Ureteroscope devices and systems including catheter control systems and related methods

Abstract

A ureteroscope system is described that includes a handpiece, a catheter, and a control system. The handpiece has a proximal end region, a distal end region opposite the proximal end region, and an interior region. The catheter extends from the distal end region of the handpiece and includes an actively curved portion distal from the handpiece. The control system includes a sensor positioned in the interior region of the handpiece and configured to detect movement of the handpiece. The control system includes a motor positioned in the interior region of the handpiece and operably coupled to the sensor to effectively activate the motor when the sensor detects movement of the handpiece. The ureteroscope system includes one or more wires secured to the active bending portion of the catheter and adjustable in response to activation of the motor to effectively at least partially bend the active bending portion of the catheter.

Description

Background Art

[0001] Small-sized endoscopes are desirable in many industrial and medical applications. For example, when the natural orifices and cavities of the human body are small, small endoscopes are used to be inserted through these orifices and cavities to target locations in the body. For single-incision laparoscopy, smaller endoscopes are preferred to provide an in vivo view of the surgical site, especially when the incision itself has a minimal size. Sometimes, when the endoscope is inserted into the patient's body, the patient may feel pain, and a smaller endoscope can alleviate this unpleasant experience and can minimize trauma to the patient. Moreover, physicians can improve diagnostic and procedural protocols with smaller endoscopes. For example, transnasal endoscopy can sometimes replace transoral endoscopy. It is necessary to provide a ureteroscope system that potentially allows further minimization of trauma to the patient. Summary of the invention

[0002] Embodiments disclosed herein relate to ureteroscope systems and methods of operating ureteroscope systems. In one embodiment, a ureteroscope system includes a handpiece, a catheter, and a control system. The handpiece has a proximal region, a distal region opposite the proximal region, and an internal region. The catheter extends from the distal region of the handpiece and includes an active bending portion away from the handpiece. The control system includes: a sensor positioned in the internal region of the handpiece and configured to detect movement of the handpiece; a motor positioned in the internal region of the handpiece and operably connected to the sensor, the motor being configured to be activated in response to the sensor detecting movement of the handpiece; and one or more wires fixed to the active bending portion of the catheter and adjustable in response to activation of the motor to effectively at least partially bend the active bending portion of the catheter.

[0003] In one embodiment, a method of operating a ureteroscope system is disclosed. The method includes inserting at least a distal end of a catheter of a ureteroscope into a patient, the distal end of the catheter including an image sensor and an active bending portion. The method also includes sensing movement of the handpiece using a sensor positioned in an interior region of the handpiece. The method also includes at least partially bending the active bending portion of the catheter in response to sensing movement of the handpiece. The ureteroscope includes: a motor positioned in the interior region of the handpiece and operably connected to the sensor, the motor being configured to be activated in response to the sensor detecting movement of the handpiece; and one or more wires fixed to the active bending portion of the catheter and adjustable in response to activation of the motor to effectively at least partially bend the active bending portion of the catheter.

[0004] Features from any disclosed embodiment may be used in combination with each other without limitation.In addition, other features and advantages of the present invention will become apparent to those of ordinary skill in the art by considering the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The drawings illustrate several embodiments of the present invention, wherein like reference numerals represent the same or similar elements or features throughout the different views or embodiments shown in the drawings.

[0006] Figure 1A A ureteroscope as part of an endoscope system according to an embodiment is illustrated.

[0007] Figure 1B The embodiment according to the present invention is illustrated Figure 1A End view of the distal end of the ureteroscope's catheter.

[0008] Figure 2 According to the embodiment Figure 1A Side view of the handpiece of a ureteroscope with one side of the handpiece removed.

[0009] Figure 3A and Figure 3B According to the embodiment Figure 1A A side view of a ureteroscope is shown showing automatic movement of an actively bending portion of a catheter of the ureteroscope in response to and relative to movement of a handpiece of the ureteroscope.

[0010] Figure 4 is an isometric view of a ureteroscope according to an embodiment.

[0011] Figure 5 is a schematic diagram of a controller that may be used in the systems and methods described herein, according to an embodiment.

[0012] Figure 6 is a flow chart of a method of operating a ureteroscopic system according to an embodiment. DETAILED DESCRIPTION

[0013] Embodiments disclosed herein relate to devices, systems, and methods for using an endoscope (e.g., a ureteroscope). An endoscope system includes a handpiece and a catheter. At least one, some, or all embodiments of the systems and methods described herein include a control system built into the handpiece of the ureteroscope. The configuration of the control system can produce a technical effect that allows a user to control the active bending portion of the catheter by the movement of the handpiece. For example, the configuration of at least one, some, or all embodiments of the control system described herein results in a technical effect of sensing the acceleration (e.g., movement) of the handpiece, and the processor of the system can use data or signals from the control system to provide a technical effect of determining data corresponding to at least one of the direction and / or amplitude of the movement or motion of the handpiece. Then, at least one, some, or all embodiments of the processor described herein use the data corresponding to at least one of the direction and / or amplitude of the movement of the handpiece to provide a technical effect of coordinating the movement of one or more actuators (e.g., a servo mechanism or a linear actuator) to retract or release the control wire through a mechanical mechanism. This retraction and / or release of the control wire results in the bending or other movement of the active bending portion of the catheter. The combination of features of the embodiments disclosed herein can result in smoother advancement of the catheter and thereby less trauma to the patient.In some embodiments described herein, the system may include a controller positioned on the handpiece that is configured to selectively activate and / or deactivate the control system.

[0014] Figure 1A An endoscope system 10 is illustrated. In one embodiment, the endoscope system 10 includes a digital ureteroscope 100 operably coupled to one or more electronic devices, such as a host computer 170 and one or more external terminals including a display 190 and a computer 180. The ureteroscope 100 can be operably coupled to one or more of the host computer 170, the computer 180, or the display 190 wirelessly or via a cable 102. The ureteroscope 100 includes a catheter 104 and a handpiece 110 having a catheter end (e.g., a distal region) 114 and a control end (e.g., a proximal region) 112 opposite the catheter end 114. Since the control end 112 is opposite the catheter end 114, the control end 112 and the catheter end 114 are located at different ends of the handpiece 110 and can face different directions relative to each other. In one embodiment, the catheter 104 and the handpiece 110 are both disposable. In some embodiments, the catheter 104 and the handpiece 110 are manufactured as an integral part, or the catheter 104 is fixed to the handpiece 110 via the handpiece-catheter connector 103. Alternatively, only the catheter 104 is disposable, and the handpiece 110 can be sterilized and reused multiple times. In this case, the catheter 104 is removably connected to the handpiece 110 and the catheter end 114 via the handpiece-catheter connector 103.

[0015] The catheter 104 of the ureteroscope 100 can be used to image the inner surface of a tubular structure (e.g., a lumen in a human or animal body). For example, the catheter 104 can be inserted via the urethra of a subject to access various parts of the urinary tract. However, it should be understood that the ureteroscope 100 can be used as an industrial endoscope when the tubular structure is part of an industrial device, equipment, product, machine, production line, etc. In some embodiments, the catheter 104 can be used as a tether and can include a plurality of scale marks or reference points that enable a physician to measure the distance that the optoelectronic module travels into a tubular structure such as a lumen of the body. One or more other structures can be built into the ureteroscope 100 as desired.

[0016] The catheter 104 also includes an active bending portion 106 at the distal region 105 of the catheter 104. The active bending portion 106 is configured to selectively bend in one or more directions. For example, the handpiece 110 may include a control system 200 ( Figure 2 ), which is configured to control one or more steering wires 158 ( Figure 2 ) to deflect the distal end 105 to a desired position. Thus, the user can use the control system 200 to selectively bend or bend the catheter 104, which will be described in more detail below. In some embodiments, the active bending portion 106 of the catheter 104 is made of certain flexible medical grade polymer materials to allow maneuverability of the catheter and reduce patient discomfort. The catheter 104 may include an active bending portion 106 and a passive bending portion 107. The active bending portion 106 may be substantially away from the handpiece 110 and may be controlled by one or more (e.g., two) control wires 158 (e.g., steel wires) to bend in two directions, one for bending the active bending portion 106 in a range of 0° to about 275° in one direction, and the other for bending the active bending portion 106 in the same range of degrees to the opposite direction. Other numbers of manipulation wires (e.g., 1, 3, or 4) may also be implemented herein. In contrast, the passive bending portion 107 may be between the active bending portion 106 and the handpiece 110 and may be bent according to the shape of the urinary tract during insertion. Suitable active bending portions of the catheter are disclosed in U.S. Patent No. 11,129,519 and U.S. Patent Publication No. 2018 / 0140177, the disclosures of which are incorporated herein by reference in their entirety.

[0017] Ureteroscope 100 may include an optoelectronic module (eg, a camera or other imager) for imaging the interior of a subject. Figure 1B, the optoelectronic module 109 and at least one light source 111 can be located at the distal end 105 of the catheter 104 or other locations in the catheter 104. The optoelectronic module 109 may include a micro camera module having an image sensor microchip, a set of micro lenses and a micro illumination module. Suitable optoelectronic modules are disclosed in U.S. Patent No. 9,942,452, which is incorporated herein in its entirety by this reference. In some embodiments, the optoelectronic module 109 can be positioned in a rigid or semi-rigid shell-like housing at the distal end 105, which is configured to be inserted into a tubular structure for imaging its inner surface. For example, the optoelectronic module 109 can be inserted into the patient's body through a natural body orifice (e.g., mouth, nose, urethra, bladder, vagina or anus). Therefore, the ureteroscope 100 can have different configurations for use as a gastroenteroscope, colonoscope, endoscopic ultrasound (EUS), endoscopic retrograde cholangiopancreatography (ERCP) or other suitable applications. Applications for the ureteroscope 100 include diagnostic observations associated with endometrial polyps, infertility, abnormal bleeding, and pelvic pain, as well as surgical procedures such as fetal growth arrest and uterine malformations.

[0018] The ureteroscope 100 may include a receiving device or communication interface 150 ( Figure 2 ), which is typically located outside the catheter 104 and is used to receive signals from the image sensor in the optoelectronic module 109. For example, the catheter 104 may include at least one electrical lead 162 ( Figure 2 ), which is coupled to the optoelectronic module 109 and transmits the electrical signal from the optoelectronic module 109 to the communication interface 150. The communication interface 150 can be positioned within the handpiece 110 or adjacent thereto.

[0019] The catheter 104 can be configured to couple the optoelectronic module 109 to the circuitry within the handpiece 110 in any suitable manner. For example, the availability of low-cost modular imaging system components enables the manufacture of disposable components of the ureteroscope 100 at very low cost. In one embodiment, the catheter 104 is configured to removably couple the optoelectronic module 109 to the circuitry within the handpiece 110. In this way, the catheter 104 and optoelectronic module 109 are disposable and can be removed from the handpiece 110 after a single patient use, thereby eliminating the need for sterilization or reprocessing and reducing the risk of contamination. The handpiece 110 can be sterilized for subsequent reuse with the catheter 104 and optoelectronic module 109 for a different patient.

[0020] return Figure 1A, the endoscope system 10 may include one or more electronic devices for processing and displaying image data received from the optoelectronic module 109 of the ureteroscope 100. For example, the endoscope system 10 may include one or more of a host computer 170 having a microprocessor, a computer 180 having a microprocessor, and a display 190. The host computer 170 may be connected to one or more terminals of the computer 180 and the display 190 for further processing and display of the image data from the optoelectronic module 109. The host computer 170 or the computer 180 may be programmed with image processing software that takes as input the image data output from the optoelectronic module 109 of the ureteroscope 100 and generates a two-dimensional or three-dimensional reconstruction of the body cavity that can be displayed on the display 190. Thus, the processor in at least one of the host computer 170, the computer 180, or the display 190 may be programmed with software that accepts as input a plurality of still images of an object generated by the optoelectronic module 109 and then outputs a three-dimensional rendering of the object based on the plurality of still images for display. Display 190 may include any suitable display and may be configured to display moving images (movies) or still images collected by the image sensor of optoelectronic module 109. Figure 1A Although shown as separate blocks in FIG. 1 , host 170 , computer 180 , and display 190 may comprise a single device, two devices, three devices, or more than three devices.

[0021] The endoscope system 10 may further include a cable 102 configured to operably couple the ureteroscope to at least one of a host computer 170, a computer 180, or a display 190. The cable 102 may connect the communication interface 150 ( Figure 2 ) is electrically connected to at least one of the host 170, the computer 180, or the display 190. The cable 102 may also allow the communication interface 150 to communicate with and receive power from the host 170 or other power source. The cable 102 may also be configured to allow the communication interface 150 to transmit image data captured at the optoelectronic module 109 to the host 170 for processing, storage, and display.

[0022] Steering Figure 2, which illustrates a side view of a hand piece 110 with a portion of the hand piece 110 removed, the ureteroscope 100 may include a communication interface 150 or host interface housed in the hand piece 110. The communication interface 150 may house, for example, one or more of a processor board, a camera board, and a frame grabber or a power source. The processor board may be coupled to a host 170 via a cable 102 for storing and retrieving images generated by the ureteroscope 100. The communication interface 150 may also be configured to communicate with and receive power from a host 170 or other power source via the cable 102. The communication interface 150 may also transmit image data captured at the distal end 105 to the host 170 for processing, storage, and display. The communication interface 150 may be connected to the cable 102 via one or more conductors 154 and / or to the optoelectronic module 109 via one or more electrical leads 162.

[0023] Alternatively or in addition, the communication interface 150 or the handpiece 110 may include an antenna and a wireless chipset, for example compliant with the IEEE 802.11 WiFi standard, for wirelessly transmitting video or still images generated by the ureteroscope 100 to the host 170, computer 180, or display 190 without the need for the cable 102. For example, the communication interface 150 may include a wireless interface configured to implement a variety of protocols, including but not limited to Wi-Fi, Bluetooth, ZigBee, Z-Wave, etc. This arrangement may be useful in a physician's office because it allows the computer and display to be placed outside the sterile field while also allowing the physician greater maneuverability during use of the ureteroscope 100. In other embodiments, the communication interface 150 may be omitted, and the image data may be sent directly to the host 170 and / or computer 180.

[0024] The ureteroscope 100 may include one or more control devices 122 positioned at or near the control end 112 of the handpiece 110. In some embodiments, at least one of the one or more control devices 122 is positioned between the control end 112 and the catheter end 114. For example, at least one (e.g., all) of the one or more control devices 122 may be positioned closer to the catheter end 114 than the control end 122, such as near the working channel port 118. The one or more control devices 122 may include one or more of a switch, a button, a rotatable knob, a movable protrusion, etc. The one or more control devices may be electrically coupled to the communication interface 150 via one or more wires 154, 156. In some embodiments, the one or more control devices 122 are configured to adjust the view presented on the display 190. For example, the one or more control devices may be configured to adjust at least one of the brightness, zoom, focus, or contrast of one or more images displayed on the display 190. Thus, the one or more controls 122 allow the user to adjust the view presented on the display 190 and / or computer 180 during use of the ureteroscope 100 according to the user's preferences and needs.

[0025] The ureteroscope 100 may include one or more wires that couple the one or more control devices 122 to the optoelectronic module 109 and / or the control system 200 to allow a user to adjust at least one of brightness, zoom, focus, or contrast on the optoelectronic module 109. For example, at least one of the one or more control devices 122 may be connected to the optoelectronic module 109 via one or more wires connected to the communication interface 150 and / or the control system 200 and at least one of the one or more control devices 122, and an electrical lead 162 connected to the communication interface 150 and the optoelectronic module 109. In some embodiments, the one or more wires or electrical leads may be directly connected to the optoelectronic module 109 and at least one of the one or more control devices 122. Coupling the one or more control devices 122 to the communication interface 150 may allow a user to adjust at least one of brightness, zoom, focus, or contrast on the display 190 wirelessly or through the cable 102.

[0026] In some embodiments, the processor of the host 170 or another processor coupled to the ureteroscope 100 is configured to display one or more view settings on the display 190. The one or more view settings may display a responsive actuation of one or more control devices 122, or alternatively, display an additional button on the handpiece 110 or the display 190. The one or more view settings displayed on the display 190 and / or the computer 180 may include at least one of brightness, zoom, contrast, or focus. For example, in response to actuation of at least one of the one or more control devices 122, a brightness setting may be displayed on the display 190. After the brightness setting is displayed on the display 190, the user may use at least one of the one or more control devices to adjust the brightness of one or more images displayed on the display 190. Other view settings may be similarly displayed on the display 190 and adjusted by the user using one or more control devices 122. In some embodiments, one or more view settings may also be displayed on a processor display on the handpiece 110 or the host 170.

[0027] In some embodiments, at least one of the one or more control devices 122 is configured to activate (eg, turn on) or deactivate (eg, turn off) at least one light source 111 (eg, light source 112) at the distal end 105 of the catheter 104. Figure 1B ). For example, the light source 111 may include a light emitting diode (LED) positioned in the distal end 105 of the catheter. Alternatively or in addition, the ureteroscope 100 may include an LED light source positioned elsewhere (e.g., in the handpiece 110) that provides illumination to at least one light source 111 at the distal end 105 via one or more sets of optical fibers extending through the catheter 104. In some use cases, it is desirable to completely turn off at least one light source 111 of the ureteroscope 100 during backloading of the ureteroscope 100 over a guidewire, rather than merely incrementally adjusting the light. Thus, at least one of the one or more controls allows a user to selectively turn off and on the light source 111 when the user desires.

[0028] In some embodiments, at least one of the one or more control devices 122 is configured to activate and deactivate the optoelectronic module 109. At least one of the one or more control devices 122 may also be configured to switch an image mode in the optoelectronic module 109, the retrieval device 150, or at least one of the one or more electronic devices between a still image mode that records a still image and a video image mode that records a video stream. At least one of the one or more control devices 122 may also be configured to activate a frame grabber mode in the optoelectronic module 109, the retrieval device 150, or at least one of the one or more electronic devices that creates a still image from a video stream output generated by the optoelectronic module 109. For example, at least one of the one or more control devices 122 may be configured to communicate with one or more of the host 170, the computer 180, or the display 190 to allow a user to create a still image from a video stream displayed on the display 190, and store or record the still image on at least one of the host 170 or the computer 180.

[0029] In some embodiments, at least one of the one or more control devices 122 is configured to activate and deactivate the control system 200. In at least one, some, or all embodiments, at least one of the one or more control devices 122 activates the control system 200 to provide a technical effect that allows the user to control the active bending portion 106 by moving the hand piece 110, and at least one of the one or more control devices 122 can deactivate the control system 200 so that movement of the hand piece 110 does not control the active bending portion 106. In at least one, some, or all embodiments, at least one of the one or more control devices activates the control system 200 to provide a technical effect that allows the user to control at least one of brightness, zoom, contrast, or focus by moving the hand piece 110, and at least one of the one or more control devices 122 can deactivate the control system 200 so that movement of the hand piece 110 does not control at least one of brightness, zoom, contrast, or focus. In at least one, some or all embodiments, at least one of the one or more control devices 122 activates the control system 200 to provide a technical effect that allows the user to control the switching between the still image mode and the video image mode by moving the hand piece 110, and at least one of the one or more control devices 122 can deactivate the control system 200 so that the movement of the hand piece 110 does not control the switching between the still image mode and the video image mode. In at least one, some or all embodiments, at least one of the one or more control devices 122 activates the control system 200 to provide a technical effect that allows the user to control the activation and deactivation of at least one light source 111 by moving the hand piece 110, and at least one of the one or more control devices 122 can deactivate the control system 200 so that the movement of the hand piece 110 does not control the activation and deactivation of at least one light source 111. In at least one, some or all embodiments, at least one of the one or more control devices 122 activates the control system 200 to provide a technical effect of allowing a user to initiate frame grabbing by moving the hand piece to record still images during the video streaming mode, and at least one of the one or more control devices 122 can deactivate the control system 200 so that movement of the hand piece does not initiate frame grabbing during the video streaming mode.

[0030] The ureteroscope 100 can be operated to perform or complete selected tasks manually, automatically, or a combination thereof. Some ureteroscope functions can be implemented using components including hardware, software, firmware, or a combination thereof. Although general components such as general-purpose computers or oscilloscopes can be used in the ureteroscope 100, special-purpose or customized components such as circuits, integrated circuits, or software can also be used. For example, some functions are implemented using multiple software instructions executed by one or more data processors, which are part of a general-purpose or customized computer. The one or more data processors can be in at least one of the communication interface 150, the host 170, the computer 180, or the display 190. In some embodiments, the data processor or computer includes a volatile memory for storing instructions and / or data and / or a non-volatile storage (e.g., a magnetic hard disk and / or a removable medium) for storing instructions and / or data. In some embodiments, the implementation includes a network connection. In some embodiments, the implementation includes a user interface, typically including one or more input devices (e.g., allowing input of commands and / or parameters) and output devices (e.g., allowing parameters for reporting operations and results).

[0031] According to an embodiment, the handpiece 110 also includes a working channel port 118 and a working channel opening 107 ( Figure 1B ), which provides fluid communication between the working channel port 118 and the distal end 105 of the catheter 104. The handpiece 110 may also include a working channel connector 130 connected or attached to the working channel port 118 and a working channel 152 ( ) that provides fluid communication between the working channel port 118 and the working channel opening 107 through the handpiece 110 and / or the catheter 104. Figure 2). The working channel port 118, the working channel connector 130, and the working channel 152 are optional and may not be present in some embodiments. The working channel 152 may include a single continuous material through the handpiece 110 and the catheter 104. In some embodiments, the working channel 152 includes a first portion in the interior area 155 of the handpiece 110 and a second portion in the catheter 104. The first and second portions of the catheter 152 may include different materials or structures that are fluidly connected to each other. At least one of the working channel port 118 or the working channel connector 130 is configured to engage with various surgical instruments and irrigation equipment as needed for operations such as lithotripsy and stone removal. The working channel port 118 can be positioned at the lower / bottom or upper / top of the handpiece 110, close to the catheter end 114 of the handpiece 110. The working channel port 118 can be positioned less than half the distance from the catheter end 114 to the control end 112, less than one-third of the distance from the catheter end 114 to the control end 112, less than one-quarter of the distance from the catheter end 114 to the control end 112, or less than one-fifth of the distance from the catheter end 114 to the control end 112.

[0032] The handpiece 110 may also include a cable port 120 for receiving or connecting the cable 102 ( Figure 1A ), thereby operably coupling the ureteroscope 100 to at least one of the host computer 170, the computer 180, or the display 190. Both the cable port 120 and the working channel port 118 may also be positioned on the lower portion or bottom of the handpiece 110, proximate the catheter end 114 of the handpiece 110. For example, both the cable port 120 and the working channel port 118 may be positioned less than half of the distance from the catheter end 114 to the control end 112, less than one-third of the distance from the catheter end 114 to the control end 112, less than one-quarter of the distance from the catheter end 114 to the control end 112, or less than one-fifth of the distance from the catheter end 114 to the control end 112. Alternatively, the handpiece 110 may also include a compact battery module for powering the optoelectronic module 109 and the at least one light source 111. The power source in the handpiece 110 may be, for example, one or more conventional dry cell disposable batteries or lithium ion rechargeable batteries.

[0033] Furthermore, although the ureteroscope 100 shown in FIGS. 1-3 includes a cable port 120 positioned proximal to the catheter end 114 and distal to the control end 112, in some embodiments, the handpiece 110 lacks a cable port 120, or the cable port 120 is positioned proximal to the control end 112 and distal to the catheter end 114. Thus, in some embodiments, the cable port 120 is not present in the handpiece 110 or is positioned proximal to the control end 112, but the handpiece 110 includes one or more control devices 122 positioned at the control end 112 of the handpiece 110 and a working channel port 118 disposed on the circular first surface along the longitudinal center plane proximal to the catheter end 114. In other embodiments, the one or more control devices 122 are not present in the handpiece 110, the cable port 120 is not present in the handpiece 110 or is positioned proximal to the control end 112, but the handpiece includes a working channel port 118 disposed on the circular first surface along the longitudinal center plane proximal to the catheter end 114.

[0034] Furthermore, although the ureteroscope 100 shown in FIGS. 1-3 includes a working channel port 118 disposed on the circular first surface proximate the catheter end 114 and distal to the control end 112 along the longitudinal center plane, in some embodiments, the working channel port 118 may be disposed elsewhere on the hand piece 110. Thus, in some embodiments, the working channel port 118 may be disposed elsewhere than proximate the catheter end 114 along the longitudinal center plane, but the hand piece may include one or more control devices 122 positioned at the control end 112 of the hand piece 110 and a cable port 120 positioned proximate the catheter end 114. In other embodiments, the one or more control devices 122 are not present in the hand piece 110, and the working channel port 118 may be disposed elsewhere than proximate the catheter end 114 along the longitudinal center plane, but the hand piece 110 includes a cable port 120 positioned proximate the catheter end 114. In some embodiments, the cable port 120 is not present in the handpiece 110 or positioned proximate the control end 112, and the working channel port 118 may be arranged elsewhere other than proximate the catheter end 114 along the longitudinal center plane, but the handpiece 110 includes one or more control devices 122 positioned at the control end 112 of the handpiece 110.

[0035] Now turn to Figure 2, the endoscope system 10 may include a control system 200. In some embodiments, the control system 200 is primarily a catheter control system that is configured to control the bending of the active bending portion 106 of the catheter 104 in response to the movement or motion of the hand piece 110. The control system 200 may additionally or alternatively control other aspects of the endoscope system 10 in response to the movement or motion of the hand piece 110, such as activation and / or deactivation of the light source 111, activation and / or deactivation of the image sensor of the optoelectronic module 109, a change in the image collection mode of the image sensor from a still image mode to a video streaming mode, activation of a frame grab to record a still image during the video streaming mode, adjusting the zoom of the image sensor, deploying a tool in the working channel 152, and / or adjusting at least one of the brightness, zoom, focus, or contrast of one or more images from the image sensor displayed on the display 190.

[0036] In some embodiments, the control system 200 includes at least one sensor 202 positioned in the interior region 155 of the hand piece 110. The sensor 202 may be configured to detect at least one (e.g., all) of the movement of the hand piece 110, the direction of movement of the hand piece 110, and / or the magnitude of movement of the hand piece 110. In some embodiments, the sensor 202 includes at least one of an accelerometer, a MEMS sensor, and / or a gyroscope. In some embodiments, the sensor 202 includes any sensor configured to detect at least one (e.g., all) of the movement of the hand piece 110, the direction of movement of the hand piece 110, and / or the magnitude of movement of the hand piece 110.

[0037] In some embodiments, the sensor 202 is configured to detect at least directional movement of at least a portion of the handpiece 110. For example, the sensor 202 may be configured to detect directional movement of a portion of the handpiece 110 (e.g., the control end 112) in at least two directions (e.g., a first handpiece direction and a second handpiece direction different from the first handpiece direction). More specifically, the sensor 202 may be configured to detect directional movement of a portion of the handpiece 110 (e.g., the control end 112) in an upward and downward direction and / or a rightward and leftward direction relative to a starting point of the portion of the handpiece 110. In some embodiments, the sensor 202 is configured to detect directional movement of a portion of the handpiece 110 (e.g., the control end 112) in more than two directions. For example, the sensor 202 may be configured to detect movement of a portion of the handpiece 110 (e.g., the control end 112) in an x, y, z Cartesian coordinate system.

[0038] In some embodiments, the sensor 202 is configured to detect at least the magnitude of movement or motion of at least a portion of the handpiece 110. For example, the sensor 202 can be configured to detect how far and / or how fast a portion of the handpiece 110 (e.g., the control end 112) moves in a direction relative to an initial starting point. More specifically, the sensor 202 can be configured to detect how far and / or how fast (e.g., a rate) a portion of the handpiece 110 (e.g., the control end 112) moves in a first handpiece direction relative to an initial starting point, and how far and / or how fast the portion of the handpiece 110 moves in a second handpiece direction relative to an initial starting point of the portion of the handpiece 110.

[0039] In at least one, some, or all embodiments, the sensor 202 is positioned in the interior region 155, at least proximate to the control end region 112 (e.g., the proximal region) of the hand piece 110. Positioning the sensor 202 proximate to or in the control end region 112 of the hand piece 110 creates a technical effect of allowing the sensor to detect movement or motion of the control end region 112 when the user pivots the control end region 112 about an axis generally defined by the catheter end 114 of the hand piece 110. The catheter end 114 of the hand piece 110 can remain generally stationary or have less movement than the control end region 112, thereby avoiding potential discomfort to the subject caused by movement of the catheter end 114 and the catheter 104 when the hand piece 110 is moved. For example, FIG. 3A to FIG. 3B The example illustrates that the control end 112 can pivot about an axis generally defined by the catheter end 114 and / or the handpiece-catheter connector 103 to move the active bending portion 106 on the catheter 104 while the catheter end 114 and / or the handpiece-catheter connector 103 remain generally stationary or have less movement than the control end 112.

[0040] The control system 200 also includes a processor (e.g., a microprocessor) 250 configured to communicate with at least the sensor 202. In the ureteroscope 100, the processor 250 is positioned in the control end 112 proximate to the sensor 202. In some embodiments, the processor 250 is positioned elsewhere in the interior region 155 of the handpiece 110, such as included in the communication interface 150. In some embodiments, the processor 250 may be included in one or more of the host 170, the computer 180, and / or the display 190.

[0041] According to an embodiment, the processor 250 is configured to receive data or signals from the sensor 202. For example, the processor 250 may be configured to receive data from the sensor 202 at least partially related to at least one (e.g., all) of the movement of the hand piece 110, the direction of movement of the hand piece 110, and / or the magnitude of movement of the hand piece 110 detected by the sensor 202, as described in more detail above. The processor 250 may be configured to use the data received from the sensor 202 to determine at least one (e.g., all) of the movement of the hand piece 110, the direction of movement of the hand piece 110, and / or the magnitude of movement of the hand piece 110. According to an embodiment, the processor 250 is configured to use the data received from the sensor 202 to coordinate movement of the active bending portion 106 in response to movement of at least a portion of the hand piece 110. The processor 250 can be configured to use the data received from the sensor 202 to coordinate the activation and / or deactivation of the light source 111 in response to movement of at least a portion of the handpiece 110, the activation and / or deactivation of the image sensor of the optoelectronic module 109, the change of the image collection mode of the image sensor from a still image mode to a video streaming mode, the initiation of a frame grab to record a still image during the video streaming mode, the adjustment of the zoom of the image sensor, the deployment of a tool in the working channel 152, and / or the adjustment of at least one of the brightness, zoom, focus, or contrast of one or more images from the image sensor displayed on the display 190.

[0042] In some embodiments, the processor 250 is configured to use data received from the sensor 202 to program or otherwise instruct one or more actuators to move the active bending portion 106 in response to movement of at least a portion of the hand piece 110. For example, the ureteroscope may include a servo actuator and / or a linear actuator configured to move the active bending portion 106 in response to movement of at least a portion of the hand piece 110. In some embodiments, according to an embodiment, the control system 200 includes a motor 206 positioned in an interior region of the hand piece 110 and operably coupled to the sensor 202 and / or the processor 250. The processor 250 may be configured to activate the motor 206 when the sensor 202 detects movement of the hand piece 110. For example, the motor 206 may be positioned in the interior region 155 of the hand piece 110 and operably coupled to the sensor 202, wherein the motor 206 is configured to be activated in response to the sensor 202 detecting movement of the hand piece 110. In some embodiments, the control system 200 includes a driver 204 operably coupled to the processor 250 and the motor 206. In some embodiments, the processor 250 is configured to coordinate movement of the actuator 204 in response to movement of at least a portion of the handpiece 110 to effectively adjust or move the motor 206 and move the active bending portion 106. In some embodiments, the actuator 204 comprises a stepper actuator and the motor 206 comprises a stepper motor.

[0043] The ureteroscope 100 may also include one or more wires 158 that are fixed to the active bending portion 106 of the catheter 104 and can be adjusted (e.g., moved or tightened) in response to activation of the motor 206 to effectively at least partially bend the active bending portion 106 of the catheter 104. The one or more wires 158 can be directly fixed to the motor 206, or can be fixed to one or more components (e.g., wire wheels 207) that are directly or indirectly fixed to the motor 206. The one or more wires 158 are fixed to the active bending portion 106 so that when the motor 206 rotates or rotates in a first direction, a first wire (or first portion) of the one or more wires 158 pulls the active bending portion 106 toward a first bending direction, and when the motor 206 rotates or rotates in a second (or opposite) direction, a second wire (or second portion) of the one or more wires 158 pulls the active bending portion 106 toward a second (or opposite) direction. In some embodiments, one or more wires 158 are configured to move or bend the active bending portion 106 in more than two directions, such as moving or bending the active bending portion 106 in an x, y, z Cartesian coordinate system, which corresponds to movement of a portion of the handpiece (e.g., the control end 112) in the x, y, z Cartesian coordinate system.

[0044] The degree of bending of the active bending portion 106 in the first bending direction or the second bending direction can be determined by the degree of rotation of the motor 206 in the first direction or the second direction, respectively. In some embodiments, when the motor 206 rotates or rotates in the first direction, the first wire (or first portion) of the one or more wires 158 is tightened to effectively pull the active bending portion 106 toward the first bending direction, and when the motor 206 rotates or rotates in the second (or opposite) direction, the second wire (or second portion) of the one or more wires 158 is tightened to effectively pull the active bending portion 106 toward the second (or opposite) bending direction. In some embodiments, the motor 206 includes a wire wheel 207 that can rotate in the first direction and the second (or opposite) direction, and the one or more wires are directly fixed to the wire wheel 207.

[0045] Now turn to FIG. 3A to FIG. 3B , which illustrates movement of the active bending portion 106 in response to movement of at least a portion of the hand piece 110 according to an embodiment. To use and operate the control system 200, a user (e.g., a ureteroscope operator) can use at least one of the one or more control devices 122 on the hand piece 110 to selectively activate the control system 200. For example, the user can press, rotate, turn, flip, or otherwise adjust at least one of the one or more control devices 122 to activate the control system 200. When the control device 122 activates the control system 200, the motor 206 adjusts the one or more wires 158 in response to the sensor 202 detecting movement of the hand piece 110.

[0046] For example, the specific turn Figure 3A , when the control system 200 is activated, the user can move the handpiece in the first direction (e.g., Figure 3A The control end 112 is moved upward (in the middle and upward). The sensor 202 in the control end 112 detects the movement of the control end 112 in the first handpiece direction, and the processor 250 receives data related to the movement of the control end 112 in the first handpiece direction from the sensor 202. Based on the data from the sensor 202, the processor 250 coordinates the movement of the driver 204 and the motor 206, thereby effectively causing the technical effect of moving, adjusting or tightening at least the first portion or the first wire of the one or more wires 158. This movement, adjustment or tightening of the first portion or the first wire of the one or more wires 158 at least partially causes the active bending portion 106 to bend along the first bending direction. Figure 3ABy way of example, in some embodiments, the first handpiece direction of movement of the control end 112 is substantially opposite to the first bending direction of the bend of the active bending portion 106. In some embodiments, the first handpiece direction of movement of the control end 112 is substantially the same as the first bending direction of the bend of the active bending portion 106. As described above, the sensor 202 may also detect the magnitude (e.g., amount and / or rate) of movement of the control end 112, and the processor 250 receives data from the sensor 202 related to the magnitude of movement of the control end 112 in the first handpiece direction. Based on this data from the sensor 202, the processor 250 coordinates the magnitude of movement of the driver 204 and the motor 206, thereby effectively producing the technical effect of moving, adjusting, or tightening at least the first portion or the first wire of the one or more wires 158 in relation to the magnitude of movement of the control end 112 in the first handpiece direction. For example, moving or pivoting control end 112 a first amount in a first hand piece direction bends active bending portion 106 a first amount, and moving or pivoting control end 112 a second amount greater than the first amount in the first hand piece direction bends active bending portion 106 a second amount greater than the first bend in active bending portion 106.

[0047] Specific turn Figure 3B , when the control system 200 is activated, the user can move the handpiece in the second direction (e.g. Figure 3B The control end 112 is moved upward (in the v direction) by the sensor 202 in the control end 112. The sensor 202 in the control end 112 detects the movement of the control end 112 in the v direction, and the processor 250 receives data related to the movement of the control end 112 in the second handpiece direction from the sensor 202. Based on the data from the sensor 202, the processor 250 coordinates the movement of the driver 204 and the motor 206 to effectively cause the technical effect of moving, adjusting or tightening at least a second portion or a second wire of the one or more wires 158. This movement, adjustment or tightening of the second portion or a second wire of the one or more wires 158 at least partially causes the active bending portion 106 to bend along the second bending direction. Figure 3BBy way of example, in some embodiments, the second handpiece direction of movement of the control end 112 is substantially opposite to the second bending direction of the bend of the active bending portion 106. In some embodiments, the second handpiece direction of movement of the control end 112 is substantially the same as the second bending direction of the bend of the active bending portion 106. As described above, the sensor 202 may also detect the magnitude (e.g., amount and / or rate) of movement of the control end 112, and the processor 250 receives data from the sensor 202 related to the magnitude of movement of the control end 112 in the second handpiece direction. Based on this data from the sensor 202, the processor 250 coordinates the magnitude of movement of the driver 204 and the motor 206 to effectively produce the technical effect of moving, adjusting, or tightening at least a second portion or second wire of the one or more wires 158 in relation to the magnitude of movement of the control end 112 in the second handpiece direction. For example, moving or pivoting control end 112 in the second hand piece direction by a first amount bends active flexure portion 106 by the first amount, and moving or pivoting control end 112 in the second hand piece direction by a second amount greater than the first amount bends active flexure portion 106 by a second amount greater than the first amount of bend in active flexure portion 106. When the user deactivates control system 200 using at least one of the one or more controls 122, motor 206 does not adjust one or more wires 158 in response to sensor 202 detecting movement of hand piece 110 or sensor 202 not detecting movement of hand piece 110.

[0048] In use, at least one of the one or more control devices 122 may be configured to activate the control system 200 to control features other than the active bending portion 106 of the catheter 104. For example, the configuration of at least one of the one or more control devices 122 may result in the following technical effects: allowing at least one of the one or more control devices 122 to activate the control system 200 to control one or more of the light source 111, the image sensor of the optoelectronic module 109, the image collection mode of the image sensor, frame grabbing, the zoom of the image sensor, tool deployment in the working channel 152, and / or the brightness, zoom, focus, or contrast of one or more images from the image sensor displayed on the display 190. In some embodiments, the one or more control devices 122 include multiple control devices, wherein different ones of the multiple control devices are configured to initiate the control system 200 to control the active bending portion 106 of the catheter, the light source 111, the image sensor of the optoelectronic module 109, the image collection mode of the image sensor, frame grabbing, zoom of the image sensor, tool deployment in the working channel 152, and / or different ones of the brightness, zoom, focus, or contrast of one or more images from the image sensor displayed on the display 190.

[0049] In some embodiments, when the control system 200 is activated for one or more light sources 111, the user can move the control end 112 in the first handpiece direction to provide a technical effect of activating the one or more light sources 111 (without bending the active bending portion 106), and the user can move the control end 112 in the second handpiece direction to provide a technical effect of deactivating the one or more light sources 111. According to an embodiment, when the control system 200 is activated for the image sensor of the optoelectronic module 109, the user can move the control end 112 in the first handpiece direction to provide a technical effect of activating the image sensor of the optoelectronic module (without bending the active bending portion 106), and the user can move the control end 112 in the second handpiece direction to provide a technical effect of deactivating the image sensor of the optoelectronic module. According to an embodiment, when the control system 200 is activated for the image collection mode of the endoscope system 10, the user can move the control end 112 in the first handpiece direction to provide a technical effect of changing the image collection mode of the image sensor to a still image mode (without bending the active bending portion 106), and the control end 112 can be moved in the second handpiece direction to provide a technical effect of changing the image collection mode to a video streaming mode. According to an embodiment, in the case where the control system 200 is activated for frame grabbing, the user may move the control end 112 in the first hand piece direction or the second hand piece direction to provide a technical effect of recording a still image during the video streaming mode (without bending the active bending portion 106). According to an embodiment, in the case where the control system 200 is activated for tool deployment, the user may move the control end 112 in the first hand piece direction to provide a technical effect of deploying the tool in the working channel 152 (without bending the active bending portion 106), and may move the control end 112 in the second hand piece direction to retract the tool into the working channel 152. According to an embodiment, in the case where the control system 200 is activated for display control, the user may move the control end 112 in the first hand piece direction to provide a technical effect of increasing at least one of the brightness, zoom, contrast, and / or focus of one or more images from the image sensor displayed on the display 190 (without bending the active bending portion 106), and may move the control end 112 in the second hand piece direction to provide a technical effect of decreasing at least one of the brightness, zoom, contrast, and / or focus of one or more images from the image sensor displayed on the display 190.

[0050] Now turn to Figure 4In some embodiments, the ureteroscope 400 may include a steering controller 424 that is secured to the handpiece 110 and at least partially positioned outside of the interior region 155 of the handpiece 110. The steering controller 424 may be operably secured to the wire wheel 207 and selectively movable to effectively move the wire wheel 207 and adjust one or more wires 158 secured to the wire wheel 207 to bend the active bending portion 106 of the catheter 104. Unless otherwise noted, the ureteroscope 400 may include any aspects of the ureteroscope 100. For example, the ureteroscope 400 may include any aspects of the control system 200 described above. In some embodiments, the steering controller 424 is configured to selectively bend the active bending portion 106 in one or more first axes, and the control system 200 is configured to selectively bend the active bending portion 106 in one or more second axes different from the one or more first axes. In some embodiments, the ureteroscope 400 includes the steering controller 424, but the control system 200 is not configured to control the bending of the active bending portion 106 of the catheter 104. That is, the ureteroscope 400 may include a steering controller 424 that controls the bending of the active bending portion 106 of the catheter 104, and may include a control system 200 that controls the light source 111, the image sensor of the optoelectronic module 109, the image collection mode of the image sensor, frame grabbing, zoom of the image sensor, tool deployment in the working channel 152, and / or one or more of the brightness, zoom, focus, or contrast of one or more images from the image sensor displayed on the display 190.

[0051] The systems and methods described herein may include the use of a controller to perform one or more aspects of the systems and methods. For example, a controller may be used to perform one or more actions performed by a processor in the systems and methods described herein. Moreover, one or more (e.g., all) of the processor 250, the communication interface 150 in the handpiece 110, the host 170, the computer 180, and / or the display 190 of the endoscope system 10 may utilize or otherwise include a controller. For example, the processor 250 described with respect to the endoscope system 10 may include or utilize a controller. Figure 5is a schematic diagram of a controller 500 that may be utilized in any of the example systems and methods described herein, according to an embodiment. The controller 500 may be configured to implement one or more actions of any of the example methods and systems disclosed herein. The controller 500 includes at least one computing device 510. The at least one computing device 510 is an exemplary computing device that may be configured to perform one or more of the above actions (e.g., action 415 of method 400). The at least one computing device 510 may include one or more servers, one or more computers (e.g., desktop computers, laptop computers), or one or more mobile computing devices (e.g., smart phones, tablet computers, etc.). The computing device 510 may include at least one processor 520, a memory 530, a storage device 540, an input / output ("I / O") device / interface 550, and a communication interface 560. Although in Figure 5 An example computing device 510 is shown in FIG. Figure 5 The components illustrated in the examples are not intended to limit the controller 500 or the computing device 510. In some examples, additional or alternative components may be used. Further, in some examples, the controller 500 or the computing device 510 may include more than Figure 5 The components shown may be fewer than the components shown. For example, the controller 500 may not include one or more additional computing devices 512. In some examples, the at least one computing device 510 may include multiple computing devices, such as a server farm, a computing network, or a computing device cluster. Figure 5 Components of computing device 510 are shown.

[0052] In some examples, one or more processors 520 include hardware for executing instructions (e.g., instructions for executing one or more parts of any method disclosed herein) (e.g., instructions constituting a computer program). For example, to execute instructions, one or more processors 520 may retrieve (or fetch) instructions from internal registers, internal caches, memory 530, or storage device 540, and decode and execute them. As an example, one or more processors 520 may include one or more instruction caches, one or more data caches, and one or more translation lookaside buffers (TLBs). The instructions in the instruction cache may be a copy of the instructions in the memory 530 or the storage device 540. In some examples, the processor 520 may be configured (e.g., including a program stored thereon or executed thereby) to execute one or more parts of any example method and system disclosed herein.

[0053] In some examples, the processor 520 is configured to perform any actions disclosed herein and / or cause one or more portions of the computing device 510 or the controller 500 to perform at least one action disclosed herein. Such configuration may include one or more operating programs (e.g., computer program products) executable by at least one processor 520. For example, the processor 520 may be configured to automatically determine data or signals received from the sensor 202 and coordinate movement of the motor 206 to selectively bend the active bending portion 106.

[0054] At least one computing device 510 (e.g., a server) may include at least one memory storage medium (e.g., memory 530 and / or storage device 540). The computing device 510 may include a memory 530 that is operably connected to one or more processors 520. The memory 530 may be used to store data, metadata, and programs for execution by the one or more processors 520. The memory 530 may include one or more of volatile and non-volatile memories, such as random access memory (RAM), read-only memory (ROM), solid state disk (SSD), flash memory, phase change memory (PCM), or other types of data storage. The memory 530 may be an internal or distributed memory.

[0055] The computing device 510 may include a storage device 540 having a storage for storing data or instructions. The storage device 540 may be operably connected to at least one processor 520. In some examples, the storage device 540 may include a non-transient memory storage medium, such as any of the above-mentioned storage media. The storage device 540 (e.g., a non-transient storage medium) may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive, or a combination of two or more of these. The storage device 540 may include a removable or non-removable (or fixed) medium. The storage device 540 may be inside or outside the computing device 510. In some examples, the storage device 540 may include a non-volatile solid-state memory. In some examples, the storage device 540 may include a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically variable ROM (EAROM), or a flash memory, or a combination of two or more of these. In some examples, one or more portions of memory 530 and / or storage 540 (eg, one or more memory storage media) may store one or more databases thereon.

[0056] In some examples, data from one or more sensors of the endoscope system 10 may be stored, for example, in a memory storage medium, such as one or more of the at least one processor 520 (e.g., an internal cache of a processor), memory 530, or storage device 540. In some examples, the at least one processor 520 may be configured to access (e.g., via the bus 570) a memory storage medium, such as one or more of the memory 530 or storage device 540. For example, the at least one processor 520 may receive data (e.g., a lookup table) and store it as a plurality of data points in one or more memory storage media.

[0057] The computing device 510 also includes one or more I / O devices / interfaces 550, which are provided to allow a user to provide input to, receive output from, and otherwise transfer data to and from the computing device 510. These I / O devices / interfaces 550 may include a mouse, keypad or keyboard, touch screen, camera, optical scanner, network interface, network-based access, modem, port, other known I / O devices, or a combination of such I / O devices / interfaces 550. The touch screen may be activated with a stylus or finger.

[0058] I / O devices / interfaces 550 may include one or more devices for presenting output to a user, including but not limited to a graphics engine, a display (e.g., a display screen or monitor), one or more output drivers (e.g., a display driver), one or more audio speakers, and one or more audio drivers. In some examples, I / O devices / interfaces 550 are configured to provide graphics data to the display for presentation to the user. Graphics data may represent one or more graphical user interfaces and / or any other graphical content that may serve a particular implementation.

[0059] The computing device 510 may also include a communication interface 560. The communication interface 560 may include hardware, software, or both. The communication interface 560 may provide one or more interfaces for communication (e.g., packet-based communication) between the computing device 510 and one or more additional computing devices 512 or one or more networks. For example, the communication interface 560 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wired-based network, or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network (e.g., WI-FI).

[0060] Any suitable network and any suitable communication interface 560 can be used. For example, the computing device 510 can communicate with one or more parts of an ad hoc network, a personal area network (PAN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), or the Internet, or a combination of two or more of these. One or more parts of one or more of these networks can be wired or wireless. As an example, the controller 500 or one or more parts of the computing device 510 can communicate with a wireless PAN (WPAN) (e.g., a Bluetooth WPAN), a WI-FI network, a WI-MAX network, a cellular phone network (e.g., a global system for mobile communications (GSM) network), or other suitable wireless networks or combinations thereof. Where appropriate, the computing device 510 may include any suitable communication interface 560 for any of these networks.

[0061] The computing device 510 may include a bus 570. The bus 570 may include hardware, software, or both that couples components of the computing device 510 to each other. For example, the bus 570 may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front side bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (ISA) bus, an InfiniBand interconnect, a low pin count (LPC) bus, a memory bus, a micro channel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCIe) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination thereof.

[0062] Figure 6 is a flow chart of a method 600 of operating a ureteroscope system according to an embodiment. The method includes an action 605: inserting at least a distal end of a catheter of a ureteroscope into a patient, the distal end of the catheter including an image sensor and a bending portion. The method includes an action 610: sensing movement of the handpiece using a sensor positioned in an interior region of the handpiece. The method includes an action 615: at least partially bending an active bending portion of the catheter in response to sensing movement of the handpiece. The ureteroscope may include any ureteroscope described herein. For example, the ureteroscope may include a motor positioned in an interior region of the handpiece and operably coupled to the sensor. The motor may be configured to be activated in response to the sensor detecting movement of the handpiece; and one or more wires fixed to the active bending portion of the catheter and adjustable in response to activation of the motor to effectively at least partially bend the active bending portion of the catheter. In some embodiments, the method may include an action of activating a catheter control system with a control device positioned on the handpiece.

[0063] In some embodiments, the handpiece includes a working channel port and a cable port positioned proximate to the distal region, and the catheter includes a working channel in fluid communication with the working channel port and an image sensor positioned at a distal end of the active bending portion away from the handpiece. In these and other embodiments, the method 600 may also include the actions of communicating with one or more electronic devices and providing power to at least one of the image sensor and the catheter control system using a cable connected to the handpiece at the cable port.

[0064] In some embodiments, act 610 may include sensing, with a sensor, movement of the hand piece in a first hand piece direction, and act 615 may include at least partially bending the active bending portion in a first bending direction in response to sensing movement of the hand piece in the first hand piece direction. In these and other embodiments, method 600 may include acts of sensing, with a sensor, movement of the hand piece in a second hand piece direction and at least partially bending the active bending portion in a second bending direction in response to sensing movement of the hand piece in the second hand piece direction. The first bending direction may be substantially opposite to the first hand piece direction of movement of the hand piece, and the second bending direction may be substantially opposite to the second hand piece direction of movement of the hand piece.

[0065] In some embodiments, act 610 includes sensing a first magnitude of movement of the hand piece, and act 615 includes bending the active flexure portion a first amount in response to sensing the first magnitude of movement of the hand piece. In these and other embodiments, method 600 may include an act of sensing a second magnitude of movement of the hand piece with a sensor positioned in an interior region of the hand piece, the second magnitude of movement being greater than the first magnitude of movement. Method 600 may also include an act of bending the active flexure portion a second amount in response to sensing the second magnitude of movement of the hand piece, the second magnitude of bending being greater than the first magnitude of bending.

[0066] In some embodiments, the method 600 further comprises an action of at least partially bending the active bending portion of the catheter by moving a steering controller that is fixed to the hand piece and at least partially positioned outside the interior region of the hand piece. In some embodiments, the method 600 further comprises an action of sensing movement of the hand piece in additional directions with a sensor positioned in the interior region of the hand piece. The method 600 may also comprise, in response to sensing movement of the hand piece in additional directions, activating or deactivating one or more of a light on the distal end of the catheter, an image sensor, an image collection mode of the image sensor, a frame grab to record a still image during a video streaming mode, a zoom adjustment of the image sensor, tool deployment in the working channel, and / or an adjustment of at least one of brightness, zoom, focus, or contrast of one or more images from the image sensor displayed on the display.

[0067] The actions of method 600 described above are for illustrative purposes. For example, the actions of method 600 may be performed in a different order, divided into multiple actions, modified, supplemented, or combined. In one embodiment, one or more actions of method 600 may be omitted from method 600. Any action of method 600 may include using any of the handpiece 110, ureteroscope 100 or 400, or system 10 disclosed herein.

[0068] As used herein, the term "about" or "approximately" refers to an allowable deviation of ±10% or ±5% of the term modified by "about" or "approximately". Further, the term "less than", "or less", "greater than", "more than" or "or more" as an endpoint includes the value modified by the term "less than", "less", "greater than", "more than" or "or more".

[0069] While various aspects and embodiments have been disclosed herein, other aspects and embodiments may be contemplated. The various aspects and embodiments disclosed herein are for purposes of illustration and not limitation.

Claims

1. A ureteroscope system, comprising: a handpiece having a proximal region, a distal region opposite the proximal region, and an interior region; a catheter extending from the distal region of the handpiece, the catheter including an actively curved portion distal from the handpiece; as well as Catheter control system, including: a sensor positioned in the interior region of the handpiece and configured to detect movement of the handpiece; a motor positioned in the interior region of the handpiece and operably coupled to the sensor, the motor being configured to be activated in response to the sensor detecting movement of the handpiece; and One or more wires are secured to the active bending portion of the catheter and are adjustable in response to activation of the motor to effectively at least partially bend the active bending portion of the catheter.

2. The ureteroscope system according to claim 1, further comprising: in, The handpiece includes a working channel port and a cable port positioned proximate to the distal region; wherein the catheter comprises a working channel in fluid communication with the working channel port and an image sensor positioned at a distal end of the active bending portion away from the handpiece; as well as A cable is connected or connectable to the handpiece at the cable port and is configured to provide power to at least one of the image sensor and the catheter control system and to communicate with one or more electronic devices.

3. The ureteroscopic system according to any one of claims 1 or 2, further comprising a control device, which is positioned on the handpiece and operably connected to the catheter control system, and is configured to selectively activate and deactivate the catheter control system, so that (1) when the control device activates the catheter control system, the motor adjusts the one or more wires in response to the sensor detecting movement of the handpiece, and (2) when the control device deactivates the catheter control system, the motor does not adjust the one or more wires in response to the sensor detecting movement of the handpiece.

4. The ureteroscope system according to any one of claims 1 to 3, wherein: The sensor is configured to detect movement of the handpiece in a first handpiece direction and a second handpiece direction different from the first handpiece direction; the motor being configured to adjust the one or more wires in response to movement of the handpiece in the first handpiece direction to effectively cause the active bending portion to bend in a first bending direction; as well as The motor is configured to adjust the one or more wires in response to movement of the handpiece in the second handpiece direction to effectively bend the active bending portion in a second bending direction different from the first bending direction.

5. The ureteroscope system according to claim 4, wherein: The one or more wires include at least a first wire portion and a second wire portion, the first wire portion and the second wire portion each extending at least partially between the motor and the active bending portion; the motor being configured to adjust the first wire portion in response to movement of the handpiece in the first handpiece direction to effectively cause the active bending portion to bend in the first bending direction; as well as The motor is configured to adjust the second wire portion in response to movement of the handpiece in the first handpiece direction to effectively bend the active bending portion in the second bending direction.

6. The ureteroscope system according to any one of claims 4 or 5, wherein: The first bending direction is generally opposite to the first hand piece direction of movement of the hand piece, and the second bending direction is generally opposite to the second hand piece direction of movement of the hand piece.

7. The ureteroscope system according to any one of claims 1 to 6, wherein: The sensor is configured to detect an amplitude of movement of the handpiece; and The motor is configured to adjust the one or more wires approximately in proportion to the amplitude of the movement of the hand piece such that the active bending portion bends in proportion to the amplitude of the movement of the hand piece.

8. The ureteroscope system according to any one of claims 1 to 7, wherein:The catheter control system includes a driver operably coupled to the sensor and the motor.

9. The ureteroscope system according to claim 8, wherein: The drive comprises a stepper drive, and the motor comprises a stepper motor.

10. The ureteroscopic system of any one of claims 1 to 9, further comprising a wire wheel secured to the interior region of the handpiece and the motor, wherein One or more wires are secured to the wire wheel, and the motor is configured to rotate the wire wheel in one or more directions in response to movement detected by the sensor to effectively adjust the one or more wires.

11. The ureteroscopic system of claim 10, further comprising a steering controller secured to the hand piece and at least partially positioned outside the interior region of the hand piece, the steering controller being operably secured to the wire wheel and selectively movable to effectively move the wire wheel and adjust the one or more wires secured to the wire wheel and bend the active bending portion of the catheter.

12. The ureteroscope system according to any one of claims 2 to 11, further comprising a light at the distal end of the active bending portion, wherein The sensor is configured to detect movement of the handpiece in additional directions to effectively activate or deactivate the light, activate or deactivate the image sensor, change the image collection mode of the image sensor from a still image mode to a video streaming mode, initiate a frame grab to record a still image during the video streaming mode, adjust the zoom of the image sensor, deploy a tool in the working channel, and / or adjust at least one of the brightness, zoom, focus, or contrast of the one or more images from the image sensor displayed on the display.

13. A method of operating a ureteroscopic system, the method comprising: inserting at least a distal end of a catheter of a ureteroscope into a patient, the distal end of the catheter comprising an image sensor and an active bending portion; sensing movement of the handpiece with a sensor positioned in an interior region of the handpiece; as well as to at least partially bend the actively bending portion of the catheter in response to sensing the movement of the hand piece, the ureteroscope comprising: a motor positioned in the interior region of the hand piece and operably coupled to the sensor, the motor configured to be activated in response to the sensor detecting movement of the hand piece; and one or more wires secured to the active bending portion of the catheter and adjustable in response to activation of the motor to effectively at least partially bend the active bending portion of the catheter.

14. The method according to claim 13, further comprising: in, The handpiece includes a working channel port and a cable port positioned proximate to the distal region; wherein the catheter comprises a working channel in fluid communication with the working channel port and an image sensor positioned at a distal end of the active bending portion away from the handpiece; as well as Communicates with one or more electronic devices and provides power to at least one of the image sensor and the catheter control system using a cable connected to the hand piece at the cable port.

15. The method of any one of claims 13 or 14, further comprising activating the catheter control system using a control device located on the handpiece.

16. The method according to any one of claims 13 to 15, further comprising: include: in, Sensing movement of the handpiece with a sensor positioned in an interior region of the handpiece includes sensing movement of the handpiece in a first handpiece direction with the sensor; wherein at least partially bending the active bending portion of the catheter in response to sensing the movement of the handpiece comprises at least partially bending the active bending portion in a first bending direction in response to sensing the movement of the handpiece in the first handpiece direction; sensing movement of the hand piece in a direction of a second hand piece using the sensor; as well as The active bending portion is at least partially bent in a second bending direction in response to sensing the movement of the handpiece in the second handpiece direction.

17. The method according to claim 16, wherein: The first bending direction is generally opposite to the first hand piece direction of movement of the hand piece, and the second bending direction is generally opposite to the second hand piece direction of movement of the hand piece.

18. The method according to any one of claims 13 to 17, further comprising: include: in, Sensing movement of the hand piece with a sensor positioned in an interior region of the hand piece includes sensing a first magnitude of movement of the hand piece; wherein at least partially bending the active bending portion of the catheter in response to sensing the movement of the handpiece comprises bending the active bending portion a first amount in response to sensing the first magnitude of movement of the handpiece; sensing, with the sensor positioned in an interior region of the handpiece, a second magnitude of movement of the handpiece, the second magnitude of movement being greater than the first magnitude of movement; as well as The active flexure portion is bent a second amount in response to sensing the second magnitude of movement of the hand piece, the second amount of bend being greater than the first amount of bend.

19. The method of any one of claims 13 to 18, further comprising at least partially bending the active bending portion of the catheter by moving a steering controller, the steering controller being fixed to the handpiece and at least partially positioned outside of the interior region of the handpiece.

20. The method according to any one of claims 13 to 19, wherein: Also includes: sensing movement of the handpiece in additional directions with the sensor positioned in the interior region of the handpiece; as well as In response to sensing the movement of the handpiece in the additional direction, activating or deactivating one or more of a light on the distal end of the catheter, the image sensor, an image collection mode of the image sensor, a frame grab to record a still image during a video streaming mode, a zoom adjustment of the image sensor, tool deployment in the working channel, and / or an adjustment of at least one of brightness, zoom, focus, or contrast of the one or more images from the image sensor displayed on a display.

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