Clutch system for flexible endoscope

Abstract

An endoscope system can include an endoscope including a handle and an elongate shaft extending distally therefrom. The handle can include a non-motorized and non-ratcheting actuation mechanism configured to articulate a distal tip portion of the elongate shaft. The distal tip portion can be articulatable in response to a manually applied force exerted on the actuation mechanism. Removal of the manually applied force can lock the distal tip portion in its then-current configuration. The non-motorized and non-ratcheting actuation mechanism can include a clutch mechanism that is drivable in response to an electrical signal that is generated in response to a user-applied force on the actuation mechanism being sensed by a strain gauge.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit and priority of U.S. Provisional Application Serial No. 63 / 117,626, filed November 24, 2020, the disclosure of which is incorporated herein by reference. Technical Field

[0003] This invention relates to an endoscope system. More particularly, this invention relates to an endoscope system having a clutch mechanism configured to control movement of an articulated distal tip. Background Technology

[0004] Endoscopic systems can be used to perform a variety of diagnostic and / or therapeutic procedures. Different procedures may require different devices and / or different physical manipulations by the physician. Each of the known medical devices, systems, and methods has certain advantages and disadvantages. There is a continuous need for alternative medical devices and systems. Summary of the Invention

[0005] In one example, an endoscope system may include an endoscope having a handle and an elongated shaft extending distally therefrom. The handle may include a non-motorized, non-ratcheted mechanism configured to hinge the distal tip portion of the elongated shaft. The distal tip portion can hinge in response to a manually applied force applied to an actuation mechanism. Removing the manually applied force can lock the distal tip portion in its current configuration.

[0006] For any of the examples disclosed herein, additionally or alternatively, the non-motorized and non-ratchet mechanism includes an actuator disposed outside the handle.

[0007] In addition or alternative to any example disclosed herein, the actuator includes a rotatable knob configured to hinge to the distal end portion.

[0008] In addition or alternative to any example disclosed herein, the actuator includes a control lever configured to hinge to the distal end portion.

[0009] Additionally or alternatively to any example disclosed herein, the non-motorized and non-ratchet mechanism includes a clutch mechanism actuated in response to an electrical signal, the clutch mechanism being configured to prevent articulation of the distal tip portion when the electrical signal changes (e.g., is received).

[0010] In addition or alternative to any of the examples disclosed herein, the non-motorized and non-ratcheted mechanism includes a strain gauge configured to detect manually applied forces.

[0011] In addition or alternative to any of the examples disclosed herein, the electrical signal changes (e.g., is interrupted) in response to strain detected using a strain gauge.

[0012] Alternatively or alternatively, for any example disclosed herein, the clutch mechanism is released when a manually applied force is detected using a strain gauge.

[0013] Additionally or alternatively, for any example disclosed herein, the non-motorized and non-ratcheted mechanism includes a touch sensor configured to detect a user's hand in contact with the non-motorized and non-ratcheted mechanism.

[0014] Additionally or alternatively, for any example disclosed herein, the endoscope includes an actuable button disposed on a handle, the actuable button being configured to interrupt electrical signals to a clutch mechanism when the actuable button is pressed.

[0015] In addition or alternative to any example disclosed herein, when the actuation button is released, an electrical signal is sent to the clutch mechanism.

[0016] Additionally or alternatively to any of the examples disclosed herein, in another example, an endoscope system may include an endoscope comprising a handle and an elongated shaft extending distally therefrom. The endoscope system may also include an actuation mechanism configured to hinge the distal tip portion of the elongated shaft. The endoscope system may further include a clutch mechanism actuable between an engaged and disengaged configuration. The distal tip portion may hinge in response to a manually applied force applied to the actuation mechanism. In response to a first electrical signal level generated when no manual force is applied to the actuation mechanism, the clutch mechanism is in an engaged configuration to prevent hinged distal tip portion, and in response to a second electrical signal level generated when a manually applied force exceeding a threshold amount is applied to the actuation mechanism, the clutch mechanism is in a disengaged configuration to allow hinged distal tip portion. Removing the manually applied force switches the clutch mechanism to the engaged configuration and locks the distal tip portion in its current configuration.

[0017] Additionally or alternatively, and in another example, an endoscope system may include an endoscope comprising a handle and an elongated shaft extending distally therefrom, wherein the handle may include a first non-motorized, non-ratcheted mechanism configured to hinge a distal tip portion of the elongated shaft in a first plane, and a second non-motorized, non-ratcheted mechanism configured to hinge the distal tip portion of the elongated shaft in a second plane other than the first plane. The distal tip portion may hinge in response to a manually applied force applied to the handle. Removing the manually applied force may lock the distal tip portion in its present configuration.

[0018] Additionally or alternatively for any example disclosed herein, the first non-motorized and non-ratchet mechanism includes a first clutch mechanism actuated in response to a first electrical signal, the first clutch mechanism being configured to prevent the distal tip portion from hinged in a first plane upon receiving the first electrical signal.

[0019] Additionally or alternatively for any example disclosed herein, the second non-motorized and non-ratchet mechanism includes a second clutch mechanism actuated in response to a second electrical signal, the second clutch mechanism being configured to prevent the distal tip portion from hinged in the second plane upon receiving the second electrical signal.

[0020] Additionally or alternatively to any example disclosed herein, and in another example, an accessory clutch system for use with an articulated endoscope may include a housing configured to matingly attach to a handle of the endoscope, wherein the handle includes a non-motorized, non-ratcheted mechanism configured to articulate a distal tip portion; and a clutch mechanism fixed to the housing. The clutch mechanism may be configured to releasably engage an actuator of the endoscope. The actuator may be disposed externally to the handle. The housing may include a retaining structure configured to engage (e.g., surround) at least a portion of the handle. The distal tip portion may articulate in response to a manually applied force applied to the actuation mechanism. Removing the manually applied force may lock the distal tip portion in its present configuration.

[0021] For any example disclosed herein, additionally or alternatively, the clutch mechanism may be actuated in response to an electrical signal, and the clutch mechanism is configured to prevent hinge of the distal tip portion when the electrical signal is at a first signal level.

[0022] In any of the examples disclosed herein, the strain gauge is additionally or alternatively configured to detect manually applied forces.

[0023] For any example disclosed herein, additionally or alternatively, the electrical signal changes from a first signal level to a second signal level in response to strain detected by a strain gauge.

[0024] For any example disclosed herein, additionally or alternatively, the housing includes an actuable button disposed thereon, the actuable button being configured to change an electrical signal to the clutch mechanism from a first signal level to a second signal level when the actuable button is pressed.

[0025] Alternatively or alternatively, for any example disclosed herein, when the actuable button is released, a first signal level is sent to the clutch mechanism.

[0026] The above overview of some embodiments, aspects, and / or examples is not intended to describe every embodiment or implementation of the invention. These embodiments are illustrated more specifically by way of example in the following figures and detailed description. Attached Figure Description

[0027] Embodiments of the invention can be more fully understood in light of the following detailed description relating to the accompanying drawings, wherein:

[0028] Figures 1A to 1B This is a schematic diagram of the selection aspects of an endoscope system;

[0029] Figure 2 This is a schematic diagram of the selection aspects of an endoscope system;

[0030] Figures 3 to 4 It shows in Figures 1A to 1B The selection of the clutch mechanism in the endoscope system;

[0031] Figure 5 It shows in Figures 1A to 1B The selection of the clutch mechanism in the endoscope system;

[0032] Figure 5A yes Figure 5 A partial cross-sectional end view of an endoscope system;

[0033] Figures 6A to 6B It is shown in Figures 5 to 5A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0034] Figure 7 It shows in Figure 5 The selection of the clutch mechanism in the endoscope system;

[0035] Figure 7A yes Figure 7 A partial cross-sectional end view of an endoscope system;

[0036] Figures 8A to 8B It is shown in Figures 7 to 7A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0037] Figures 9A to 9B It is shown in Figures 7 to 7A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0038] Figures 10 to 11 It shows Figures 1A to 1B The selection of alternative structures for the clutch mechanism in the endoscopic system;

[0039] Figure 12 It shows in Figures 1A to 1BThe selection of alternative structures for the clutch mechanism in the endoscopic system;

[0040] Figure 13 It shows in Figure 2 The selection of the clutch mechanism in the endoscope system;

[0041] Figure 13A yes Figure 13 A partial cross-sectional end view of an endoscope system;

[0042] Figure 13B It shows Figure 13 Selected aspects of the first actuator and / or the second actuator;

[0043] Figures 14A to 14B It is shown in Figures 13 to 13A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0044] Figures 15A to 15B It is shown in Figures 13 to 13A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0045] Figures 16A to 16B It is shown in Figures 13 to 13A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0046] Figures 17A to 17B It is shown in Figures 13 to 13A A diagram showing the interaction between different characteristics of the clutch mechanism;

[0047] Figure 18 It shows Figure 13 A partial cross-sectional end view of an alternative construction of the clutch mechanism in an endoscope system.

[0048] Figure 19 It shows in Figure 2 The selection of alternative structures for the clutch mechanism in the endoscopic system;

[0049] Figure 20 It shows having Figures 1A to 1B The selection of the accessory clutch system for the endoscope system; and

[0050] Figures 21 to 22 It shows that it can be used with Figure 2 , Figure 13 and / or Figure 19 The selection of alternative constructions for the clutch mechanism associated with the endoscope system;

[0051] While embodiments of the invention are adaptable to various modifications and alternatives, their specific details have been shown by way of example in the accompanying drawings and will be described in more detail. However, it should be understood that the invention is not intended to limit its aspects to the specific embodiments described. Rather, the invention is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Detailed Implementation

[0052] The following description should be read with reference to the accompanying drawings, which are not necessarily drawn to scale, wherein the same reference numerals in several views indicate the same elements. The detailed description and drawings are intended to be illustrative and not to limit the scope of the claims. Those skilled in the art will recognize that the various elements described and / or shown can be arranged in various combinations and configurations without departing from the scope of the invention. The detailed description and drawings illustrate exemplary embodiments. However, for purposes of clarity and ease of understanding, although not every feature and / or element may be shown in each drawing, features and / or elements may be understood to be present unless otherwise stated.

[0053] For the purposes of the following definitions, unless otherwise specified in the claims of this specification or elsewhere, these definitions shall apply.

[0054] All numerical values ​​herein are assumed to be modified by the term "about," whether or not explicitly stated. In the context of numerical values, the term "about" generally refers to a range of numbers that a person skilled in the art would consider equivalent to the referenced value (e.g., having the same function or result). In many instances, the term "about" may include numbers rounded to the nearest significant figure. Unless otherwise specified, the term "about" (e.g., in contexts other than numerical values) may be assumed to have its common and customary definition, as understood and consistent with the context of this specification.

[0055] A reference to a range of numbers represented by an endpoint includes all numbers in that range, including the endpoint (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5).

[0056] While some suitable dimensions, ranges and / or values ​​for various components, characteristics and / or specifications are disclosed, those skilled in the art to whom this invention relates will understand that desired dimensions, ranges and / or values ​​can be derived from those explicitly disclosed.

[0057] As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include a plural indication unless explicitly stated otherwise. As used in this specification and the appended claims, the term “or” is generally used in the sense of including “and / or” unless explicitly stated otherwise. It should be noted that, for ease of understanding, certain features of the invention may be described in the singular, even if those features may be plural or repeated in the disclosed embodiments. Each instance of a feature may include and / or contain a singular disclosure unless explicitly stated otherwise. For simplicity and clarity, not all elements of embodiments of the invention will necessarily be shown in every figure or discussed in detail below. However, it will be understood that, unless explicitly stated otherwise, the following discussion applies equally to any and / or all of more than one component. Additionally, for clarity, not all instances of some elements or features may be not shown in each figure.

[0058] Relative terms, such as “proximal,” “distal,” “advance,” “retract,” and variations thereof, are generally considered in relation to the positioning, orientation, and / or operation of various elements relative to the user / operator / manipulator of the device, wherein “proximal” and “retract” indicate or refer to being closer to or toward the user, and “distal” and “advance” indicate or refer to being farther from or away from the user. In some instances, the terms “proximal” and “distal” may be arbitrarily assigned to facilitate understanding of the invention, and such instances will be apparent to those skilled in the art. Other relative terms, such as “upstream,” “downstream,” “inflow,” and “outflow,” refer to the direction of fluid flow in a cavity, such as a body cavity, blood vessel, or within the device.

[0059] It should be noted that the embodiments described by references to "one embodiment," "some embodiments," "other embodiments," etc., in the specification may include specific features, structures, or characteristics, but each embodiment may not necessarily include that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, whether explicitly described or not, implementation of such a feature, structure, or characteristic in conjunction with other embodiments is within the knowledge of those skilled in the art, unless the contrary is explicitly stated. That is, the various individual elements described below, even if not explicitly shown in a specific combination, can still be considered as being combinable or arranged to form other additional embodiments, or to supplement and / or enrich the described embodiments, as will be understood by those skilled in the art.

[0060] For clarity, a distinctive numerical designation (e.g., first, second, third, fourth, etc.) may be used throughout the specification and / or claims to name and / or distinguish various described and / or claimed features. It is to be understood that the numerical designation is not intended to be limiting and is merely exemplary. In some embodiments, for brevity and clarity, the numerical designation may be modified and deviated from previously used. That is, a feature identified as a “first” element may later be referred to as a “second” element, a “third” element, etc., or may be omitted entirely, and / or a different feature may be referred to as a “first” element. The meaning and / or designation in each instance will be obvious to those skilled in the art.

[0061] Some endoscopic procedures—such as kidney stone management, ERCP (endoscopic retrograde cholangiopancreatography), lung biopsy, colonoscopy, bladder mapping, cardiac mapping, heart valve replacement and / or repair, and others—may require navigation through complex anatomical structures to position the medical device in a specific location and / or orientation. Some of these procedures can be lengthy and / or involve difficult limb movements that can lead to physician fatigue. In some endoscopic procedures, physicians may face work-related strain risks due to repetitive movements, prolonged awkward postures, high forces, contact stress, and / or vibration. For example, some physicians may be at risk of developing decubitus tenosynovitis (swelling and pain at the base of the thumb), carpal tunnel syndrome, ganglion cysts, trigger finger, and / or other conditions. Maintaining the stability and / or position of the endoscope during procedures can lead to physician fatigue, may cause the physician to lose optimal positioning for the planned procedure, may prolong the procedure, and / or may cause complications, especially when using endoscopes with steerable and / or articulated distal apexes. Such devices can be configured and / or tend to return to a “resting” position when steering and / or articulation forces are removed and / or not maintained constant by the physician. Manual locking features and / or switches require additional hand manipulation by the physician, thus exacerbating physician fatigue. This invention relates to features that reduce and / or eliminate the manual manipulation required by the physician to maintain the stability and / or orientation of the endoscope, while simultaneously reducing physician fatigue resulting from surgery.

[0062] Figures 1A to 1BVarious aspects of an endoscopic system that can be used in conjunction with other aspects of the invention are illustrated. In some embodiments, the endoscopic system may include an endoscope 100. The endoscope 100 may be specific to a particular endoscopic procedure, such as, for example, ureteroscopy, or may be a general-purpose device suitable for a variety of procedures. In some embodiments, the endoscope 100 includes a handle 102 and an elongated shaft 104 extending distally therefrom, wherein the handle 102 includes a non-motorized, non-ratchet mechanism configured to hinge a distal tip portion 106 of the elongated shaft 104 at and / or adjacent to its distal end. The distal tip portion 106 may include a camera and may, for example, have deflection and / or hinge capability in one or more directions to visualize the patient's anatomy. In some embodiments, the endoscope 100 may be a ureteroscope, such as a LithoVue™ endoscope. However, other medical devices, such as another endoscope or related system (e.g., SpyScope™ DS, SpyGlass™ DS, Exalt™ Type D, etc.), may be used to complement or replace a ureteroscope. In some embodiments, the endoscope 100 may be configured to deliver fluid from a fluid management system to a treatment site via an elongated shaft 104. The elongated shaft 104 may include one or more working chambers for receiving fluid flow and / or other medical devices passing through it. In some embodiments, the endoscope 100 may be connected to the fluid management system via one or more supply lines.

[0063] In some embodiments, the handle 102 of the endoscope 100 may include multiple elements configured to facilitate endoscopic surgery. In some embodiments, a cable 108 extends from the handle 102 and is configured to attach to electronics (not shown), such as, for example, a computer system, console, microcontroller, etc., for providing power, analyzing endoscopic data, controlling endoscopic intervention, or performing other functions. In some embodiments, the electronics to which the cable 108 is connected may have the function of recognizing data and exchanging data with other endoscopic accessories. The handle 102 may include a gripping area 118 for the surgeon to grasp while performing endoscopic surgery. The handle 102 and / or the non-motorized, non-ratchet mechanism may include an actuator 116 disposed externally at the proximal end 105 of the handle 102, wherein the actuator 116 can be actuated to control the hinge of the distal tip portion 106. In some embodiments, the actuator 116 may be movably coupled to the handle 102. In some embodiments, actuator 116 may be configured to engage and / or actuate a non-motorized, non-ratchet mechanism.

[0064] In some embodiments, the distal tip portion 106 may be hinged in response to a manually applied force applied to the handle 102 and / or its components (e.g., actuator 116, etc.), as described herein. In one example, actuator 116 may include a control lever configured to hinge the distal tip portion 106 of endoscope 100. In another example, actuator 116 may include a rotatable knob configured to hinge the distal tip portion 106 of endoscope 100. As will be discussed in more detail herein, removing the manually applied force may lock the distal tip portion 106 in its present configuration and / or position.

[0065] In some embodiments, the endoscope 100 may include pulleys or rotating components disposed within the handle 102 and operably connected to the distal tip portion 106 (e.g., Figure 3 In some embodiments, one or more cables, wires, or other filaments may engage with and / or be connected to a pulley within the handle 102. In some embodiments, one or more cables, wires, or filaments may engage with and / or be connected to a distal end portion 106, such that tension applied to the one or more cables, wires, or filaments by the pulley moves and / or hinges the distal end portion 106.

[0066] In some embodiments, endoscope 100 may communicate electronically with a workstation via a wired connection (e.g., cable 108). In some embodiments, among other features, the workstation may include a touchscreen computer, an interface box for receiving the wired connection (e.g., cable 108), a trolley, and a power supply. In some embodiments, the interface box may be configured with a wired or wireless communication connection to the controller of the fluid management system. The touchscreen computer may include at least one display screen and an image processor, and in some embodiments may include and / or define a user interface. In some embodiments, the workstation may be a multi-purpose component (e.g., for more than one procedure), while endoscope 100 may be a single-purpose device; however, this is not necessary. In some embodiments, the workstation may be omitted, and endoscope 100 may be directly electronically coupled to the controller of the fluid management system.

[0067] In some embodiments, the handle 102 may include at least one communication interface for attaching an accessory device. In some embodiments, the handle 102 has a first communication interface 112 and a second communication interface 114. In one example, the first communication interface 112 and / or the second communication interface 114 may include a Universal Serial Bus Type-C (USB-C) port, a Universal Serial Bus (USB) port, an Ethernet port, and / or other types of ports. In some embodiments, more, fewer, and / or other various types of communication interfaces may be used, including, for example, custom interfaces. In some embodiments, the handle 102 has only one communication interface but may be connected to, for example, a USB hub with multiple ports for connecting multiple accessories. In some embodiments, the first communication interface 112 and / or the second communication interface 114 may provide power to the accessory device in addition to exchanging data with it. Therefore, the accessory device does not need a separate cable for travel to the connected electronics or battery, which would increase the weight of the handle 102. In some embodiments, the accessory device may be uniquely associated with the endoscope 100 and recognized by the electronics via a "plug and play" function without requiring any user setup.

[0068] In some embodiments, the T-connector 110 extends from the distal portion of the handle 102 and provides a first port 124 and a second port 126 for access to the working channel of the elongated shaft 104. In some embodiments, the first port 124 and the second port 126 are arranged perpendicular to each other, with the first port 124 facing distally and the second port 126 facing proximally. An accessory device or an elongated end effector device can pass through either the first port 124 or the second port 126; however, the second port 126 may be preferred when the device is proximally positioned on the T-connector 110. In another embodiment, a Y-connector may be used, where both the first and second ports face proximally, allowing two devices to access the working channel of the elongated shaft 104 from a position proximally on the Y-connector. Other configurations are also contemplated.

[0069] In some embodiments, endoscope 100 may include one or more sensors adjacent to the distal tip portion 106 and / or distal end of elongated shaft 104. For example, endoscope 100 may include a pressure sensor at the distal tip portion 106 of elongated shaft 104 to measure intracavitary pressure within the treatment site. Endoscope 100 may also include other sensors, such as, for example, temperature sensors, fiber Bragg gratings for detecting stress and / or antennas, or electromagnetic sensors (e.g., position sensors). In some embodiments, the distal tip portion 106 and / or distal end of endoscope 100 may also include at least one camera to provide visual feedback to the user on a touchscreen computer display. In another embodiment, endoscope 100 may include two cameras with different communication requirements or protocols, such that different information can be forwarded to the user by each camera. When provided this way, the user can freely switch between cameras via a touchscreen interface and / or touchscreen computer. Although not explicitly shown, elongated shaft 104 may include one or more working chambers for receiving fluids and / or other medical devices.

[0070] In some embodiments, the position of the distal tip portion 106 and / or distal end of the elongated shaft 104 can be tracked during use. For example, the mapping and navigation system may include an operating table (or other surgical or examination table or chair, etc.) configured to act as or be used as an electromagnetic generator for generating a magnetic field having a known geometry. Alternatively or additionally, an electromagnetic generator separate from the operating table may be provided. The operating table and / or electromagnetic generator may be coupled to a control unit, which may include a processor, memory, display, and input devices, etc. A position sensor (e.g., an electromagnetic sensor, etc.) or antenna may be incorporated into the distal tip portion 106 and / or distal end of the elongated shaft 104 of the endoscope 100. The position sensor may be configured to sense the position of the position sensor in the magnetic field of the mapping and navigation system. In some embodiments, the position sensor may be electronically coupled to a workstation. When the position sensor is in the magnetic field, the position of the position sensor can be mathematically determined relative to an electromagnetic field source (e.g., the operating table and / or electromagnetic generator). The workstation and control unit may communicate to determine the position of the position sensor relative to the patient.

[0071] Figure 2Selected aspects of alternative endoscopic systems that can be used in conjunction with other aspects of the invention are shown. In some embodiments, the endoscopic system may include an endoscope 200. The endoscope 200 may be specific to a particular endoscopic procedure, such as, for example, ureteroscopy, or may be a general-purpose device suitable for a variety of procedures. In some embodiments, the endoscope 200 includes a handle 202 and an elongated shaft 204 extending distally therefrom, wherein the handle 202 includes a first non-motorized, non-ratchet mechanism configured to hinge a distal tip portion 206 of the elongated shaft 204 in a first plane, and a second non-motorized, non-ratchet mechanism configured to hinge the distal tip portion 206 of the elongated shaft 204 in a second plane different from the first plane. In some embodiments, the first plane may be oriented at a non-zero angle to the second plane. In some embodiments, the first plane may be oriented perpendicular to the second plane. Other configurations are also contemplated.

[0072] In some embodiments, the distal apex portion 206 may include a camera and may, for example, have deflection and / or articulation capabilities in one or more directions to visualize the patient's anatomy. In some embodiments, the endoscope 200 may be a duodenoscope, such as an Exalt™ DS type endoscope. However, other medical devices, such as another endoscope or related system (e.g., SpyScope™ DS, SpyGlass™ DS), may be used to supplement or replace the duodenoscope. In some embodiments, the endoscope 200 may be configured to deliver fluid from a fluid management system to the treatment site via an elongated shaft 204. The elongated shaft 204 may include one or more working chambers for receiving fluid flow and / or other medical devices passing through it. In some embodiments, the endoscope 200 may be connected to the fluid management system via one or more supply lines.

[0073] In some embodiments, the handle 202 of the endoscope 200 may include multiple elements configured to facilitate endoscopic surgery. In some embodiments, a cable 208 extends from the handle 202 and is configured to attach to an electronic device (not shown), such as, for example, a computer system, console, microcontroller, etc., for providing power, analyzing endoscopic data, controlling endoscopic intervention, or performing other functions. In some embodiments, the electronic device to which the cable 208 is connected may have the function of recognizing data and exchanging data with other endoscopic accessories. The handle 202 may include a gripping area 218 for the surgeon to grasp while performing endoscopic surgery.

[0074] In some embodiments, the handle 202 and / or the first non-motorized, non-ratchet mechanism may include a first actuator 216 disposed externally at the proximal end 205 of the handle 202, wherein the first actuator 216 may be actuated to control the hinge of the distal tip portion 206 in the first plane. In some embodiments, the handle 202 and / or the second non-motorized, non-ratchet mechanism may include a second actuator 217 disposed externally at the proximal end 205 of the handle 202, wherein the second actuator 217 may be actuated to control the hinge of the distal tip portion 206 in the second plane. In some embodiments, the first actuator 216 may be movably coupled to the handle 202. In some embodiments, the first actuator 216 may be configured to engage and / or actuate the first non-motorized, non-ratchet mechanism. In some embodiments, the second actuator 217 may be movably coupled to the handle 202. In some embodiments, the second actuator 217 may be configured to engage with and / or actuate a second non-motorized, non-ratchet mechanism.

[0075] In some embodiments, the distal tip portion 206 may be hinged in response to a manually applied force applied to the handle 202 and / or its components (e.g., the first actuator 216, the second actuator 217, etc.), as described herein. In one example, the first actuator 216 may include a first control lever configured to hinge the distal tip portion 206 of the endoscope 200 in a first plane, and the second actuator 217 may include a second control lever configured to hinge the distal tip portion 206 of the endoscope 200 in a second plane. In another example, the first actuator 216 may include a first rotatable knob configured to hinge the distal tip portion 206 of the endoscope 200 in a first plane, and the second actuator 217 may include a second rotatable knob configured to hinge the distal tip portion 206 of the endoscope 200 in a second plane. Other configurations are also contemplated.

[0076] In some embodiments, the endoscope 200 may include a first pulley or rotating member disposed within a handle 202 and operably connected to a distal tip portion 206. In some embodiments, one or more first cables, wires, or other filaments may engage with and / or be connected to the first pulley within the handle 202. In some embodiments, one or more first cables, wires, or filaments may engage with and / or be connected to the distal tip portion 206, such that tension applied by the first pulley to one or more first cables, wires, or filaments moves and / or hinges the distal tip portion 206 in a first plane. In some embodiments, the endoscope 200 may include a second pulley or rotating member disposed within a handle 202 and operably connected to the distal tip portion 206. In some embodiments, one or more second cables, wires, or other filaments may engage with and / or be connected to the second pulley within the handle 202. In some embodiments, one or more second cables, wires, or filaments may be engaged with and / or connected to the distal end portion 206, such that the tension applied by the second pulley to one or more second cables, wires, or filaments moves in the second plane and / or hinges the distal end portion 206.

[0077] In some embodiments, the endoscope 200 may communicate electronically with the workstation via a wired connection (e.g., cable 208). In some embodiments, the workstation may include, among other features, a touchscreen computer, an interface box for receiving the wired connection (e.g., cable 208), a trolley, and a power supply. In some embodiments, the interface box may be configured with a wired or wireless communication connection to the controller of the fluid management system. The touchscreen computer may include at least a display screen and an image processor. In some embodiments, the workstation may be a multi-purpose component (e.g., for more than one surgery), while the endoscope 200 may be a single-purpose device; however, this is not necessary. In some embodiments, the workstation may be omitted, and the endoscope 200 may be directly electronically coupled to the controller of the fluid management system.

[0078] In some embodiments, endoscope 200 may include one or more sensors adjacent to the distal tip portion 206 and / or distal end of elongated shaft 204. For example, endoscope 200 may include a pressure sensor at the distal tip portion 206 of elongated shaft 204 to measure intracavitary pressure within the treatment site. Endoscope 200 may also include other sensors, such as, for example, temperature sensors, fiber Bragg gratings for detecting stress and / or antennas or electromagnetic sensors (e.g., position sensors). In some embodiments, the distal tip portion 206 and / or distal end of endoscope 200 may also include at least one camera to provide visual feedback to the user on a touchscreen computer display. In another embodiment, endoscope 200 may include two cameras with different communication requirements or protocols, such that different information can be forwarded to the user by each camera. When provided this way, the user can freely switch between cameras via a touchscreen interface and / or touchscreen computer. Although not explicitly shown, elongated shaft 204 may include one or more working chambers for receiving fluids and / or other medical devices.

[0079] In some embodiments, the position of the distal tip portion 206 and / or distal end of the elongated shaft 204 can be tracked during use. For example, the mapping and navigation system may include an operating table (or other surgical or examination table or chair, etc.) configured to act as or be used as an electromagnetic generator for generating a magnetic field having a known geometry. Alternatively or additionally, an electromagnetic generator separate from the operating table may be provided. The operating table and / or electromagnetic generator may be coupled to a control unit, which may include, among other features, a processor, memory, display, and input devices, etc. A position sensor (e.g., an electromagnetic sensor, etc.) or antenna may be incorporated into the distal tip portion 206 and / or distal end of the elongated shaft 204 of the endoscope 200. The position sensor may be configured to sense the position of the position sensor in the magnetic field of the mapping and navigation system. In some embodiments, the position sensor may be electronically coupled to a workstation. When the position sensor is in the magnetic field, the position of the position sensor can be mathematically determined relative to an electromagnetic field source (e.g., the operating table and / or electromagnetic generator). The workstation and control unit may communicate to determine the position of the position sensor relative to the patient.

[0080] Figure 3A partially exploded view of selected features of an endoscope 100 in conjunction with selected features of the present invention is shown. In some embodiments, the non-motorized and non-ratchet mechanism of the endoscope 100 may include a clutch mechanism 150 actuated in response to an electrical signal. In some embodiments, the clutch mechanism 150 may be disposed adjacent to and / or immediately adjacent to the actuator 116 within the handle 102 of the endoscope 100. In some embodiments, the clutch mechanism 150 may include a coupling 152 configured to engage the rotor shaft 154 of the clutch mechanism 150 to a pulley 151 disposed within the handle 102. In some embodiments, the coupling 152 may engage the pulley 151 non-rotatably. In some embodiments, the coupling 152 may include a key 153 configured to engage the pulley 151. In some embodiments, the coupling 152 may removably engage the pulley 151, such as Figure 3 As shown. In some embodiments, the connector 152 may be fixedly attached to and / or integrally formed with the pulley 151. In some embodiments, the connector 152 may be non-rotatably engaged with the rotor shaft 154. In some embodiments, the connector 152 may include a D-shaped shaft 155 configured to engage with and / or be received by the rotor shaft 154. In some embodiments, the connector may be slidably and / or removably engaged with the rotor shaft 154. In some embodiments, the clutch mechanism 150 may be operatively and / or electrically connected to a power source. In some embodiments, the power source may be and / or may be disposed within the endoscope 100. In some embodiments, the power source may be a battery disposed within and / or connected to the clutch mechanism 150. The power source may be configured to selectively provide / interrupt electrical signals to the clutch mechanism 150, and / or the power source may be configured to selectively adjust / change the electrical signal level to the clutch mechanism 150. In some embodiments, similar features may also be applied to the endoscope 200 and / or the clutch mechanism associated therewith and / or associated therewith.

[0081] Figure 4 This is a partially exploded view showing selected features and / or components of the clutch mechanism 150. In some embodiments, the clutch mechanism 150 may include a clutch housing 156 configured to non-rotatably engage the clutch mechanism 150 with a handle 102. For example, as Figure 3As shown, the clutch housing 156 may include one or more protrusions 157 configured to engage corresponding holes and / or receiving features formed in the handle 102. An armature 158 and a rotor 159 may be disposed within the clutch housing 156. The armature 158 may include one or more protrusions that non-rotatably engage one or more corresponding recesses in the clutch housing 156. The rotor 159 may be configured to rotate freely relative to the armature 158 and / or the clutch housing 156 when there is no electrical signal and / or when the clutch mechanism 150 cannot receive an electrical signal. Conversely, the rotor 159 may be configured to lock to and / or relative to the armature 158 when an electrical signal is received by the clutch mechanism 150 (e.g., when the clutch mechanism 150 is activated or engaged) to prevent rotation of the rotor 159. In at least some embodiments, when an electrical signal is received by the clutch mechanism 150, the rotor 159 becomes energized and generates a magnetic attraction force on the armature 158. When rotor 159 engages armature 158, rotation of rotor shaft 154 is prevented, which in turn prevents rotation of coupling 152 and locks pulley 151 in its current position. Therefore, clutch mechanism 150 is configured to prevent hinge of distal tip portion 106 when an electrical signal is received by clutch mechanism 150, thereby effectively locking distal tip portion 106 in its current configuration and / or position.

[0082] In some embodiments, the clutch mechanism 150 may be configured to operate and / or function in a manner opposite to that described above. For example, in some embodiments, the rotor 159 may be configured to lock to and / or relative to the armature 158 when there is no electrical signal and / or when the clutch mechanism 150 cannot receive an electrical signal. Thus, the clutch mechanism 150 may be configured to prevent the hinge of the distal tip portion 106 when the clutch mechanism 150 does not receive an electrical signal, thereby locking the distal tip portion 106 in its current configuration and / or position. In some embodiments, when an electrical signal is received by the clutch mechanism 150, the rotor 159 becomes de-energized (and / or the magnetic poles of the rotor 159 reverse), the magnetic attraction to the armature 158 terminates, releasing the clutch mechanism 150 and allowing the hinge of the distal tip portion 106. Thus, when an electrical signal is received by the clutch mechanism 150, the rotor 159 may be configured to rotate freely relative to the armature 158 and / or the clutch housing 156, thereby allowing and / or enabling movement of the distal tip portion 106.

[0083] Figure 5 An example configuration of the endoscope 100 is shown. Figure 5In some embodiments, no force is applied to the actuator 116 by the physician's hand and / or thumb (e.g., manually applied force is not applied to the handle 102 and / or actuator 116). In some embodiments, the non-motorized and non-ratchet mechanism of the endoscope 100 may include a strain gauge 170 and a logic controller (e.g., a microcontroller, circuit board, comparator circuit, etc.; not shown) configured to detect manually applied force using the strain gauge 170. The logic controller may be configured to actuate, send, terminate, and / or otherwise manipulate electrical signals sent to and / or received by the clutch mechanism 150 in response to detected strain or lack of strain. In some embodiments, the strain gauge 170 may include one or more strain gauges, at least one strain gauge, and / or multiple strain gauges. In some embodiments, the strain gauge 170 may include two to four strain gauges (or another suitable number) that work together in a bridge configuration. Other configurations are also contemplated. In some embodiments, the actuator 116 may include the strain gauge 170, for example, as shown in the figure. Figure 5 As shown. In an alternative configuration, strain gauge 170 may be attached to, disposed on, and / or may be a portion of a shaft configured to couple actuator 116 to pulley 151. In another alternative configuration, strain gauge 170 may be attached to, disposed on, and / or may be a portion of pulley 151, which is attached to and / or engaged with actuator 116. For example, the shaft may be configured to transfer manually applied force from actuator 116 to pulley 151. In some embodiments, no manually applied force may generate and / or send an electrical signal to clutch mechanism 150 to thus lock distal tip portion 106 in its current configuration and / or position, and additionally prevent distal tip portion 106 from hinged away from its current configuration. In some embodiments, strain gauge 170 may be and / or may take the form of a resistance strain gauge. In some embodiments, the strain gauge 170 may be and / or may take the form of another type of sensor, such as, but not limited to, a resistive force sensor, a load cell, a capacitive sensor, etc.

[0084] Figure 5A yes Figure 5 A partial cross-sectional end view shows an example configuration of selected internal components of the endoscope 100 and the clutch mechanism 150. In some embodiments, when manually applied force is not applied to the handle 102 and / or actuator 116, an electrical signal is sent to the clutch mechanism 150, thereby engaging and / or activating the clutch mechanism 150, as... Figure 5A As shown, this is to prevent rotation and / or movement of the pulley 151 relative to the handle 102, and thus further prevent hinged engagement of the distal end portion 106. Figure 5 and Figure 5AIn the example, when strain gauge 170 does not detect a manually applied force on handle 102 and / or actuator 116, the logic controller may interpret this as representing the physician's intention to lock the distal tip portion 106 in its current shape and / or position, and / or to prevent further hinged engagement of the distal tip portion 106 away from its current shape. It should be understood that... Figure 5A The configuration shown is merely representative, and selected sections can be rearranged as needed to suit packaging and / or space requirements. For example, in Figure 5A In the diagram, the clutch mechanism 150 is shown disposed within a handle 102 located between the pulley 151 and the actuator 116. However, in at least some embodiments, the clutch mechanism 150 may be disposed within the handle 102, which is located on the side of the pulley 151 opposite to the actuator 116, as shown below. Figure 3 As generally shown in the diagram.

[0085] Figure 6A and Figure 6B It is shown in Figure 5 and Figure 5A The diagram illustrates the relationship between detected strain and the electrical signal sent to the clutch mechanism 150 in the illustrated configuration. As can be seen from the diagram, since strain is not detected within a predetermined range, band, and / or deviation over time, the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 150 typically remains constant at a predetermined value V. The predetermined range, band, and / or deviation of the strain recorded on the strain gauge 170 can be within ±5.0%, 3.0%, 2.5%, 2.0%, 1.0%, 0.5%, etc., of the expected or anticipated value. Within the predetermined range, band, and / or deviation, the logic controller can register no change in strain. Therefore, the correlation between the lack of strain detected by the strain gauge 170 and the electrical signal can be easily visualized. In this configuration, the clutch mechanism 150 is engaged and / or activated, and the actuator 116 and / or pulley 151 are locked in position and / or prevented from moving. Although shown as providing an electrical signal greater than zero in the locked position where no strain is detected, in other embodiments, the electrical signal sent to and / or received by the clutch mechanism 150 may be zero in the locked position where no strain is detected.

[0086] Figure 7 It shows Figure 5 An example configuration of endoscope 100. Figure 7In this configuration, the manually applied force F is applied to the handle 102 and / or actuator 116 by the physician's hand and / or thumb. Strain gauge 170 can be configured to detect the manually applied force F applied to the handle 102 and / or actuator 116. An electrical signal sent to the clutch mechanism 150 can be interrupted in response to strain detected by strain gauge 170. Therefore, when strain gauge 170 detects a manually applied force F exceeding a threshold amount, clutch mechanism 150 can be released and / or deactivated, thereby allowing articulation of the distal tip portion 106. In an alternative configuration, an electrical signal can be sent to and / or applied to clutch mechanism 150 in response to strain detected by strain gauge 170, and the electrical signal can release clutch mechanism 150.

[0087] Figure 7A yes Figure 7 A partial cross-sectional end view shows an example configuration of selected internal components of the endoscope 100 and clutch mechanism 150. In some embodiments, when a manually applied force is applied to the handle 102 and / or actuator 116, an electrical signal sent to the clutch mechanism 150 is altered (e.g., interrupted), thereby releasing and / or deactivating the clutch mechanism 150, as... Figure 7A As shown, this allows for rotation and / or movement of pulley 151 relative to handle 102, and thus allows for hinge of the distal end portion 106. Figure 7 and Figure 7A In the example, when strain gauge 170 detects a manually applied force F above a threshold amount applied to handle 102 and / or actuator 116, the logic controller (e.g., a circuit board) can interpret this as representing an intention by the physician to move and / or hinge the distal tip portion 106 from its current shape and / or position, and / or to further move and / or hinge the distal tip portion 106. It should be understood that... Figure 7A The forms shown are merely representative, and selected sections can be rearranged as needed to suit packaging and / or space requirements. For example, in Figure 7A In the diagram, the clutch mechanism 150 is shown disposed within a handle 102 located between the pulley 151 and the actuator 116. However, in at least some embodiments, the clutch mechanism 150 may be disposed within the handle 102, which is located on the side of the pulley 151 opposite to the actuator 116, as shown below. Figure 3 As shown in the figure.

[0088] Figure 8A and Figure 8B It is shown in Figure 7 and Figure 7AThe diagram illustrates the relationship between detected strain and the electrical signal sent to the clutch mechanism 150. As can be seen from the diagram, due to the detection of strain within a predetermined range, band, and / or deviation over time, the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 150 is interrupted and decreases from a predetermined value V toward and / or to zero. The predetermined range, band, and / or deviation of the strain recorded on the strain gauge 170 can be within ±5.0%, 3.0%, 2.5%, 2.0%, 1.0%, 0.5%, etc., of the expected or anticipated value. Within the predetermined range, band, and / or deviation, the logic controller can register no change in strain. Therefore, the correlation between the strain detected using the strain gauge 170 and the electrical signal can be easily visualized. Although shown as dropping the electrical signal to zero when strain above a threshold amount is detected, in other embodiments, when the detected strain increases above the threshold amount, the electrical signal sent to and / or received by the clutch mechanism 150 may be altered (e.g., increased or decreased) from the electrical signal provided when it is in the locked position and no strain is detected. The change in the electrical signal may release the clutch mechanism 150, thereby allowing deflection of the distal tip portion 106.

[0089] Figure 9A and Figure 9B It is shown in Figure 7 and Figure 7AThe diagram illustrates the alternative relationship between detected strain and the electrical signal sent to clutch mechanism 150. As can be seen from the diagram, due to the gradual increase and / or detection of strain over time, the electrical signal (e.g., voltage) sent to and / or received by clutch mechanism 150 may gradually decrease from a predetermined value V toward zero and / or decrease to zero. As in the example above, the predetermined range, band, and / or deviation of the strain recorded on strain gauge 170 may be within ±5.0%, 3.0%, 2.5%, 2.0%, 1.0%, 0.5%, etc., of the expected or anticipated value. Within the predetermined range, band, and / or deviation, the logic controller can register no change in strain. Therefore, the correlation between the strain detected using strain gauge 170 and the electrical signal can be easily visualized. A gradual increase in strain and / or a gradual change (e.g., decrease) in the electrical signal (e.g., voltage) received by and transmitted to the clutch mechanism 150 can produce, cause, and / or be associated with a gradual release of the clutch mechanism 150, such that the resistance to movement and / or articulation of the distal tip portion 106 also gradually decreases and / or is released. In this alternative relationship, the clutch mechanism 150 can act as a braking mechanism, where a higher detected strain and / or a greater manually applied force F indicates that the distal tip portion 106 should be moved and / or articulated further and / or faster compared to a lower detected strain and / or a less manually applied force F. However, as described above, when the manually applied force F is released and / or removed, the clutch mechanism 150 can immediately lock the distal tip portion 106 in its then-current shape and / or position, thereby preventing further movement and / or articulation of the distal tip portion 106. As discussed above, although it is shown that the electrical signal gradually decreases to zero when a gradual change in strain (e.g., an increase) is detected, in other embodiments, the electrical signal sent to and / or received by the clutch mechanism 150 may be gradually changed (e.g., increased or decreased) from the electrical signal provided when it is in the locked position and no strain is detected. This gradual change in the electrical signal can release the clutch mechanism 150, thereby allowing deflection of the distal tip portion 106.

[0090] Figure 10 and Figure 11 Another example configuration of the endoscope 100 is shown. In some embodiments, the endoscope 100 may include an actuable button 180 disposed on, formed therein, and / or extending through the handle 102. In some embodiments, the actuable button 180 may include one or more actuable buttons, at least one actuable button, and / or multiple actuable buttons. In some embodiments, the actuable button 180 may be configured such that when the actuable button 180 is in a depressed position, as Figure 10As seen in the diagram, an interruption is sent to the clutch mechanism 150 via an electrical signal (e.g., voltage), and when the actuable button 180 is in the release position, as... Figure 11 As seen in the diagram, electrical signals (e.g., voltage) can be sent to and / or received by the clutch mechanism 150.

[0091] exist Figure 10 and Figure 11 In this configuration, the actuable button 180 is configured as a trigger actuated by the physician's finger 14, while the actuator 116 is configured to be actuated and / or moved by the physician's thumb 12. Other configurations are also conceivable. The position of the actuable button 180 may operate in a manner similar to and / or identical to that of the strain gauge 170 described above. Alternatively, the strain gauge may be included in and / or on the actuable button 180 in a manner similar to that of the strain gauge 170 described above. For example, in some embodiments, when the actuable button 180 is in the released position (e.g., the strain on the actuable button 180 is zero), an electrical signal may be generated and / or sent to the clutch mechanism 150, thereby locking the distal tip portion 106 in its then-current configuration and / or position, and additionally preventing movement and / or hinge of the distal tip portion 106. Figure 6A and Figure 6B The diagram shown applies in a similar manner. Figure 10 and Figure 11 The form in which Figure 6A The left side of the diagram will correspond to the position of the actuated button 180 (or the strain on the actuated button 180). Figure 6A and Figure 6B The diagram shown corresponds to the position in Figure 11 The actuated button 180 is in the release position (e.g., the strain on the actuated button 180 is zero), wherein an electrical signal (e.g., voltage) is sent to the clutch mechanism 150 at a predetermined value V to engage the clutch mechanism 150 and / or lock the distal tip portion 106 in its current form and / or position, and additionally prevent movement and / or hinge of the distal tip portion 106.

[0092] The other diagrams mentioned above can also be combined with... Figure 10 and Figure 11 The form is associated. For example, in some embodiments, when the actuable button 180 is in the depressed position (e.g., there is strain on the actuable button 180), the electrical signal can be interrupted, thus releasing the clutch mechanism 150 and / or allowing movement and / or hinge of the distal tip portion 106. Figure 8A and Figure 8B The diagram shown applies in a similar manner. Figure 10 and Figure 11 The form in which Figure 8AThe left side of the diagram will correspond to the position of the actuated button 180 (or there will be strain on the actuated button 180). Figure 8A and Figure 8B The diagram shown corresponds to from Figure 10 The release position (e.g., no strain on actuable button 180) is switched and / or actuated to Figure 11 The actuated button 180 is in a depressed position (e.g., strained on the actuated button 180), wherein when the actuated button 180 is in the depressed position, the electrical signal (e.g., voltage) to the clutch mechanism 150 changes, such as interruption and / or the clutch mechanism 150 does not receive an electrical signal (e.g., voltage).

[0093] In addition, Figure 9A and Figure 9B The diagram shown applies in a similar manner. Figure 10 and Figure 11 The form in which Figure 8A The left side of the diagram will correspond to the position of the actuated button 180 (or there will be strain on the actuated button 180). Figure 9A and Figure 9B The diagram shown may correspond to the direction from the release position toward and / or to Figure 11 As the actuated button 180 moves towards the depressed position (e.g., strain on the actuated button 180), the electrical signal (e.g., voltage) to the clutch mechanism 150 gradually changes, such as gradually interrupting. As can be seen from the figure, as the position of the actuated button 180 moves toward the depressed position (e.g., strain gradually increases and / or is detected over time), the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 150 can gradually change, such as gradually decreasing from a predetermined value V toward and / or to zero. Therefore, the correlation between the position of the actuated button 180 and the electrical signal can be easily visualized. The gradual change in the position of the actuated button 180 (e.g., a gradual increase in strain) and / or the gradual change (e.g., decrease or increase) in the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 150 can produce, cause, and / or be associated with a gradual release of the clutch mechanism 150, such that the resistance to movement and / or articulation of the distal tip portion 106 also gradually decreases and / or is released. In this alternative relationship, the clutch mechanism 150 can act as a braking mechanism similar to the configuration described above.

[0094] Figure 12 This is a partial cross-sectional end view showing another example configuration of an endoscope. Figure 12In the example, endoscope 100 may include touch sensor 190. In some embodiments, the non-motorized, non-ratchet mechanism of endoscope 100 may include touch sensor 190 configured to detect a user's or physician's hand in contact with the non-motorized, non-ratchet mechanism. In some embodiments, touch sensor 190 may be configured to detect a physician's thumb in contact with actuator 116. In some embodiments, touch sensor 190 may include a tactile resistive strip disposed on the outer surface of actuator 116. In some embodiments, touch sensor 190 may include one or more touch sensors, at least one touch sensor, and / or multiple touch sensors. In some embodiments, actuator 116 may include touch sensor 190 disposed thereon, for example, as... Figure 12 As shown in the figure. In some embodiments, when the touch sensor 190 detects that the physician's hand and / or the physician's thumb is in contact with the handle 102, the actuator 116 and / or the non-motorized and non-ratchet mechanism, the touch sensor 190 may be configured to interrupt the electrical signal (e.g., voltage) sent to the clutch mechanism 150, and when the touch sensor 190 does not detect that the physician's hand and / or the physician's thumb is in contact with the handle 102, the actuator 116 and / or the non-motorized and non-ratchet mechanism, the electrical signal (e.g., voltage) may be sent to the clutch mechanism 150.

[0095] In some embodiments, the touch sensor 190 may function similarly to and / or in the same manner as the actuable button 180 described above. For example, in some embodiments, when the touch sensor 190 does not detect contact between the physician's hand and / or the physician's thumb and the handle 102, the actuator 116, and / or the non-motorized and non-ratchet mechanism, an electrical signal may be generated and / or sent to the clutch mechanism 150 to lock the distal tip portion 106 in its current configuration and / or position, and additionally prevent movement and / or hinge of the distal tip portion 106. Figure 6A and Figure 6B The diagram shown applies in a similar manner. Figure 12 The form in which Figure 6A The left side of the diagram corresponds to the touch sensor 190 not detecting the physician's hand and / or the physician's thumb in contact with the handle 102, actuator 116 and / or non-motorized and non-ratchet mechanism. Figure 6A and Figure 6B The diagram shown corresponds to a physician's hand and / or thumb that does not touch the touch sensor 190, wherein an electrical signal (e.g., voltage) is sent to the clutch mechanism 150 at a predetermined value V to engage the clutch mechanism 150 and / or lock the distal tip portion 106 in its current shape and / or position, and additionally prevent movement and / or hinge of the distal tip portion 106.

[0096] The other diagrams mentioned above can also be combined with... Figure 12 The form is associated. For example, in some embodiments, when the touch sensor 190 detects that the physician’s hand and / or the physician’s thumb is in contact with the handle 102, the actuator 116 and / or the non-motorized and non-ratchet mechanism, the electrical signal can be interrupted, thus releasing the clutch mechanism 150 and / or allowing movement and / or hinge of the distal tip portion 106. Figure 8A and Figure 8B The diagram shown applies in a similar manner. Figure 12 The form in which Figure 8A The left side of the diagram corresponds to the touch sensor 190 detecting contact between the physician's hand and / or the physician's thumb and the handle 102, actuator 116, and / or a non-motorized, non-ratchet mechanism. Therefore, Figure 8A and Figure 8B The diagram shown corresponds to the touch sensor 190 detecting contact between the physician's hand and / or the physician's thumb and the handle 102, actuator 116, and / or a non-motorized and non-ratchet mechanism, wherein the electrical signal (e.g., voltage) to the clutch mechanism 150 is subsequently altered, such as being interrupted and / or no electrical signal (e.g., voltage) is received by the clutch mechanism 150. Therefore, the correlation between the touch sensor 190 and the electrical signal can be easily visualized.

[0097] Additionally, in some embodiments, Figure 9A and Figure 9B The diagram shown can also be applied in a similar manner. Figure 12 In response to a predetermined configuration associated with the touch sensor 190, the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 150 can gradually change, such as gradually decreasing from a predetermined value V toward and / or to zero. This gradual change (e.g., decrease or increase) in the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 150 can produce, cause, and / or be associated with a gradual release of the clutch mechanism 150, such that the resistance to movement and / or articulation of the distal tip portion 106 also gradually decreases and / or is released. In this alternative relationship, the clutch mechanism 150 can function as a braking mechanism similar to the configuration described above.

[0098] Figure 13An example configuration of endoscope 200 is shown. In some embodiments, manually applied force may be applied to the first actuator 216 by the physician's hand 10 and / or the physician's thumb 12 (e.g., the manually applied force is applied to the handle 202 and / or the first actuator 216). In some embodiments, the manually applied force may be applied to the second actuator 217 (e.g., the manually applied force is applied to the handle 202 and / or the second actuator 217). In some embodiments, the non-motorized and non-ratchet mechanism of endoscope 200 may include strain gauge 270 configured to detect manually applied force. In some embodiments, strain gauge 270 may include one or more strain gauges, at least one strain gauge and / or multiple strain gauges—e.g., a first strain gauge disposed on the first actuator 216 and a second strain gauge disposed on the second actuator 217. In some embodiments, the first actuator 216 and / or the second actuator 217 may include strain gauge 270.

[0099] In some embodiments, the first non-motorized and non-ratchet mechanism may include a first clutch mechanism 250 (e.g., Figure 13A This can be actuated in response to a first electrical signal. As described herein, the first clutch mechanism 250 can be configured to prevent movement and / or hinge of the distal tip portion 206 in the first plane when the first electrical signal is received by the first clutch mechanism 250. In some embodiments, the second non-motorized and non-ratchet mechanism may include a second clutch mechanism 260 (e.g., ...). Figure 13A The first clutch mechanism 260 can be actuated in response to a second electrical signal. As described herein, the second clutch mechanism 260 can be configured to prevent movement and / or hinged engagement of the distal tip portion 206 in the second plane when the second electrical signal is received by the second clutch mechanism 260. In some embodiments, no manually applied force may generate and / or send a first electrical signal to the first clutch mechanism 260, and / or generate and / or send a second electrical signal to the second clutch mechanism 260, thereby locking the distal tip portion 206 in its current configuration and / or position, and additionally preventing hinged engagement of the distal tip portion 206.

[0100] Figure 13A yes Figure 13 The partial cross-sectional end view shows an example configuration of selected internal components of the endoscope 200, the first clutch mechanism 250, and the second clutch mechanism 260. In at least some embodiments, the first clutch mechanism 250 and / or the second clutch mechanism 260 may be constructed in a manner similar to the clutch mechanism 150 described herein, and for the sake of brevity, selected details are not repeated.

[0101] In some embodiments, when manually applied force is not applied to handle 202 and / or first actuator 216, a first electrical signal is sent to and / or received by the first clutch mechanism 250, thereby engaging and / or activating the first clutch mechanism 250, such as... Figure 13A As shown, this is to prevent rotation and / or movement of the first pulley 251 relative to the handle 202, and thus further prevent movement and / or hinged movement of the distal tip portion 206 in the first plane. Similarly, when a manually applied force is not applied to the handle 202 and / or the second actuator 217, a second electrical signal is sent to and / or received by the second clutch mechanism 260, thereby engaging and / or activating the second clutch mechanism 260 to prevent rotation and / or movement of the second pulley 261 relative to the handle 202, and thus further prevent movement and / or hinged movement of the distal tip portion 206 in the second plane. As shown and for illustrative purposes only, Figure 13A The second clutch mechanism 260 is disengaged and / or deactivated, allowing the second pulley 261 to rotate and / or move relative to the handle 202, and allowing the distal end portion 206 to move and / or hinge in the second plane.

[0102] In some embodiments, when strain gauge 270 does not detect a manually applied force on handle 202, first actuator 216, and / or second actuator 217, the logic controller (e.g., a circuit board) may interpret this as an intention by the physician to lock the distal tip portion 206 in its current shape and / or position, and / or to prevent further movement and / or hinge of the distal tip portion 206. It should be understood that... Figure 13A The configuration shown is merely representative, and selected sections can be rearranged as needed to suit packaging and / or space requirements. For example, in Figure 13A In the diagram, the first clutch mechanism 250 and the second clutch mechanism 260 are shown disposed within the handle 202. However, in at least some embodiments, one or both of the first clutch mechanism 250 and the second clutch mechanism 260 may be disposed outside the handle 202. For example, in some embodiments, the first clutch mechanism 250 and / or the second clutch mechanism 260 may be coupled to and engaged with the first actuator 216 and / or the second actuator 217, respectively, outside the handle 202.

[0103] Figure 13B Selected aspects of example configurations for the first actuator 216 and / or the second actuator 217 are described in detail. Figure 13B It is shown as a view from the handle 202 outward toward the rear or inner side of the first actuator 216 and / or the second actuator 217. For example... Figure 13As shown, in some embodiments, the non-motorized and non-ratchet mechanism of the endoscope 200 may include a strain gauge 270 configured to detect manually applied forces. In some embodiments, strain gauge 270 may include one or more strain gauges, at least one strain gauge, and / or multiple strain gauges—for example, a first strain gauge disposed on a first actuator 216 and a second strain gauge disposed on a second actuator 217. In another example, the first actuator 216 may include a first plurality of strain gauges and / or the second actuator 217 may include a second plurality of strain gauges. In some embodiments, the first actuator 216 and / or the second actuator 217 may include strain gauge 270.

[0104] like Figure 13B As shown, the first actuator 216 and / or the second actuator 217 may include a plurality of spokes 219 extending radially outward from the central hub 215 to the exterior of the first actuator 216 and / or the second actuator 217. The plurality of spokes 219 may be and / or may be formed as a plurality of strain concentration elements. The plurality of strain concentration elements may be narrow sections of material through which manually applied forces (applied by the user to the exterior of the first actuator 216 and / or the second actuator 217) must travel to actuate and / or drive pulleys disposed within the handle 202. The cross-sections of the plurality of spokes 219 and / or the plurality of strain concentration elements may be adjusted such that the rotational torque applied to the exterior of the first actuator 216 and / or the second actuator 217 creates relatively equal bending moments in each of the plurality of spokes 219 and / or the plurality of strain concentration elements. Strain gauges 270 can be disposed on and / or along multiple spokes 219 and / or multiple strain concentration elements near the central hub 215, where the largest amount of strain occurs. Figure 13BAs seen in at least some embodiments, a first strain gauge 270a may be disposed on a first side of the plurality of spokes 219, and a second strain gauge 270b may be disposed on a second side of the plurality of spokes 219 opposite to the first side. Although not all configurations are shown, the first strain gauge 270a and the second strain gauge 270b may be disposed on only one of the plurality of spokes 219, on two or more of the plurality of spokes 219, or on each of the plurality of spokes 219. In some embodiments, the first strain gauge 270a and the second strain gauge 270b may be used as a mating pair. When a manually applied force is applied to the first actuator 216 and / or the second actuator 217, the strain may be in a state of compression on the first side of the plurality of spokes 219 and the strain may be in a state of tension on the second side of the plurality of spokes 219, or vice versa. Each of the strain gauges 270 (e.g., first strain gauge 270a, second strain gauge 270b, etc.) may include a signal line 269 configured to electronically connect the strain gauge 270 to a logic controller to transmit a signal representing a manually applied force on and / or within the plurality of spokes 219 to the logic controller.

[0105] Figures 14A to 14B and Figures 15A to 15B It is shown in Figure 13 The diagram illustrates the relationship between detected strain and electrical signals sent to the first clutch mechanism 250 and / or the second clutch mechanism 260. As can be seen from the diagram, since no strain is detected over time, the electrical signals (e.g., voltage) sent to and / or received by the first clutch mechanism 250 and / or the second clutch mechanism 260 typically remain constant at a predetermined value V. As in the example above, the predetermined range, band, and / or deviation of the strain recorded on the strain gauge 270 can be within ±5.0%, 3.0%, 2.5%, 2.0%, 1.0%, 0.5%, etc., of the expected or anticipated value. Within the predetermined range, band, and / or deviation, the logic controller can record no change in strain. In the example shown, the dashed lines correspond to strain gauges 270 (e.g., the first strain gauge) associated with the first clutch mechanism 250 and / or the first actuator 216, and the solid lines correspond to strain gauges 270 (e.g., the second strain gauge) associated with the second clutch mechanism 260 and / or the second actuator 217. Therefore, the correlation between the lack of strain and the electrical signal detected using strain gauge 270 can be easily visualized.

[0106] In one example Figure 14A and Figure 14BThe first electrical signal is interrupted and / or changed when strain above a threshold amount is detected on and / or within the first actuator 216 (e.g., rotation of the first knob), such as changing from a predetermined value V toward and / or to zero. In other cases, the first electrical signal can increase or decrease from a value when the strain is below the threshold amount. Since no strain is applied to the second actuator 217 (e.g., the second knob is not rotated), the second electrical signal remains unchanged (e.g., not interrupted) and is received by the second clutch mechanism 260 at the predetermined value V. Therefore, the first clutch mechanism 250 is released to allow movement and / or hinged engagement of the distal tip portion 206 in the first plane, while the second clutch mechanism 260 remains engaged to prevent movement and / or hinged engagement of the distal tip portion 206 in the second plane.

[0107] In another example, Figure 15A and Figure 15B The second electrical signal is interrupted and / or changed, such as from a predetermined value V toward and / or to zero, when strain above a threshold amount is detected on and / or within the second actuator 217 (e.g., rotation of the second knob). In other cases, the second electrical signal can increase or decrease from the value when the strain is below the threshold amount. Since no strain has been applied to the first actuator 216 (e.g., the first knob is not rotated), the first electrical signal remains uninterrupted and is received by the first clutch mechanism 250 at the predetermined value V. Therefore, the second clutch mechanism 260 is released to allow movement and / or hinged movement of the distal tip portion 206 in the second plane, while the first clutch mechanism 250 remains engaged to prevent movement and / or hinged movement of the distal tip portion 206 in the first plane.

[0108] Figures 16A to 16B and Figures 17A to 17B It is shown in Figure 13 The diagram illustrates the relationship between detected strain and electrical signals sent to the first clutch mechanism 250 and / or the second clutch mechanism 260. As in the example above, the predetermined range, band, and / or deviation of the strain recorded on the strain gauge 270 can be within ±5.0%, 3.0%, 2.5%, 2.0%, 1.0%, 0.5%, etc., of the expected or anticipated value. Within the predetermined range, band, and / or deviation, the logic controller can register no change in strain. In the example shown, dashed lines correspond to strain gauges 270 (e.g., the first strain gauge) associated with the first clutch mechanism 250 and / or the first actuator 216, and solid lines correspond to strain gauges 270 (e.g., the second strain gauge) associated with the second clutch mechanism 260 and / or the second actuator 217. Therefore, the correlation between the lack of strain detected using the strain gauge 270 and the electrical signal can be easily visualized.

[0109] As can be seen from the figure, due to the gradual increase and / or detection of strain over time, the electrical signals (e.g., voltage) sent to and / or received by the first clutch mechanism 250 and / or the second clutch mechanism 260 may gradually decrease from a predetermined value V toward zero and / or decrease to zero. The gradual increase of strain and / or the gradual change (e.g., decrease or increase) of the electrical signals (e.g., voltage) sent to and / or received by the first clutch mechanism 250 and / or the second clutch mechanism 260 can generate, cause, and / or be associated with the gradual release of the first clutch mechanism 250 and / or the second clutch mechanism 260, such that the resistance to movement and / or articulation of the distal tip portion 206 in the first plane and / or the second plane, respectively, also gradually decreases and / or is released. In this alternative relationship, the first clutch mechanism 250 and / or the second clutch mechanism 260 can each act as a braking mechanism for their respective pulleys 251 / 261, wherein a higher detected strain and / or a greater manually applied force F indicates an intention to move and / or hinge the distal tip portion 206 further and / or faster compared to a lower detected strain and / or a lesser manually applied force F. However, as described above, when the manually applied force F is released and / or removed, the first clutch mechanism 250 and / or the second clutch mechanism 260 can immediately lock the distal tip portion 206 in its current configuration and / or position, thereby preventing further movement and / or hinge of the distal tip portion 206 in the first plane and / or the second plane, respectively.

[0110] In one example Figure 16A and Figure 16B The diagram shows that when strain exceeding a threshold amount is detected on and / or within the first actuator 216 (e.g., rotation of the first knob), the first electrical signal gradually changes, such as changing from a predetermined value V toward and / or to zero. Since no strain is applied to the second actuator 217 (e.g., the second knob is not rotated), the second electrical signal remains unchanged (e.g., uninterrupted) and is received by the second clutch mechanism 260 at the predetermined value V. Therefore, the first clutch mechanism 250 is gradually released to allow movement and / or hinged engagement of the distal tip portion 206 in the first plane, while the second clutch mechanism 260 remains engaged to prevent movement and / or hinged engagement of the distal tip portion 206 in the second plane.

[0111] In another example, Figure 17A and Figure 17BThe diagram shows that when strain exceeding a threshold amount is detected on and / or within the second actuator 217 (e.g., rotation of the second knob), the second electrical signal gradually changes from a predetermined value V toward and / or to zero. Since no strain is applied to the first actuator 216 (e.g., the first knob is not rotated), the first electrical signal remains unchanged (e.g., uninterrupted) and is received by the first clutch mechanism 250 at the predetermined value V. Therefore, the second clutch mechanism 260 is gradually released to allow movement and / or hinged engagement of the distal tip portion 206 in the second plane, while the first clutch mechanism 250 remains engaged to prevent movement and / or hinged engagement of the distal tip portion 206 in the first plane.

[0112] Figure 18 yes Figure 13 A partial cross-sectional end view shows another example configuration of selected internal components of the endoscope 200, the first clutch mechanism 250, and the second clutch mechanism 260. In at least some embodiments, the first clutch mechanism 250 and / or the second clutch mechanism 260 may be constructed in a manner similar to the clutch mechanism 150 described herein, and for the sake of brevity, selected details are not repeated. Figure 18 In the configuration, the first strain gauge 271 may be located on and / or may be part of the first shaft that connects the first actuator 216 to the first pulley 251, and / or the second strain gauge 272 may be located on and / or may be part of the second shaft that connects the second actuator 217 to the second pulley 261. In some embodiments, the endoscope 200 may include only the first strain gauge 271, or the endoscope 200 may include only the second strain gauge 272, or the endoscope 200 may include both the first strain gauge 271 and the second strain gauge 272. Figure 18 Other aspects of the example can be similar to Figure 13 and / or Figure 13A Examples and / or the same thereof. In some embodiments, combinations of strain gauge 270, first strain gauge 271, strain gauge 272 and / or other configurations of strain gauges disclosed herein are also contemplated.

[0113] Figure 19 Another example configuration of the endoscope 200 is shown. Figure 19In this embodiment, the endoscope 200 may include a first touch sensor 290 associated with and / or disposed on the first actuator 216, and a second touch sensor 292 associated with and / or disposed on the second actuator 217. In some embodiments, the first non-motorized and non-ratchet mechanism of the endoscope 200 may include the first touch sensor 290, configured to detect the hand of a user or physician in contact with the first non-motorized and non-ratchet mechanism. In some embodiments, the first touch sensor 290 may be configured to detect the thumb of a physician in contact with the first actuator 216. In some embodiments, the first touch sensor 290 may include a tactile resistive strip disposed on the outer surface of the first actuator 216. In some embodiments, the first touch sensor 290 may include one or more touch sensors, at least one touch sensor, and / or multiple touch sensors. In some embodiments, the first actuator 216 may include the first touch sensor 290 disposed thereon, for example, as shown in the image. Figure 19 As shown in the figure. In some embodiments, the first touch sensor 290 may be disposed on the radially outward surface, the outward-facing surface, and / or the circumferential surface of the first actuator 216. Other configurations are also conceivable.

[0114] In some embodiments, the second non-motorized and non-ratcheted mechanism of the endoscope 200 may include a second touch sensor 292 configured to detect a user's or physician's hand in contact with the second non-motorized and non-ratcheted mechanism. In some embodiments, the second touch sensor 292 may be configured to detect a physician's thumb in contact with the second actuator 217. In some embodiments, the second touch sensor 292 may include a tactile resistive strip disposed on the outer surface of the second actuator 217. In some embodiments, the second touch sensor 292 may include one or more touch sensors, at least one touch sensor, and / or multiple touch sensors. In some embodiments, the second actuator 217 may include the second touch sensor 292 disposed thereon, for example, as shown in the image. Figure 19 As shown in the figure. In some embodiments, the second touch sensor 292 may be disposed on the radially outward surface, the outward-facing surface, and / or the circumferential surface of the second actuator 217. Other configurations are also conceivable.

[0115] In some embodiments, when the first touch sensor 290 detects that the physician's hand and / or the physician's thumb is in contact with the handle 202, the first actuator 216 and / or the first non-motorized and non-ratchet mechanism, the first touch sensor 290 may be configured to change (e.g., interrupt) the first electrical signal (e.g., voltage) sent to the first clutch mechanism 250, and when the first touch sensor 290 does not detect that the physician's hand and / or the physician's thumb is in contact with the handle 202, the first actuator 216 and / or the first non-motorized and non-ratchet mechanism, the first electrical signal (e.g., voltage) may be sent to and / or received by the first clutch mechanism 250. In some embodiments, when the second touch sensor 292 detects that the physician's hand and / or the physician's thumb is in contact with the handle 202, the second actuator 217 and / or the second non-motorized and non-ratchet mechanism, the second touch sensor 292 may be configured to change (e.g., interrupt) the second electrical signal (e.g., voltage) sent to and / or received by the second clutch mechanism 260, and when the second touch sensor 292 does not detect that the physician's hand and / or the physician's thumb is in contact with the handle 202, the second actuator 217 and / or the second non-motorized and non-ratchet mechanism, the second electrical signal (e.g., voltage) may be sent to and / or received by the second clutch mechanism 260.

[0116] In some embodiments, when the first touch sensor 290 does not detect contact between the physician's hand and / or the physician's thumb and the handle 202, the first actuator 216, and / or the first non-motorized and non-ratchet mechanism, a first electrical signal may be sent to and / or received by the first clutch mechanism 250, thereby locking the distal tip portion 206 in its current shape and / or position within the first plane, and additionally preventing movement and / or hinged engagement of the distal tip portion 206 within the first plane. In some embodiments, when the second touch sensor 292 does not detect contact between the physician's hand 10 and / or the physician's thumb 12 and the handle 202, the second actuator 217, and / or the second non-motorized and non-ratchet mechanism, a second electrical signal may be sent to and / or received by the second clutch mechanism 260, thereby locking the distal tip portion 206 in its current shape and / or position within the second plane, and additionally preventing movement and / or hinged engagement of the distal tip portion 206 within the second plane.

[0117] Figures 14A to 14B and Figures 15A to 15B The diagram shown can be applied in a similar manner. Figure 19 The configuration includes a strain applied to a first actuator 216 corresponding to the detection of contact between the physician's hand and / or the physician's thumb and a first touch sensor 290, and a strain applied to a second actuator 217 corresponding to the detection of contact between the physician's hand and / or the physician's thumb and a second touch sensor 292. Figure 19In the context of the above, the dashed lines will correspond to the first touch sensor 290 associated with the first clutch mechanism 250 and / or the first actuator 216, and the solid lines will correspond to the second touch sensor 292 associated with the second clutch mechanism 260 and / or the second actuator 217.

[0118] For example, in Figure 19 In this context, Figure 14A The diagram will correspond to the second touch sensor 292 not detecting the physician's hand and / or the physician's thumb in contact with the handle 102, the second actuator 217 and / or the second non-motorized and non-ratchet mechanism. Figure 14A and Figure 14B The diagram shown corresponds to a physician's hand and / or thumb not in contact with the second touch sensor 292, wherein a second electrical signal (e.g., voltage) is sent to the second clutch mechanism 260 at a predetermined value V to engage the second clutch mechanism 260 and / or lock the distal tip portion 206 in its current shape and / or position within the second plane, and further prevent movement and / or hinge of the distal tip portion 206 within the second plane. Additionally, Figure 14A The above figure corresponds to the first touch sensor 290 detecting that the physician's hand and / or the physician's thumb are in contact with the handle 102, the first actuator 216 and / or the first non-motorized and non-ratchet mechanism, wherein the first electrical signal (e.g., voltage) can be changed (e.g., interrupted), thus releasing the first clutch mechanism 250 and / or allowing the distal tip portion 206 to move and / or hinge in the first plane.

[0119] exist Figure 19 In this context, Figure 15A The left side of the diagram corresponds to the first touch sensor 290 not detecting the physician's hand and / or the physician's thumb in contact with the handle 102, the first actuator 216 and / or the first non-motorized and non-ratchet mechanism. Figure 15A and Figure 15B The diagram shown corresponds to a physician's hand and / or thumb not in contact with the first touch sensor 290, wherein a first electrical signal (e.g., voltage) is sent to the first clutch mechanism 250 at a predetermined value V to engage the first clutch mechanism 250 and / or lock the distal tip portion 206 in its current shape and / or position within the first plane, and further prevent movement and / or hinge of the distal tip portion 206 within the first plane. Additionally, Figure 15A The above figure corresponds to the second touch sensor 292 detecting that the physician's hand and / or the physician's thumb are in contact with the handle 102, the second actuator 217 and / or the second non-motorized and non-ratchet mechanism, wherein the second electrical signal can be altered (e.g., interrupted), thus releasing the second clutch mechanism 260 and / or allowing the distal tip portion 206 to move and / or hinge in the second plane.

[0120] Additionally, in some embodiments, Figures 16A to 16B and Figures 17A to 17B The diagram shown can also be applied in a similar manner. Figure 19 The construction and background are described below. In some embodiments, in response to a predetermined configuration associated with the first touch sensor 290, a first electrical signal (e.g., voltage) sent to and / or received by the first clutch mechanism 250 may gradually change, such as decreasing from a predetermined value V toward and / or to zero. This gradual change in the first electrical signal (e.g., voltage) sent to and / or received by the first clutch mechanism 250 may produce, cause, and / or be associated with a gradual release of the first clutch mechanism 250, such that resistance to movement and / or articulation of the distal tip portion 206 in the first plane also gradually decreases and / or is released. In this alternative relationship, the first clutch mechanism 250 may function as a braking mechanism similar to the configuration described above. Similarly, in some embodiments, in response to a predetermined configuration associated with the second touch sensor 292, a second electrical signal (e.g., voltage) sent to and / or received by the second clutch mechanism 260 may gradually change, such as decreasing from a predetermined value V toward and / or to zero. A gradual change (e.g., increase or decrease) in the second electrical signal (e.g., voltage) sent to and / or received by the second clutch mechanism 260 can generate, cause, and / or be associated with a gradual release of the second clutch mechanism 260, such that the resistance to movement and / or articulation of the distal tip portion 206 in the second plane also gradually decreases and / or is released. In this alternative relationship, the second clutch mechanism 260 can function as a braking mechanism similar to the configuration described above.

[0121] In some embodiments, the present invention relates to an accessory clutch system 300 for use with an articulated endoscope (e.g., endoscope 100, etc.). It can be... Figure 20 An example of an accessory clutch system 300 is seen in the image. In some embodiments, the accessory clutch system 300 may include a housing 310 configured to matingly attach to a handle 102 of an endoscope 100, wherein the handle 102 includes a distal tip portion 106 configured to hinge to a distal tip portion (not in the image). Figure 20The illustrated embodiment is a non-motorized, non-ratchet mechanism. It should be understood that the illustrated embodiment is merely exemplary, and the attachment clutch system 300 can be designed for use with other articulated endoscopes and / or their handles. In some embodiments, the non-motorized, non-ratchet mechanism may include an actuator 116. In some embodiments, the actuator 116 may be movably coupled to the handle 102. In some embodiments, the actuator 116 may be configured to engage and / or actuate the non-motorized, non-ratchet mechanism. The distal tip portion 106 may articulate in response to a manually applied force applied to the handle 102 and / or the actuator 116. The attachment clutch system 300 may be configured such that removing the manually applied force locks the distal tip portion 106 in its current configuration and / or position.

[0122] In some embodiments, the accessory clutch system 300 may include a clutch mechanism 350 fixed to the housing 310, wherein the clutch mechanism 350 may be configured to releasably engage an actuator 116 of the endoscope 100, wherein the actuator 116 is disposed on the exterior of the handle 102 of the endoscope 100. For example, the outer surface of the clutch mechanism 350 may releasably and / or matingly engage with the outer surface and / or outer contour of the actuator 116.

[0123] In at least some embodiments, the housing 310 may include a retaining structure 320 configured to surround at least a portion of the handle 102 of the endoscope 100. In some embodiments, the retaining structure 320 may include a strip. In some embodiments, the retaining structure 320 may include a latch. In some embodiments, the retaining structure 320 may include a removable element configured to releasably engage with the housing 102. In some embodiments, the removable element may include a hook and loop closure (e.g., Velcro®, etc.), a spring member having a hook at one or both ends, and a corresponding hole or plurality of holes or other suitable structure in the housing 310. In some embodiments, the retaining structure 320 may be disposed adjacent to the distal end of the housing 310 and may be configured to surround at least a portion of the grip area 118 of the handle 102. Other configurations are also contemplated.

[0124] In some embodiments, the clutch mechanism 350 may be actuated in response to an electrical signal, wherein the clutch mechanism 350 is configured to prevent movement and / or hinged of the distal tip portion 106 of the endoscope 100 when an electrical signal is provided to and / or received by the clutch mechanism 350, thereby effectively locking the distal tip portion 106 in its current configuration and / or position. In some embodiments, the clutch mechanism 350 may be configured to release when the electrical signal changes, such as when it is interrupted and / or when the electrical signal is not received by the clutch mechanism 350, thereby allowing movement and / or hinged of the distal tip portion 106 of the endoscope 100 in the absence of an electrical signal.

[0125] In some embodiments, the clutch mechanism 350 may include a clutch housing 356 configured to non-rotatably engage the clutch mechanism 350 with a housing 310. The clutch mechanism 350 may be constructed in a manner similar to and / or the same as that of the clutch mechanism 150 discussed herein and / or using similar and / or the same components. An armature and a rotor may be disposed within the clutch housing 356. The armature may be non-rotatably engaged with the clutch housing 356. The rotor may be configured to rotate freely relative to the armature and / or the clutch housing 356 when an electrical signal is at a first level, or in the absence of an electrical signal and / or when the clutch mechanism 350 does not receive an electrical signal. Conversely, the rotor may be configured to lock to and / or relative to the armature when an electrical signal changes from the first level to a second level different from the first level, such as when a greater than zero electrical signal is received by the clutch mechanism 350. In at least some embodiments, when an electrical signal is received by the clutch mechanism 350, the rotor becomes energized and exerts a magnetic attraction on the armature. When the rotor engages the armature, rotation of the rotor shaft 354 is prevented, which in turn prevents rotation of the actuator 116. Therefore, the clutch mechanism 350 is configured to prevent the hinge of the distal tip portion 106 when an electrical signal is received by the clutch mechanism 350, thereby effectively locking the distal tip portion 106 in its current configuration and / or position.

[0126] In at least some embodiments, the accessory clutch system 300 and / or clutch mechanism 350 may include and / or be connected to a power source. In some embodiments, the power source may be a battery or other self-contained power source disposed within the clutch housing 356. In some embodiments, the power source may be a battery or other self-contained power source disposed within a cover disposed above the clutch mechanism 350 and / or clutch housing 356. In some embodiments, the accessory clutch system 300 and / or clutch mechanism 350 may be electrically connected to the handle 102 of the endoscope 100 to receive power therefrom.

[0127] In some embodiments, the strain gauge may be configured to detect manually applied forces. In some embodiments, the strain gauge may include one or more strain gauges, at least one strain gauge, and / or multiple strain gauges. In some embodiments, the strain gauge may be incorporated into the clutch mechanism 350 and configured to detect manually applied forces transmitted by the actuator 116. In some embodiments, the strain gauge may be a secondary feature added to the handle 102 and / or actuator 116 when the housing 310 is secured to and / or engaged with the handle 102. In some embodiments, the electrical signal may change (e.g., be interrupted) in response to strain detected by the strain gauge. Thus, when the strain gauge detects a manually applied force exceeding a threshold amount, the clutch mechanism 350 may be released, thereby allowing the hinge of the distal tip portion 106.

[0128] In some embodiments, when the strain gauge detects a manually applied force above a threshold amount applied to the handle 102 and / or actuator 116, the logic controller (e.g., a circuit board) may interpret this as representing an intention by the physician to move and / or hinge the distal tip portion 106 from its current shape and / or position, and / or to further move and / or hinge the distal tip portion 106. In some embodiments, due to the detection of strain over time, the electrical signals (e.g., voltage) sent to and / or received by the clutch mechanism 350 may change, for example, be interrupted and decrease from a predetermined value toward zero and / or drop to zero.

[0129] In some embodiments, due to the gradual increase and / or detection of strain over time, the electrical signals (e.g., voltage) sent to and / or received by the clutch mechanism 350 may gradually change, such as gradually decreasing from a predetermined value toward zero and / or decreasing to zero. The gradual increase in strain and / or the gradual change (e.g., enhancement or reduction) in the electrical signals (e.g., voltage) sent to and / or received by the clutch mechanism 350 can produce, cause, and / or be associated with a gradual release of the clutch mechanism 350, such that the resistance to movement and / or articulation of the distal tip portion 106 also gradually decreases and / or is released. In this relationship, the clutch mechanism 350 can act as a braking mechanism, where a higher detected strain and / or a larger manually applied force indicates an intention to move and / or articulate the distal tip portion 106 further and / or faster compared to a lower detected strain and / or a smaller manually applied force. However, as described above, when the manually applied force is released and / or removed, the clutch mechanism 350 can immediately lock the distal tip portion 106 in its current shape and / or position and thus prevent further movement and / or articulation of the distal tip portion 106.

[0130] In some embodiments, the housing 310 includes an actuable button 330 disposed thereon. In some embodiments, the actuable button 330 may include one or more actuable buttons, at least one actuable button, and / or multiple actuable buttons. In some embodiments, the actuable button 330 may be configured to, when the actuable button 330 is in the depressed position, alter (e.g., interrupt) the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 350 when the actuable button 330 is in the depressed position, relative to the electrical signal (e.g., voltage) that can be sent to the clutch mechanism 350 when the actuable button 330 is in the released position.

[0131] In some embodiments, the actuable button 330 may be configured as a trigger actuated by a physician's finger, while the actuator 116 may be configured to be actuated and / or moved by a physician's thumb. Other configurations are also conceivable. The position of the actuable button 330 may function in a manner similar to and / or the same as that of the strain gauge described above. Alternatively, the strain gauge may be included on the actuable button 330 in a manner similar to that described above.

[0132] In some embodiments, when the actuated button 330 is in the released position (e.g., the strain on the actuated button 330 is zero), an electrical signal (e.g., voltage) may be sent to and / or received by the clutch mechanism 350 at a predetermined value V to engage the clutch mechanism 350 and / or lock the distal tip portion 106 in its current configuration and / or position, and additionally prevent movement and / or hinge of the distal tip portion 106. In some embodiments, when the actuated button 330 is in the depressed position (e.g., there is strain on the actuated button 330), the electrical signal may be altered (e.g., it may be interrupted), thus releasing the clutch mechanism 350 and / or disengaging it and / or allowing movement and / or hinge of the distal tip portion 106. For example, when the actuated button 330 is in the depressed position (e.g., there is strain on the actuated button 330), the electrical signal (e.g., voltage) to the clutch mechanism 350 may be interrupted and / or no electrical signal (e.g., voltage) may be received by the clutch mechanism 350.

[0133] Additionally, in some embodiments, as the actuable button 330 gradually moves toward and / or to the depressed position (e.g., strain is applied to the actuable button 330), the electrical signal (e.g., voltage) to the clutch mechanism 350 may gradually change (e.g., be interrupted). As the position of the actuable button 330 moves toward the depressed position (e.g., strain gradually increases and / or is detected over time), the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 350 may be gradually changed, such as gradually decreasing from a predetermined value toward and / or to zero. The gradual change in the position of the actuable button 330 (e.g., a gradual increase in strain) and / or the gradual change (e.g., an increase or decrease) in the electrical signal (e.g., voltage) sent to and / or received by the clutch mechanism 350 may produce, cause, and / or be associated with a gradual release of the clutch mechanism 350, such that the resistance to movement and / or articulation of the distal tip portion 106 also gradually decreases and / or is released. In this alternative relationship, the clutch mechanism 350 can act as a braking mechanism similar to the above-described configuration.

[0134] Figures 21 to 22 An alternative configuration of an endoscope system including endoscope 200 as described herein is shown, wherein the non-motorized and non-ratchet mechanism includes a clutch mechanism 450 actuated in response to an electrical signal. The clutch mechanism 450 may be configured to prevent the distal tip portion 206 of the endoscope 200 from hinged in a first plane when an electrical signal is sent to and / or received by the clutch mechanism 450.

[0135] exist Figures 21 to 22 In its construction, the first actuator 216 may include a clutch mechanism 450 mounted thereon and / or coupled thereto. Figures 21 to 22 In the configuration, the clutch mechanism 450 can be located outside the housing 202 of the endoscope 200. For example, the clutch mechanism 450 can be connected to a first actuator 216 located outside the housing 202.

[0136] In some embodiments, the clutch mechanism 450 may include an armature 458 (e.g., a clutch disc) non-rotatably engaged with the first actuator 216. The armature 458 may be formed of a metallic material and / or a magnetically responsive material. In some embodiments, the armature 458 may include a plurality of protrusions configured to engage and / or be received by corresponding plurality of sockets formed in and / or in the first actuator 216. In at least some embodiments, the armature 458 may be fixedly attached to the first actuator 216. In some embodiments, the clutch mechanism 450 may include a rotor 459, wherein the rotor 459 is configured to rotate freely relative to the armature 458 at a first electrical signal level, or in the absence of an electrical signal and / or when the clutch mechanism 450 does not receive an electrical signal; and a coil (not shown) disposed within the rotor 459, wherein the coil is non-rotatably coupled to the first actuator 216. Thus, the rotor may be configured to rotate relative to the coil and / or the first actuator 216 at a first electrical signal level, or in the absence of an electrical signal and / or when the clutch mechanism 450 does not receive an electrical signal.

[0137] Conversely, rotor 459 can be configured to lock to and / or relative to armature 458 when the electrical signal changes from a first electrical signal level to a second electrical signal level different from the first electrical signal level, or when the electrical signal is received by clutch mechanism 450. In at least some embodiments, when the electrical signal changes or is received by clutch mechanism 450, the coil and / or rotor 459 becomes energized and generates a magnetic attraction force on armature 458. When rotor 459 engages armature 458, rotation of the rotor shaft is prevented, which in turn prevents rotation of the first actuator 216. Therefore, clutch mechanism 450 is configured to prevent hinge of distal tip portion 206 in the first plane when the second electrical signal level is received by clutch mechanism 450 or when the electrical signal is received by clutch mechanism 450, thereby effectively locking distal tip portion 206 in its present shape and / or position in the first plane.

[0138] In some embodiments, the clutch mechanism 450 may be configured to operate and / or function in a manner opposite to that described above. For example, in some embodiments, the rotor 459 may be configured to lock to and / or relative to the armature 458 when there is no electrical signal and / or when the clutch mechanism 450 cannot receive an electrical signal. Thus, the clutch mechanism 450 may be configured to prevent the hinge of the distal tip portion 206 when the clutch mechanism 450 does not receive an electrical signal, thereby locking the distal tip portion 206 in its current configuration and / or position. In some embodiments, when an electrical signal is received by the clutch mechanism 450, the rotor 459 becomes de-energized (and / or the magnetic poles of the rotor 459 reverse), the magnetic attraction to the armature 458 terminates, releasing the clutch mechanism 450 and allowing the hinge of the distal tip portion 206. Thus, when an electrical signal is received by the clutch mechanism 450, the rotor 459 may be configured to rotate freely relative to the armature 158, thereby allowing and / or enabling movement of the distal tip portion 206.

[0139] In some embodiments, the clutch mechanism 450 may include a battery 492 and / or a control board 494, such that the clutch mechanism 450 can be substantially self-contained within a cover 490 coupled to the first actuator 216. In at least some embodiments, the cover 490 may be removably coupled to the first actuator 216 to allow access to one or more components of the clutch mechanism 450 for servicing and / or replacement of one or more components. In some embodiments, the cover 490 may be fixedly attached to the first actuator 216. In some embodiments, the clutch mechanism 450 may be electrically connected to a power source external to the clutch mechanism 450 (e.g., endoscope 200, external battery, etc.).

[0140] In some embodiments, the endoscope 200 having a clutch mechanism 450 may include a second non-motorized, non-ratcheted mechanism comprising a second clutch mechanism actuated in response to an electrical signal, as described herein. The second clutch mechanism may be configured to prevent the distal tip portion 206 of the endoscope 200 from hinged in a second plane when an electrical signal is sent to and / or received by the second clutch mechanism 450. In some embodiments, the second non-motorized, non-ratcheted mechanism may include a second actuator 217, and the second clutch mechanism may be configured to selectively engage the second actuator 217, as described herein. In some embodiments, the second clutch mechanism may be disposed within the housing 202 of the endoscope 200. Other configurations are also contemplated.

[0141] In some embodiments, the clutch mechanism and / or endoscope described herein may include one or more safety mechanisms configured to prevent tissue damage and / or damage to the endoscope itself. In some embodiments, the endoscope may include one or more features designed to prevent tissue damage if it is “locked” in a bent or deflected configuration and the user attempts to pull the endoscope out of the patient’s anatomy. In some embodiments, the endoscope may include an on / off indicator (e.g., a light, LED, etc.) that indicates to the user whether the clutch mechanism is engaged and / or locked, and / or enabled or disabled. In some embodiments, the endoscope may include a pressure sensor or other feedback device on the distal tip portion. In one example, if the pressure on the distal tip portion exceeds a predetermined threshold, the pressure sensor or other feedback device may disengage and / or release the clutch mechanism to allow movement of the distal tip portion. Alternatively, strain gauges on cables, wires, or filaments engaged with pulleys, or optical strain gauge fibers, may be used to infer the pressure applied by the endoscope to adjacent tissue. In any case, the safety threshold for pressure or strain can be an adjustable input variable that the user can select and / or adjust before and / or during the procedure. When the pressure or strain exceeds the safety threshold, the clutch mechanism can be fully disengaged and / or released, or it can be dynamically partially disengaged to maintain the pressure or strain at or just below the safety threshold. In some embodiments, the user can choose between these options as another user input factor. In some embodiments, there may be more than one safety threshold for pressure or strain. For example, there may be a first safety threshold to ensure that the pressure or strain does not exceed the threshold when the user does not engage and / or actuate the actuator (e.g., when advancing or retracting the endoscope). In some embodiments, there may be a second safety threshold that generates an audible and / or visible alarm warning the user of potential harm when the user activates the actuator. In some embodiments, the maximum permissible pressure or strain (e.g., the safety threshold) can be a function of the shape of the endoscope body and / or the distal tip portion, and / or the position of the endoscope within the patient's anatomy. For example, real-time shape sensing of the endoscope can be enabled using fiber Bragg grating optical fibers or other optical fibers. In some embodiments, the safety threshold can be activated and / or deactivated by the user via voice commands, buttons on the endoscope, touchscreen controls, or other methods. In some embodiments, the clutch mechanism can be activated, deactivated, locked, and / or released by the user at any time using voice or other controls.

[0142] In some embodiments, the clutch mechanism and / or endoscope described herein can be used in conjunction with and / or in collaboration with a robot-actuated surgical system. For example, the clutch mechanism and / or endoscope described herein can be used to hold the distal tip portion in place during tool changes. Other constructions and / or uses associated with robotics are also conceivable.

[0143] In some embodiments, the clutch mechanism and / or endoscope described herein may include a configuration in which proportional and / or variable level control can be applied to and / or used on the distal tip portion. In some embodiments, the clutch mechanism and / or brake can be rapidly flipped open and closed. In some embodiments, the clutch mechanism and / or brake can receive and / or be affected by a proportional electrical signal that directly affects the load on the clutch mechanism and / or brake. For example, an endoscope system may be configured to place the endoscope in a training configuration, where it may be more difficult to move the control knob when the user does not follow optimal movement. In another example, the endoscope system may be configured in a manner that makes it more difficult to position and / or place the endoscope and / or the distal tip portion in a configuration that would damage tissue and / or the endoscope itself. Other configurations are also contemplated.

[0144] In some embodiments, the clutch mechanism and / or endoscope described herein may include a position sensor (e.g., a potentiometer, encoder, Hall effect sensor, etc.) that may be incorporated into the control of the electrical signal. The position sensor may be configured to change the threshold at which the electrical signal causes the clutch mechanism to lock and / or release. In some cases, with the distal tip fully articulated, if the logic controller waits until the manually applied force and / or the strain detected on the actuator returns to zero, the actuator may be allowed to rotate in a rearward direction (thus allowing the distal tip to move back toward the neutral configuration) before the clutch mechanism re-engages. Slight or subtle modifications to the point where the electrical signal is sent to or interrupted (depending on the embodiment / configuration) can engage the clutch mechanism before all manually applied forces are removed, preventing the actuator from moving and / or actuating the distal tip. That is, the position sensor may be used to modify the electrical signal so that the distal tip may be locked in its position and / or configuration before the manually applied force is completely and / or entirely removed.

[0145] In some embodiments, the use of a clutch mechanism may also refer to the use of a brake or other device that impedes movement or the application of force. A clutch can be considered a mechanical device that typically engages or disengages the transmission of torque or force by applying contact pressure. In some embodiments, a dedicated brake may be used in place of or as a supplement to the clutch mechanism.

[0146] Those skilled in the art will recognize that embodiments of the invention can be embodied in various forms beyond the specific embodiments described and envisioned herein. Therefore, deviations in form and detail may occur without departing from the scope and spirit of the invention as set forth in the appended claims.

[0147] Materials that can be used in the systems and various components disclosed herein may include those commonly associated with medical devices. For simplicity, the following discussion refers to the system. However, this is not intended to limit the devices and methods described herein, as the discussion can be applied to other elements, components, parts or devices disclosed herein, such as, but not limited to, handles, elongated shafts, actuators, clutch mechanisms, pulleys, rotatable knobs, levers, actuable buttons, distal tip portions, housings, etc., and / or their components or parts.

[0148] In some embodiments, the system and / or its components may be made of metal, metal alloy, polymer (some examples of which are disclosed below), metal-polymer composites, ceramics, combinations thereof, or other suitable materials.

[0149] Some examples of suitable polymers may include polytetrafluoroethylene (PTFE), ethylene tetrafluoroethylene (ETFE), fluorinated ethylene propylene (FEP), polyoxyethylene (POM, e.g., DELRIN® available from DuPont), polyether block copolymers, polyurethanes (e.g., polyurethane 85A), polypropylene (PP), polyvinyl chloride (PVC), polyether copolymers (e.g., ARNITEL® available from DSM EngineeringPlastics), ether- or ester-based copolymers (e.g., phthalate / poly(hydrocarbon ether) and / or other polyester elastomers, such as HYTREL® available from DuPont), polyamides (e.g., DURETHAN® available from Bayer or CRISTAMID® available from Elf Atochem), elastomeric polyamides, block polyamides / ethers, polyether block amides (PEBA, e.g., available under the trade name PEBAX®), ethylene-vinyl acetate copolymers (EVA), silicones, polyethylene (PE), MARLEX® high-density polyethylene, MARLEX® low-density polyethylene, Linear low-density polyethylene (e.g., REXELL®), polyester, polybutylene terephthalate (PBT), polyethylene terephthalate (PET), polypropylene terephthalate, polyethylene naphthalate (PEN), polyetheretherketone (PEEK), polyimide (PI), polyetherimide (PEI), polyphenylene sulfide (PPS), polyphenylene ether (PPO), poly(p-phenylene terephthalamide) (e.g., KEVLAR®), polysulfone, nylon, nylon-12 (such as GRILAMID®, commercially available from EMS American Grilon), perfluoro(propyl vinyl ether) (PFA), ethylene-vinyl alcohol, polyolefins, polystyrene, epoxy resins, polyvinylidene chloride (PVdC), poly(styrene-b-isobutylene-b-styrene) (e.g., SIBS and / or SIBS 50A), polycarbonate, polyurethane silicone copolymers (e.g., Aortech) Biomaterials' ElastEon® or AdvanSource Biomaterials' ChronoSil®), biocompatible polymers, other suitable materials, or mixtures, combinations, copolymers, polymer / metal composites, etc. In some embodiments, the sheath may be blended with a liquid crystal polymer (LCP). For example, the blend may contain up to about 6% LCP.

[0150] Some examples of suitable metals and metal alloys include stainless steels such as 304V, 304L, and 316LV stainless steels; low-carbon steels; nickel-titanium alloys such as linear elastic and / or hyperelastic nickel-titanium; other nickel alloys such as nickel-chromium-molybdenum alloys (e.g., UNS: N06625, such as INCONEL® 625; UNS: N06022, such as HASTELLOY® C-22®; UNS: N10276, such as HASTELLOY® C276®, other HASTELLOY® alloys, etc.), nickel-copper alloys (e.g., UNS: N04400, such as MONEL® 400, NICKELVAC® 400, NICORROS® 400, etc.), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035, such as MP35-N®, etc.), and nickel-molybdenum alloys (e.g., UNS: N10665, such as HASTELLOY® ALLOY). B2®, other nickel-chromium alloys, other nickel-molybdenum alloys, other nickel-cobalt alloys, other nickel-iron alloys, other nickel-copper alloys, other nickel-tungsten or tungsten alloys, etc.; cobalt-chromium alloys; cobalt-chromium-molybdenum alloys (e.g., UNS: R30003, such as ELGILOY®, PHYNOX®, etc.); platinum-rich stainless steel; titanium; platinum; palladium; gold; combinations thereof; or any other suitable material.

[0151] In at least some embodiments, part or all of the system and / or its components may also be doped with, made of, or otherwise included in a radiopaque material. Radiopaque materials are understood to be capable of producing a relatively bright image on a fluorescent fluoroscopic screen or using another imaging technique during medical procedures. This relatively bright image helps the user of the system determine its location. Some examples of radiopaque materials may include, but are not limited to, gold, platinum, palladium, tantalum, tungsten alloys, polymeric materials loaded with radiopaque fillers, etc. Additionally, other radiopaque marking strips and / or coils may also be incorporated into the system design to achieve the same result.

[0152] In some embodiments, a degree of magnetic resonance imaging (MRI) compatibility is imparted to the systems and / or other elements disclosed herein. For example, the system and / or its components or portions may be made of materials that substantially do not distort images and create a large number of artifacts (i.e., gaps in the image). For example, certain ferromagnetic materials may be unsuitable because they may create artifacts in MRI images. The system or portions thereof may also be made of materials that an MRI machine can image. Some materials exhibiting these properties include, for example, tungsten, cobalt-chromium-molybdenum alloys (e.g., UNS: R30003, such as ELGILOY®, PHYNOX®, etc.), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035, such as MP35-N®, etc.), nickel-titanium, etc.

[0153] In some embodiments, the system and / or other elements disclosed herein may include suitable therapeutic agents and / or be treated therewith. Some examples of suitable therapeutic agents may include anticoagulants (such as heparin, heparin derivatives, urokinase, and PPack (d-phenylalanine-proline-arginine-chloromethyl ketone); antiproliferative agents (such as enoxaparin, angiopeptidase, monoclonal antibodies that block smooth muscle cell proliferation, hirudin, and acetylsalicylic acid); anti-inflammatory drugs (such as dexamethasone, prednisolone, corticosteroids, budesonide, estrogens, sulfasalazine, and mesalazine); antitumor / antiproliferative / antimitotic agents (such as paclitaxel, 5-fluorouracil, cisplatin, vincristine, vinblastine, epothilone, endostatin, angiostatin, and thymidine kinase inhibitors); anesthetics (such as lidocaine, bupivacaine, and ropivacaine); and anticoagulants (such as D-Phe-Pro-Arg chloromethyl ketone). Ketones, compounds containing RGD peptides, heparin, antithrombin compounds, platelet receptor antagonists, antithrombin antibodies, antiplatelet receptor antibodies, aspirin, prostaglandin inhibitors, platelet inhibitors, and tick antiplatelet peptides; angiogenesis promoters (such as growth factor inhibitors, growth factor receptor antagonists, transcription activators, and translation promoters); angiogenesis inhibitors (such as growth factor inhibitors, growth factor receptor antagonists, transcription repressors, translation repressors, replication inhibitors, inhibitory antibodies, antibodies against growth factors, bifunctional molecules composed of growth factors and cytotoxins, and bifunctional molecules composed of antibodies and cytotoxins); cholesterol lowering agents; vasodilators; and agents that interfere with endogenous vasoactive mechanisms.

[0154] It should be understood that the present invention is merely illustrative in many respects. Changes may be made in details, particularly in terms of shape, size, and arrangement of steps, without departing from the scope of the invention. To the appropriate extent, this may include the use of any of the features of an example embodiment used in other embodiments. Of course, the scope of the invention is defined by the language of the appended claims.

Claims

1. An endoscope system comprising: An endoscope, the endoscope including a handle and an elongated shaft extending distally therefrom; The handle includes a non-motorized, non-ratchet mechanism configured to hinge the distal end portion of the elongated shaft. The non-motorized, non-ratchet mechanism includes an actuator and a sensor disposed outside the handle; and The non-motorized and non-ratchet mechanism further includes a clutch mechanism that can be actuated in response to an electrical signal generated by the sensor in response to a manually applied force detected to the actuator. The distal end portion is hinged in response to a manually applied force applied to the handle; Specifically, removing the manually applied force locks the distal tip portion in its current shape.

2. The endoscope system of claim 1, wherein the actuator includes a rotatable knob configured to hinge the distal tip portion.

3. The endoscope system of claim 1, wherein the actuator includes a control lever configured to hinge the distal tip portion.

4. The endoscope system of claim 1, wherein the clutch mechanism is configured to prevent hinge of the distal tip portion when the electrical signal changes.

5. The endoscope system of claim 1, wherein the non-motorized and non-ratchet mechanism includes a strain gauge configured to detect the manually applied force.

6. The endoscope system of claim 5, wherein the electrical signal changes in response to strain detected using the strain gauge.

7. The endoscope system of claim 6, wherein the clutch mechanism is released when the manually applied force is detected using the strain gauge.

8. The endoscope system of claim 1, wherein the non-motorized and non-ratchet mechanism includes a touch sensor configured to detect a user's hand in contact with the non-motorized and non-ratchet mechanism.

9. The endoscope system of claim 4, wherein the endoscope includes an actuable button disposed on the handle, the actuable button being configured to change the electrical signal to the clutch mechanism when the actuable button is pressed.

10. An endoscope system comprising: An endoscope, the endoscope including a handle and an elongated shaft extending distally therefrom; An actuation mechanism configured to hinge the distal end portion of the elongated shaft, wherein the actuation mechanism includes an actuator and a sensor disposed outside the handle; as well as A clutch mechanism that can be actuated between an engaged state and a disengaged state; The distal tip portion is hinged in response to a manually applied force applied to the actuation mechanism; In response to a first electrical signal level generated by the sensor when no manual force is applied to the actuation mechanism, the clutch mechanism is in the engagement state to prevent the hinge of the distal tip portion; In response to a second electrical signal level generated by the sensor, the clutch mechanism is in the disengaged state to allow articulation of the distal tip portion, the second electrical signal level being generated by the sensor in response to detecting that a manually applied force greater than a threshold amount to the actuator is applied to the actuator mechanism; The manual force is removed to switch the clutch mechanism to the engagement state and lock the distal tip portion in its current state.

11. An endoscope system comprising: An endoscope, the endoscope including a handle and an elongated shaft extending distally therefrom; The handle includes: One or more sensors; A first non-motorized, non-ratcheted mechanism is configured to hinge the distal end portion of the elongated shaft in a first plane. The first non-motorized, non-ratcheted mechanism includes an actuator configured for user actuation and a first clutch mechanism actuated in response to a first electrical signal generated by the one or more sensors in response to a manually applied force detected at the actuator. A second non-motorized and non-ratchet mechanism is configured to hinge the distal end portion of the elongated shaft in a second plane different from the first plane. The distal end portion is hinged in response to a manually applied force applied to the handle; Specifically, removing the manually applied force locks the distal tip portion in its current shape.

12. The endoscope system of claim 11, wherein the first clutch mechanism is configured to prevent the distal tip portion from hinged in the first plane upon receiving the first electrical signal.

13. The endoscope system of any one of claims 11 to 12, wherein the second non-motorized and non-ratchet mechanism includes a second clutch mechanism actuated in response to a second electrical signal, the second clutch mechanism being configured to prevent hinged engagement of the distal tip portion in the second plane upon receiving the second electrical signal.

14. An accessory clutch system for use with an articulated endoscope, comprising: A housing configured to be matingly attached to a handle of an endoscope, wherein the handle includes a non-motorized, non-ratchet mechanism configured to hinge to a distal tip portion; sensor; as well as A clutch mechanism fixed to the housing; The clutch mechanism is configured to releasably engage the actuator of the endoscope; The actuator is disposed outside the handle; The clutch mechanism is actuated in response to an electrical signal generated by the sensor in response to a manually applied force detected in the actuator. The housing includes a retaining structure configured to engage at least a portion of the handle; The distal end portion is hinged in response to a manually applied force applied to the handle; Specifically, removing the manually applied force locks the distal tip portion in its current shape.

Images