108 may be a sensor assembly including a sensor and optics. The observation mirror 114 may be configured to receive light and direct it toward or otherwise toward an area adjacent to the distal end portion 115 of the observation mirror 114 (e.g., a scene or space being observed by the surgeon). Light may be reflected back from this area toward the sensor 108.

[0078] The observation mirror 114 and each cable 118, 126 can be relatively rigid or flexible. The distal end portion 115 of the observation mirror 114 forms the end point 117 (e.g., tip) of the endoscope 110. At least a portion of the observation mirror 114, including the distal end portion 115, can be relatively flexible or bendable and can comprise, for example, a nitinol material. Constructing the observation mirror 114 to be relatively flexible facilitates the orientation of the sensor 108, including, for example, bending or turning the sensor 108 around corners and observing various angles of the surgical site.

[0079] The first cable 118 can be a coaxial cable (e.g., a miniature coaxial cable). For example... Figure 1 and Figure 4 As shown, the first cable 118 can be coupled to the proximal end portion 119 of the hub assembly 112. In some specific implementations, the first cable 118 can transmit analog signals between the pin hub 116 and the button yoke 120. The button yoke 120 can interconnect the first cable 118 with a second cable 126. The second cable 126 can interconnect the button yoke 120 with a connector 128.

[0080] The button yoke 120 may have one or more controls (such as buttons, dials, levers, etc.), such as buttons 122 and 124. Each button 122, 124 may have one or more functions, such as image and video capture. Each button 122, 124 may be programmed for multiple functions. Furthermore, multiple functions can be accessed based on the number of times buttons 122, 124 are pressed, the duration of those presses, and / or the duration for which buttons 122, 124 are held down.

[0081] The first cable 118 and the second cable 126 may have different dimensions. In some specific implementations, the second cable 126 has a length of approximately 2 feet, which allows the button yoke 120 to rest on a surface when the endoscope 110 is used, and can minimize or further reduce the impact on the resting position of the hub 116.

[0082] The hub 116 may include a hub coupler 134 for connecting the observation mirror 114 to other components of the hub 116. The hub 116 may include various electronic devices 123, including a flexible circuit board 135, electronic circuitry 138, a light supply 137, and an optical coupler 136. The flexible circuit board 135 may extend from the hub 116 through the observation mirror 114 to the sensor 108. The flexible circuit board 135 may be connected to the electronic circuitry 138. The electronic circuitry 138 may be in the form of a printed circuit board and may include one or more chips. The electronic circuitry 138 may be configured to transmit image data as analog signals via a coaxial cable (such as a first cable 118). In a specific implementation, one or more of the electronic devices 123 may be incorporated into the button yoke 120, including the power supply 133, flexible circuit board 135, optical coupler 136, light supply 137, and / or electronic circuitry 138, and the separate hub 116 including the housing 139 may be omitted.

[0083] Observation mirror 114 can be configured to receive light and direct it toward or towards a region adjacent to the distal end portion 115 of observation mirror 114. Light can be transmitted directly or indirectly from observation mirror 114 to sensor 108. For example, light can be reflected back to sensor 108 from this region, or otherwise reflected toward the sensor. Circuitry 138 and / or flexible circuit board 135 can be connected to light supplier 137 (e.g., light source or illumination element). Light source 137 can be, for example, a light-emitting diode (LED) and can be configured and used to generate illumination within the body. Optical coupler 136 can be configured to transmit light from light source 137 to optical fiber (e.g., light guide) 103 (for illustrative purposes, in...). Figure 3 (Seen in dashed lines). Fiber optic cable 103 can be configured to transmit light from needle hub 116 to the distal end portion 115 of observation mirror 114. In other implementations, fiber optic cable 103 may be omitted, and light source 137 may be positioned within observation mirror 114 distal to needle hub 116. In another implementation, a separate light source may be located outside but adjacent to the distal end portion 115 of observation mirror 114 to illuminate the surgical site.

[0084] In some specific implementations, the imaging sensor 308 and one or more light sources 316 are integrated with or mounted to a common circuit board 323 (e.g., a chip) to establish electronic components 325, such as... Figure 6As shown in the diagram. Light sources 316 can be configured in an array to surround sensor 308 and can be individually controllable. In a specific implementation, light sources 316 can be corresponding paths configured to branch from a single common light source 327 (shown in dashed lines for illustrative purposes). Light sources 316 can be used to improve light transmission in a relatively compact arrangement. The common light source 327 can be coupled to circuit board 323 or another portion of the endoscope. The light source group 316 on circuit board 323 can have the same or different wavelengths and their intensity can be controlled based on a variety of factors, including feedback using image features and / or sensor features. Electrical assembly 325 can be located at any of the locations of the image sensors disclosed herein. For example, electrical assembly 325 can be coupled or attached to or near the distal end portion 115 of observation mirror 114. Figure 1 Combining the imaging sensor 308 and the light source 316 on the same circuit board 323 can improve cooling enhancement through fluids delivered to the surgical site (such as fluids used to irrigate the surgical site during surgery).

[0085] Various electronics of the needle hub assembly 112 may be configured to wirelessly and / or digitally transmit image data from the imaging sensor 108 to external devices such as control device 131 and / or another component of the endoscope 110, such as the button yoke 120. Other sensors may be incorporated into the endoscope 110. For example, one or more sensors may be configured to sense or measure various conditions at the distal end portion 115 of the observation mirror 114, such as temperature sensors, pressure sensors, etc. In some specific implementations, accelerometers and / or gyroscopes are positioned in the needle hub 116 and / or the observation mirror 114 to sense changes in the position and / or orientation of the endoscope 110.

[0086] The distal end portion 115, specifically the distal end 117, can be positioned at various angles relative to the central or longitudinal axis of the endoscope 110. For example, the distal end 117 can be substantially perpendicular to the longitudinal axis X of the observation mirror 114, such as... Figure 1 and Figures 2A to 2B As shown in the diagram. In some specific implementations, the distal end portion 115' has an angle α at its end 117' that is transverse to the central axis or longitudinal axis X of the observation mirror 114', such as... Figure 7 As shown in the diagram. For example, the sensor image acquired by sensor 108' can be oriented at an angle corresponding to angle α (e.g., 30 degrees). Another part of the electronic circuitry 138' or endoscope 110' can be programmed with logic or additional logic to perform correction or translation of the captured image, thereby reorienting the captured image as sensor 108' rotates during surgery.

[0087] Still referencing Figure 3The needle hub 116 may include a housing 139 configured to enclose the components of the needle hub 116. The housing 139 may include a first housing 162 and a second housing 164 cooperating to enclose the electronics and other components (e.g., light source 137, circuitry 138, and optical coupler 136) of the needle hub 116. The hub coupler 134 may couple the observation mirror 114 to the housings 162 and 164 of the housing 139. The hub coupler 134 may be a separate and distinct component, or it may be incorporated into the housing 139 and / or the observation mirror 114.

[0088] like Figure 4 As shown, the shield 230 may at least partially or completely surround the housing 139. The shield 230 may be in the form of a flexible shield and may be formed of a conductive material such as copper. Therefore, the shield 230 may be in the form of copper foil. The support cover 166 may support the housing 139 and the first cable 118, as... Figure 4 As shown in the diagram (shown as dashed lines).

[0089] For comparative purposes, Figure 5 Another exemplary endoscope 410 is shown. Endoscope 410 may have a handheld component 412 and a camera lever 414. The handheld component 412 may be designed to be held by a surgeon or assistant and includes all control electronics. In these specific implementations, the center of mass of endoscope 410 may be significantly returned to the handheld component 412, and therefore can be held more broadly by an assistant rather than remaining stationary without assistant guidance.

[0090] Figure 8 A flowchart 540 illustrates an exemplary method for performing a surgical procedure. Method 540 can be used to perform an endoscopic examination. Method 540 can be used with the instruments and components disclosed herein, including endoscopes 110, 110' and endoscopes 710, 810 (…). Figures 12 to 13 Any of the steps listed below may be used together. The obtained images can be used before, during, and / or after surgery, and can be used in various surgical procedures (such as arthroplasty) to restore joint function. Within the scope of this disclosure, fewer or more steps than those listed below may be performed, and the order of the listed steps is not intended to limit this disclosure. For illustrative purposes, references are made to... Figures 9 to 11 Instruments (e.g., endoscopes) 610.

[0091] refer to Figure 9 And continue to refer to Figure 8The apparatus 610 may include a hub assembly 612 coupled to a cable assembly 613. The hub assembly 612 may include a hub 616 and an observation mirror 614 (e.g., a camera or imaging rod) coupled to the hub 616. The hub 616 may have a generally or substantially tubular geometry and may serve as a handle for positioning the hub assembly 612. The hub assembly 612 may include an imaging sensor 608 located at the distal end portion 615 of the imaging rod 614. The imaging rod 614 may extend from the hub 616 to the distal end portion 615. The hub 616 and the imaging rod 614 may be attached to establish a hub assembly 612 with a center of mass CM. The center of mass CM may be established distal to the hub 616 relative to the longitudinal axis X of the hub assembly 612. Figure 10 The hub assembly 612 may be configured such that the center of mass CM can be established within or near the imaging rod 614. The hub assembly 612 may be configured according to any of the techniques disclosed herein. In a specific implementation, the length of the hub 616 may be less than 0.75 times the length of the imaging rod 614, the weight of the hub 616 may be less than twice the weight of the imaging rod 614, and / or the diameter of the hub 616 may be less than five times the diameter of the imaging rod 614.

[0092] At step 542, the instrument 610 may be positioned relative to an insertion point 611 in the patient's body B at the surgical site S. The insertion point 611 may be an incision, hole, or other opening in the patient's body B formed through the skin. Method 540 may include forming the incision prior to step 542.

[0093] refer to Figure 10 And continue to refer to Figures 8 to 9 Step 542 may include moving the instrument 610 in direction D1, and subsequently inserting a portion of the instrument 610 through the insertion point 611 at step 544. Step 544 may occur such that this portion of the instrument 610 is located within the body. Step 544 may include inserting at least a distal end portion 615 of the imaging rod 614 through the insertion point 611 of the patient, and subsequently inserting the centroid CM of the instrument 610 through the insertion point 611. A portion of the hub assembly 612, including the centroid CM, may be located within the patient, while another portion of the hub assembly 612 may be located outside the patient, such as the hub 616 and / or a portion of the imaging rod 614 proximal to the centroid CM, including the proximal end of the imaging rod 614.

[0094] At step 546, method 540 may include delivering light to imaging sensor 608. Various techniques may be used to deliver light to imaging sensor 608. In a specific implementation, step 546 may include delivering light from hub 616, subsequently through imaging rod 614, and subsequently to a region of the distal end portion 615 of imaging rod 614 adjacent to the patient. Light may be reflected back to imaging sensor 608 from this region, or additionally reflected toward the imaging sensor (see also...). Figure 1 (The hub 116, imaging sensor 108, and imaging rod 114). In a specific implementation, step 546 may include delivering light from one or more light sources adjacent to the distal end portion 615 of the imaging rod 614. The light sources may be configured in an array to surround the imaging sensor 608 (see, for example...). Figure 6 (The imaging sensor 308 and the light source 316). Step 546 may include individually controlling the light source to transmit light at step 548.

[0095] At step 550, the surgeon or assistant may cause the instrument 610 to acquire one or more images via an imaging sensor 608 located inward of the insertion point 611. Step 550 may occur after positioning the instrument 610 at step 542 and / or after transmitting light at step 546. During image acquisition at step 550, the centroid CM of the instrument 610 may be inside the insertion point 611 or otherwise located within the body, and the hub 116 may be located outside the insertion point 611 or otherwise located outside the body. At step 552, the image may be transmitted to an external device (see, for example...). Figure 1 External device 131).

[0096] At step 554, when the distal end portion 615 of the instrument 610, the imaging sensor 608, and / or the centroid CM are located within the body, the surgeon or assistant may release control of the instrument 610, such as... Figure 10 As shown in the diagram. Step 554 may include releasing control of the hub assembly 612, allowing the center of mass CM to be located within the body, and allowing the hub 116 to extend substantially cantilevered outward from the insertion point 611 from the imaging rod 614. For the purposes of this disclosure, the term “substantially” cantilevered means that no more than 10% of the hub assembly 112 outside the insertion point 611 is supported by means other than the imaging rod 614. Step 554 may include balancing the hub assembly 612 at or near the insertion point 611 in response to releasing control of the hub assembly 612. The instrument 610 can be held in place without being held or supported by a surgeon or assistant, which can improve flexibility and reduce the time spent performing other steps during surgery.

[0097] refer to Figure 11 And continue to refer to Figure 8 At step 556, the in-body portion of the device 610 may be moved in direction D2 until the device 610 is withdrawn from the insertion point 611 and removed from the patient's body. Step 556 may include withdrawing the imaging sensor 608, the distal end portion 615, and the centroid CM of the device 610 from the patient's body.

[0098] Figure 12Another exemplary device 710 is shown. Device 710 may be an endoscope for obtaining one or more images of a surgical site. Device 710 may include a needle hub assembly 712 coupled to a cable (e.g., communication) assembly 713 (shown in dashed lines for illustrative purposes). Figure 12 In the specific implementation, the individual hub is omitted from the hub assembly 712.

[0099] The hub assembly 712 may include an observation mirror 714 (e.g., a camera or imaging rod). The observation mirror 714 may include a body 729 extending along the longitudinal axis X between a distal end portion 715 and a proximal end portion 719 of the hub assembly 712. The body 729 may have a generally or substantially tubular geometry and may form an internal cavity 725. The observation mirror 714 may have a first diameter D1. The body 729 may be sized such that the first diameter D1 is substantially constant between the distal end portion 715 and the proximal end portion 719 of the observation mirror 714.

[0100] The observation mirror 714 may include an imaging sensor 708 configured to acquire images of the surgical site. The imaging sensor 708 may be disposed within the lumen 725 and at the distal end portion 715 of the observation mirror 714 to acquire one or more images of the surgical site. A surgeon or assistant may use a portion of the observation mirror 714 as a handle to position and orient the imaging sensor 708 at the desired location within the patient's body.

[0101] Hub assembly 710 may include various electronic devices 760, including any of the electronic devices disclosed herein, such as flexible circuit boards, electronic circuits, light suppliers, optical couplers, and / or power supplies (see, for example...). Figure 3 Electronic device 760 can be integrated onto a single chip to form an electronic device unit, which can be integrated or coupled to imaging sensor 708. Electronic device 760 can be arranged at various locations within cavity 725 of observation mirror 714. Electronic device 760 can be arranged proximal to the center of mass CM of hub assembly 712, such as at or near the proximal end portion 719 of observation mirror 714. Electronic device 760 may include a light source located within observation mirror 714 adjacent to the proximal end portion 719.

[0102] The center of mass CM can be established at a longitudinal position between the distal end portion 715 and the proximal end portion 719 of the hub assembly 712 (included within the observation mirror 714). The center of mass CM can also be established at a distance L from the proximal boundary of a first length L1 of the observation mirror 714. CM The hub assembly 712 can be configured such that the center of mass CM can be positioned relative to the distance L disclosed herein. CMThe ratio is established using any of the ratios to the first length L1. In a specific implementation, the hub assembly 712 can be configured such that the distance L... CM Greater than or equal to 25% of the first length L1, or more narrowly greater than or equal to approximately 50% of the first length L1. In a concrete implementation, the distance L... CM It can be less than or equal to approximately 75% of the first length L1.

[0103] Arranging at least some, most, or all of the electronics 760 and / or other internal components of the hub assembly 712 into the observation mirror 714 can be used to shift the center of mass CM of the hub assembly 712 relatively more distally relative to the proximal end portion 719 of the hub assembly 712, which can improve the holding force of the instrument 710 without the intervention of a surgeon or assistant.

[0104] Figure 13 Another exemplary device 810 is shown. Device 810 may be an endoscope for obtaining one or more images of a surgical site. Device 810 may include a hub assembly 812 coupled to a cable (e.g., communication) assembly 813. Figure 13 In the specific implementation, the individual hub is omitted.

[0105] The instrument 810 may include various electronic devices 860 disposed at various locations within the cavity 825 of the observation mirror 814. The electronic devices 860 may include a first group of electronic devices 860-1 and a second group of electronic devices 860-2, which may include any of the electronic devices disclosed herein.

[0106] Electronic devices 860 can be distributed within the observation mirror 814 to establish a centroid CM at various locations between the distal end portion 815 and the proximal end portion 819 of the hub assembly 812. The centroid CM can be established at a longitudinal position between the distal end portion 815 and the proximal end portion 819 (included within the observation mirror 814). A first set of electronic devices 860-1 can be arranged distally to the centroid CM of the hub assembly 812. A second set of electronic devices 860-2 can be arranged proximal to the centroid CM. The first set of electronic devices 860-1 can be arranged at or near the distal end portion 815 of the observation mirror 814. The second set of electronic devices 860-2 can be arranged at or near the proximal end portion 819 of the observation mirror 814. In a specific implementation, the second set of electronic devices 860-2 is omitted, such that all the electronic devices of the hub assembly 812 are substantially arranged in the distal half of the imaging rod 814. Electronic device 860-1 may include a light source such as an LED, which may be positioned near and close to the imaging sensor 808.

[0107] The center of mass CM can be established at a longitudinal position between the distal end portion 815 and the proximal end portion 819 of the hub assembly 812 (included within the observation mirror 814). The center of mass CM can also be established at a distance L from the proximal boundary of the first length L1 of the observation mirror 814. CM The hub assembly 812 can be configured such that the center of mass CM can be positioned relative to the distance L disclosed herein. CM The ratio is established using any of the ratios to the first length L1. In a specific implementation, the hub assembly 812 can be configured such that the distance L... CM Greater than or equal to 25% of the first length L1, more narrowly greater than or equal to approximately 50% of the first length L1, or even more narrowly greater than or equal to approximately 75% of the first length L1. In a specific implementation, the distance L... CM It can be less than or equal to approximately 90% of the first length L1.

[0108] Arranging at least some, most, or all of the electronics 860 and / or other internal components of the hub assembly 812 near the distal end portion 815 of the instrument 810 can displace the center of mass CM of the hub assembly 812 relatively more distally relative to the proximal end portion 819 of the hub assembly 812, which can improve the retention force of the instrument 810 without intervention by a surgeon or assistant.

[0109] refer to Figure 14 The device 910 may include electronic components 960. One or more of the electronic components 960 may be incorporated into the cable assembly 913. The cable assembly 913 may include a push-button yoke 920, which may be incorporated into electronic component 960-2. Electronic component 960-2 may include any of the electronic components disclosed herein, including power supply 133, flexible circuit board 135, optical coupler 136, light supply 137, and / or electronic circuit 138. Figure 3 The separate hub, including the housing encapsulating the electronics, may be omitted. The device 910 may include electronics 960-1 adjacent to the distal end portion 915 of the imaging rod 914, or electronics 960-1 may be omitted and / or incorporated into the button yoke 920.

[0110] The novel device and method disclosed herein offer versatility in acquiring images of a patient's anatomy during endoscopy. The disclosed instrument can be configured to allow insertion into the patient and retention in place without being held or supported by a surgeon or assistant. The disclosed instrument can be configured to have a center of mass that enhances the retention force of the instrument without intervention by a surgeon or assistant, which can reduce the complexity and time required to perform surgical procedures.

[0111] Although different non-limiting embodiments are shown to have specific components or steps, the embodiments disclosed herein are not limited to those specific combinations. It is possible to combine some of the components or features from any embodiment of the non-limiting embodiments with features or components from any other embodiment of the non-limiting embodiments.

[0112] The foregoing description should be interpreted illustratively and not in any restrictive sense. Those skilled in the art will understand that certain modifications may fall within the scope of this disclosure. For these reasons, the following claims should be studied to determine the true scope and content of this disclosure.

Claims

1. An endoscope for generating in vivo surgical images, the endoscope comprising: hub; as well as An imaging rod extending from the hub is configured to receive light and direct the light to a region adjacent to a distal end of the imaging rod, wherein an imaging sensor is located at the distal end portion of the imaging rod, and the hub and the imaging rod are attached to form a hub assembly having a center of mass located within the imaging rod.

2. The endoscope of claim 1, wherein the imaging rod extends a first length between the distal end portion and the interface between the imaging rod and the hub, the centroid is located within the imaging rod at a second length from the interface, and the second length is greater than or equal to 10% of the first length.

3. The endoscope of claim 2, wherein the hub includes electronics configured to transmit image data from the imaging sensor.

4. The endoscope of claim 3, wherein the second length is greater than or equal to 25% of the first length.

5. The endoscope of claim 1, wherein the hub includes a light supply.

6. The endoscope of claim 1, wherein the hub includes a power supply.

7. The endoscope of claim 1, wherein the hub includes electronics configured to wirelessly transmit image data.

8. The endoscope of claim 1, wherein the hub includes electronics configured to digitally transmit image data.

9. The endoscope of claim 1, wherein the hub includes electronics configured to transmit image data via a coaxial cable in the form of analog signals.

10. The endoscope of claim 1, wherein the hub assembly is symmetrical with respect to a reference plane extending along the longitudinal axis of the hub assembly.

11. The endoscope of claim 1, wherein the hub is cylindrical.

12. The endoscope of claim 1, wherein the length of the hub is less than 0.75 times the length of the imaging rod.

13. The endoscope of claim 1, wherein the diameter of the hub is less than 5 times the diameter of the imaging rod.

14. The endoscope of claim 1, wherein the weight of the hub is less than twice the weight of the imaging rod.

15. The endoscope of claim 1, wherein the hub comprises: Electronic devices, including electronic circuits, optical supplies, and optical couplers; The electronic circuitry is configured to transmit image data from the imaging sensor. The light supply is connected to the electronic circuitry and is configured to generate illumination within the body. The optical coupler is configured to transmit light from the light supplier to an optical fiber, and the optical fiber is configured to transmit light from the hub to the distal end portion of the imaging rod. A housing configured to enclose the electronic circuitry, the light supply, and the optical coupler; and A hub coupler that connects the imaging rod to the housing.

16. The endoscope of claim 15, further comprising: A cable assembly comprising a first cable, a second cable, a connector, and a button yoke having one or more controls; and The first cable is coupled to the proximal end portion of the hub assembly, the button yoke interconnects the first cable with the second cable, the second cable interconnects the button yoke with the connector, and the connector has terminals configured to engage with an external device.

17. An endoscope for generating in vivo surgical images, the endoscope comprising: Communication components; Hub coupled to the communication component; An imaging rod extends from the hub, and the hub and the imaging rod are attached to form a hub assembly having a center of mass located distal to the hub. as well as An imaging sensor coupled to the distal end portion of the imaging rod.

18. The endoscope of claim 17, wherein the centroid is located within the imaging rod.

19. The endoscope of claim 18, further comprising: The light source is located within the imaging rod, adjacent to the distal end portion.

20. The endoscope of claim 17, wherein the hub includes a housing configured to enclose electronic components.

21. The endoscope of claim 17, further comprising: Multiple light sources are configured in an array to surround the imaging sensor.

22. The endoscope of claim 21, wherein: The multiple light sources are configured to branch off from a common light source along corresponding paths.

23. The endoscope of claim 21, wherein: The light source is individually controllable.

24. An endoscope for generating in vivo surgical images, the endoscope comprising: Communication components; A hub assembly coupled to the communication component, wherein the hub assembly includes an imaging rod, an imaging sensor, and electronics coupled to the imaging sensor; The imaging rod includes a body extending a first length relative to a longitudinal axis between a proximal end portion and a distal end portion, the imaging sensor being disposed adjacent to the distal end portion of the imaging rod, and the electronics being disposed within the cavity of the imaging rod; and The hub assembly has a centroid located at a second length within the imaging rod from the proximal end portion, and the second length is greater than or equal to 50% of the first length.

25. The endoscope of claim 24, wherein the second length is greater than 50% of the first length.

26. The endoscope of claim 24, wherein the electronics are arranged adjacent to the distal end portion of the imaging rod.

27. The endoscope of claim 26, wherein the second length is greater than 75% of the first length.

Images