Instrument flushing system

Abstract

The invention relates to an instrument flushing system. A medical device includes a device shaft having an exit aperture near a distal end of the shaft; a tool coupled to the distal end of the shaft; and a rear end. The rear end may include: a mechanism to manipulate a drive element extending through the shaft and coupled to the tool; a fluid inlet; and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed to the fluid inlet, through the fluid passage assembly, and into the shaft. A chassis or other structural part at the aft end may form part of the fluid passage assembly.

Description

[0001] This application is a divisional application of Chinese patent application 2021112307167, filed on June 22, 2017, entitled “Instrument Flushing System”. Chinese patent application 2021112307167 is a divisional application of Chinese patent application 2017800417825 (PCT / US2017 / 038689), filed on June 22, 2017, entitled “Instrument Flushing System”.

[0002] Related Applications

[0003] This patent application claims the benefit of priority and filing date to U.S. Provisional Patent Application No. 62 / 362,386, filed on July 14, 2016, and entitled “INSTRUMENT FLUSHING SYSTEM,” which is incorporated herein by reference in its entirety. Background Art

[0004] Minimally invasive medical procedures often employ medical devices having tools or end effectors or other manipulators at the distal end of an elongated instrument shaft. In such procedures, the distal end of such a medical device can be inserted through a small incision and / or a natural cavity to position the distal tool at the patient's working site, and the surgeon or other medical personnel can control the tools to perform the desired clinical function. The instrument shaft is typically long and thin, for example, it can be more than 50 cm in length and less than 1 cm in diameter. Although some medical devices have a smaller diameter, multiple tendons, push-pull elements, and power or signal lines can extend through the length of the instrument shaft.

[0005] Complex medical instruments are often expensive, and users benefit if they can be reused for multiple procedures. However, medical instruments do come into direct contact with the patient and must be sterilized before they can be reused. Prior to sterilization, the instrument must typically be cleaned to remove any fluids, particulates, or other contaminants that may have entered the instrument during a previous procedure. Complete disassembly of the medical instrument for such cleaning may be impractical, and thus a system and method for cleaning the interior of an instrument shaft without requiring disassembly of the instrument is desired.

[0006] A cleaning system for medical devices includes a flushing tube, such as a thin-walled flexible plastic tube, extending along the length of the shaft of the medical device. The flushing tube can extend in particular from the rear end (proximal end) of the device to the distal end, where the tool is attached to the shaft. (In these medical devices, the end closest to the structure of the robot or other control device is generally referred to as the "proximal" end, while the end closest to the tool is generally referred to as the "distal" end.) The proximal end of the flushing tube can be connected so that a cleaning fluid (e.g., water) can be supplied to the distal end of the device shaft through the flushing tube, where the cleaning fluid flows out of the flushing tube at the distal end. The cleaning fluid from the flushing tube hits the seal at the distal end of the device shaft and returns through the device shaft, and the returning fluid can flush any contaminants through the interior of the shaft until the cleaning fluid cleans the contaminants out of the medical device through the gap in the rear end housing of the medical device. For this system, the flushing tube must be carefully conveyed to prevent the flushing tube from kinking, because the kink will block the flow of the cleaning fluid. Furthermore, the instrument shaft needs to have sufficient internal space for irrigation tubing, for fluid return, and for any drive cables, drive rods, and electrical excitation wires required for the clinical function of the medical device. Medical devices that provide a high degree of functionality with a small diameter instrument shaft, such as an instrument shaft having a diameter of less than about 8 mm, particularly an instrument shaft having an articulated joint, may not have room for an irrigation tubing path that can reliably avoid kinking of the irrigation tubing. Summary of the invention

[0007] According to one aspect of the invention, a medical device delivers a cleaning fluid through an instrument shaft in a proximal-to-distal direction without using an irrigation tube extending through the instrument shaft. The cleaning fluid can flow out of the instrument shaft through an outlet hole located near the distal end of the shaft. Joints (such as wrists) and other mechanisms at the distal end of the instrument shaft can be rinsed using a proximal-to-distal flow, or can be cleaned directly through a cleaning outlet in the distal mechanism.

[0008] One specific implementation of a medical device includes a shaft having an exit hole near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a rear end comprising: a mechanism for manipulating a drive element extending through the shaft and coupled to the tool; a fluid inlet; and a fluid channel assembly connected to the fluid inlet and containing the proximal end of the shaft.

[0009] Another specific implementation is a method for cleaning a medical device. The method may include allowing a cleaning fluid to be injected into a fluid channel assembly that includes the proximal end of a shaft of the medical device. A drive element extends through the fluid channel assembly and through the shaft. The drive element is coupled to a tool at the distal end of the shaft. The method further includes removing contaminants from the interior of the shaft by allowing or directing the cleaning fluid to flow through the shaft in a proximal to distal direction. The method further includes facilitating the cleaning fluid to be discharged from the shaft through an outlet hole near the distal end of the shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1A and Figure 1B A perspective view and a top view, respectively, are shown of an exemplary embodiment of a medical device using proximal-to-distal irrigation.

[0011] Figure 2 An exploded view of a multi-piece chassis providing a fluid path through a rear end of the instrument and into an instrument shaft in a medical instrument is shown according to an example embodiment.

[0012] Figure 3A A partial cross-sectional view of an irrigation path that supplies cleaning fluid to an instrument shaft of a medical instrument through a rear end of the instrument is shown in accordance with an exemplary embodiment.

[0013] Figure 3B An exploded view illustrating the flush cap and the cable guide through which the drive element can enter Figure 3A The device axis of the medical device.

[0014] Figure 4A A bottom view of an example implementation of a cable guide is shown.

[0015] Figure 4B A bottom view of an example embodiment of a flush cap is shown.

[0016] Figure 4C Show Figure 4A A bottom view of a cable guide of the embodiment of the present invention, wherein the cable guide is pressed against Figure 4B The flush cap is formed on the underside of the drive cable to form an opening that seals around the drive cable or closely fits the opening of the drive cable.

[0017] Figure 5A An example embodiment of a cable guide having connectors for wires of an electrically shielded instrument shaft is illustrated.

[0018] Figure 5B 1. shows how a cable guide connected to an electrical shielding wire guides a drive element of a medical device. Figure 5A cable guide.

[0019] Fig. 6A An exemplary embodiment of a cable guide having openings for wires for electrically energizing a tool at the distal end of an instrument shaft is illustrated.

[0020] Figure 6B Figure 2 shows how a cable guide guides drive elements and wires in a medical device. Fig. 6A cable guide.

[0021] The examples illustrated in the drawings are for explanation purposes and not the invention itself. The use of the same reference signs in different drawings indicates similar or identical items. DETAILED DESCRIPTION

[0022] A system and method for cleaning minimally invasive medical devices, which directs a cleaning fluid to the proximal end of an instrument shaft so that the cleaning fluid flows through the instrument shaft in a proximal to distal direction and flows out of the instrument shaft through one or more outlet holes at the distal end of the instrument shaft. A cap system at the proximal end of the instrument shaft can provide a tight fit (contact or near contact, but not necessarily a sealed contact) to drive a cable or rod so that a sufficient amount of cleaning fluid supplied to a flushing channel in an instrument chassis flows into the instrument shaft. The outlet hole can be located near the distal end of the solid portion of the instrument shaft. In order to maintain injection pressure during use of the medical device, minimize contamination entering the instrument shaft, and provide bending stiffness, strength and lower cost for the medical device, the outlet hole can be very small and is only provided near the distal end of the instrument shaft, and the proximal portion of the instrument shaft does not have a hole that may weaken the instrument shaft. During a medical procedure, a disposable sheath can be used to cover the hole to further minimize injection losses and contamination. For convenience, an input cleaning port can be located in an instrument housing at the rear end of the medical device. The proximal portion of the cleaning system may specifically include a housing or chassis in which the instrument shaft is mounted and contains a channel or fluid conduit that directs fluid from an external inlet to the proximal end of the instrument shaft. The drive element and wires may extend into the instrument shaft through a flushing cap that may cover a fluid slot in the chassis or housing and may provide a tight fit with an actuating element (e.g., a drive cable or rod).

[0023] Although the above examples and other discussions herein often refer to medical procedures and medical devices, the disclosed technology also has application to non-medical procedures and non-medical devices.

[0024] Figure 1A A perspective view of an example embodiment of a medical device 100 according to an example embodiment using proximal to distal irrigation is shown. The medical device 100 generally includes an end effector (also referred to as a "tool") 110 at the distal end of an elongated instrument shaft 120 extending from a rear end 130. The distal tool 110 and the instrument shaft 120 can have multiple degrees of freedom of motion relative to the rear end 130, Figure 1A In the illustrated configuration, the medical device 100 has six degrees of freedom, corresponding to: two types of actuation of the first wrist or joint 111; two additional types of actuation of the second wrist or joint 112; opening or closing movement of the jaws 113; and rotation of the instrument shaft 120 about its central or length axis. Other embodiments of the medical device may provide more, fewer, or different degrees of freedom of motion.

[0025] Figure 1B A top view of the instrument 100 is shown, and specifically illustrates the interface through which the instrument 100 can be engaged and mounted on a robotic system. In particular, Figure 1B As shown, the rear end 130 includes six input spindles 141 to 146 having external engagement features that can be shaped and positioned to engage a robotic system such as the da The robot can be configured to rotate the input spindles 141 and 142 to pull the drive cables extending to the joint 111, thereby controlling the actuation of the wrist or joint 111. The third and fourth actuators in the robot can rotate the input spindles 143 and 144 to pull the drive cables extending to the wrist or joint 112, thereby controlling the actuation of the wrist or joint 112. The fifth actuator can rotate the input spindle 145 to push or pull the push-pull rod extending to the jaw 113 and controlling the opening or closing of the jaw 113, and the sixth actuator can rotate the input spindle 146 to control the rolling rotation of the instrument shaft 120.

[0026] According to one aspect of the disclosure, the rear end 130 has a flushing path that directs a cleaning fluid into the proximal instrument shaft 120 so that the fluid flows and flushes around and along the drive element in a path from the proximal end of the instrument shaft 120 to the outlet hole 122, such as Figure 1AAs shown. The outlet hole 122 in the instrument shaft 120 can be near the distal end of the long fluid-tight proximal portion of the shaft 120. In particular, the proximal fluid-tight portion of the instrument shaft 120 can be non-porous and therefore can be structurally stronger than the holes provided along the entire length of the instrument shaft 120. In the distal tool 110, the tubular links 114 and 115 can also include holes 116 (also referred to as "exhaust ports 116"), through which a cleaning fluid can be applied to a drive element or other structure in the tubular links 114 and 115. In some medical systems, the strength of the links 114 and 115 may be less important because such links are close to the distal end of the instrument 100 and are therefore able to support a shorter moment arm for external forces. The hole 116 can allow the tool 110 to be cleaned directly, for example, by spraying a cleaning fluid from a location adjacent to the distal tool 110. In some implementations, a seal 124 can be provided between the instrument shaft 120 and the tool 110 and can seal around a drive element extending through the instrument shaft 120 distally into the tool 110. The seal 124 can help maintain insufflation pressure, such as when gas insufflation is used to inflate a work site for a medical procedure, by preventing distal-to-proximal air from flowing through the aperture 116 and back into the instrument shaft 120. The seal 124 can also reduce or minimize the ingress of blood, particulates, or other contaminants into the instrument shaft 120.

[0027] Figure 1A It is further shown how the housing of the rear end 130 can include an inlet 150 into which water or other cleaning fluid can be injected during cleaning of the instrument 100. The size and shape of the inlet 150 can be designed to couple with standard cleaning equipment, and in one specific implementation can include a Luer port fitting. The housing or chassis element of the rear end 130 can deliver the cleaning fluid from the inlet 150 to the proximal end of the instrument shaft 120. For example, Figure 2 2 is an exploded view showing part 210 and part 220 that fit together to form a portion of a housing or chassis of a medical device such as device 100. In some embodiments, part 210 includes a portion or all of the housing and may be referred to as a housing part. In some embodiments, part 220 includes a portion or all of the chassis and may be referred to as a chassis part. Part 210 specifically includes a portion of a housing such as an inlet such as Figure 1A In order to provide a fluid passage from the inlet 150 of the structural part 210 to the hollow protrusion 212, the parts 210 and 220 are assembled together so that the inlet is in fluid communication with the fluid groove 222 in the part 220 through the hollow protrusion 212. Compared with a separate tube as a fluid passage, the structural part forms a fluid passage.

[0028] The instrument shaft 120 is mounted in the part 220 such that the proximal end of the instrument shaft 120 is located in the groove 222. The instrument shaft 120 may also be coupled to a rolling actuation mechanism (not shown) that may be mounted in the instrument rear end as described in co-filed U.S. Patent Application No. 62 / 362,340 entitled “GEARED ROLL DRIVE FOR MEDICAL INSTRUMENT”. A drive element 240 may extend through the fluid groove 222 and through the instrument shaft 120 to the distal tool, and the drive element 240 may similarly have a proximal end connected to an actuation mechanism provided in the instrument rear end as described in co-filed U.S. Patent Application No. 62 / 362,431 (filed on July 14, 2016) entitled “MULTI-CABLE MEDICAL INSTRUMENT”. The drive element 240 also passes through the cap 230 for the groove 222. As further described, cap 230 can incorporate a guide for drive element 240, and the cap and guide system can create a tight fit with drive element 240 to minimize loss of cleaning fluid through flush cap 230. Some cleaning fluid can leak through cap 230 into part 210, but the housing including part 210 need not be water-tight, and any cleaning fluid that leaks around flush cap 230 can drain through gaps, such as Figure 1A and 1B As shown, the air may be discharged through gaps between individual chassis or housing parts, gaps around input spindles 141-146, or through other openings 119 in the rear end 130. Additional inlets 218 may allow for secondary flushing of the rear end 130 of any contaminants that may be backwashed from shaft 120 into the housing including part 210 or introduced during processing of the instrument.

[0029] Figure 3A Shows the assembly time Figure 2 2. A partial cross-sectional view of a portion of a medical device of FIG. 2. As shown, part 210 includes inlet 150, which may include a female Luer port fitting and terminates in protrusion 212. Protrusion 212 may include a tapered protrusion that fits snugly into part 220. Thus, part 210 may direct fluid into groove 222. Groove 222 in part 220 in turn directs fluid along the perimeter of the medical device a short distance to a location proximal to the device shaft 120.

[0030] The flushing cap 230 fits into the groove 222 to close the fluid passage from the inlet 150 to the proximal end of the instrument shaft 120. The flushing cap 230 can have a thin wall whose material can be bent to allow a tight fit into the part 220. For example, the flushing cap 230 can be made of plastic. In one implementation, the cap 230 is made of approximately 10% polytetrafluoroethylene (PTFE) to reduce friction with the drive elements, particularly the grip drive rod 244, and the remaining 90% of the cap 230 can be polyetherimide (PEI), although other high temperature plastics are also suitable. The thin wall of the cap 230 can also press against the wall of the groove 222 so that the fluid pressure in the fluid passage has a tendency to press the seal of the cap 230 tightly against the part 220, thereby resisting or preventing fluid from leaking around the edge of the cap 230. Another chassis part 350 that fits onto the part 220 can also capture the flushing cap 230 to prevent fluid pressure or vibration from pushing the cap 230 out of place.

[0031] like Figure 3B As shown, the hole 232 (also referred to as an "opening") in the flushing cap 230 allows the drive element 240 to pass through the cap 230, such as the drive cable 242 and the push-pull rod 244. The drive element 240 further extends through the slot 222 and enters the instrument shaft 120. The cap 230 can be used with a cable guide 330, which supports the load caused by redirecting the drive element 240 from the path leaving the instrument shaft 120 to the path toward the drive mechanism in the rear end of the medical device. The cable guide 330 can be made of a resilient and durable material, such as a metal that is not quickly corroded due to the forward and backward sliding of the drive element 240 relative to the cable guide 330. For example, the cable guide 330 can be made of hardened stainless steel and can support a drive cable made of tungsten. In contrast, the flushing cap 230 can be made of a flexible material that can provide lower cost and better sealing of the part 220. The O-ring 320 can be used as a spring to push the cable guide 330 against the flushing cap 230.

[0032] Figure 3AThe illustrated rolling gear 310 is coupled to the instrument shaft 120 and can transmit rotation from the rolling actuation mechanism to the instrument shaft 120. The shape of the proximal end of the rolling gear 310 and the small gap between the rolling gear 310 and the part 220 can be used to direct most of the cleaning fluid from the fluid groove 222 into the instrument shaft 120, rather than passing through the gap to the outside of the rolling gear 310 and the instrument shaft 120 to exit the medical device. In addition, the instrument shaft 120 can fit snugly inside the rolling gear 310 to similarly prevent leakage between the instrument shaft 120 and the rolling gear 310. The proximal rolling bearing 312 and the distal rolling bearing 314 support the axial load and radial load on the instrument shaft 120 and provide further sealing to prevent leakage of the cleaning fluid during the cleaning process. In particular, the rolling gear 310 can be coupled to the instrument shaft 120 by using a gap in the rolling gear 310, which can match a tab on the instrument shaft 120, and the bearing 312 or the bearing 314 can cover such a gap so that the cleaning fluid is retained within the instrument shaft 120.

[0033] Figure 3A and Figure 3B One implementation of a medical device is shown in which a push-pull rod 244 extends through a central hole in the flush cap 230 and the cable guide 330, and a drive cable 242 extends through a separate hole in the flush cap 230 and a separate notch around the periphery of the central hole in the cable guide 330. According to one aspect disclosed herein, the flush cap 230 and the cable guide 330 can be shaped to overlap and provide a tight fit with the drive cable 242. For example, Figure 4A A bottom view of one possible implementation of the cable guide 330 is shown. Figure 4A In an implementation of the present invention, the cable guide 330 has a U-shaped recess 332 around the periphery of the central hole 334, and the size of the U-shaped recess 332 can be designed to closely fit the corresponding cable 242. In addition, each cable 242 can have an end 442 (which can include a crimp) having a diameter larger than the U-shaped recess 332. For example, each end 442 can be used to connect the drive cable to an actuation mechanism such as an input spindle. The cap 230 can have a shape such as Figure 4B The teardrop-shaped holes 232 are shown. In particular, the outer edge of each hole 232 can have a diameter large enough to pass the end 442 of the cable 242 through the hole 232, and the inner edge of each hole 232 can be sized to fit snugly around the cable 242. When the cable guide 330 is pushed upward against the flush cap 230, the hole 232 in the cap 230 overlaps with the corresponding U-shaped recess 332 to create a through hole 432 that fits snugly around the cable 242, as shown. Figure 4CAs shown. The through hole 432 can be particularly smaller than the crimp or end 442 of the drive cable 242, but large enough to accommodate the cable 242. The teardrop-shaped hole 232 in the flush cap 230 can be oriented, shaped, pulled or tapered so that the drive cable 242 only contacts the metal of the cable guide 330, so that the flush cap 230 can be made of plastic or other relatively soft materials and still not wear or reduce the amount of sealing during use. The central hole 234 in the flush cap 230 can be similarly tightly fitted with the push-pull rod 244, so that the combination of the cap 230 and the cable guide 330 provides a tight fit around the drive cable 242 and the push-pull rod 244, which inhibits the leakage of cleaning fluid to the rear end of the instrument. The push-pull rod 244 can follow the bend in the instrument shaft 120, so that the flush cap 230 can support small radial loads. However, the flush cap 230 can be made of plastic as described above and still support the gripping rod 244 with low friction, thereby avoiding wear problems. After assembly, the tight fit around the drive cable 242 and drive rod 244 creates a leak-resistant path that directs most of the cleaning fluid down the instrument shaft rather than into the rear end of the instrument. As long as most of the water or other cleaning fluid is directed down the instrument shaft, a complete seal is not required.

[0034] Assembling the instrument using the flush cap 230 and the cable guide 330 may allow the larger end 442 of each drive cable 242 to be passed through the central hole 334 in the cable guide 330 before securing the cables 242 in the U-shaped recesses 332. When the cable guide 330 is pushed against the cap 230, the end 442 may similarly be passed through the larger outer portion of the hole 232 in the cap 230 before the cable guide 330 displaces the cables 242 toward the smaller inner portion of the hole 232. Thus, the two-piece cap structure enables pre-crimped cables to be passed through the flush cap 230, which eliminates the need to crimp the drive cables 242 on the assembly line after they have been passed through the portion of the medical device being manufactured.

[0035] Figure 4B It is also illustrated how the cap 230 may include an additional hole 236 for electrical wiring, such as for a medical device that performs cauterization. Figure 4C As shown, when the medical device does not need to be electrically connected to the distal tool, the cable guide 330 can omit the hole for the wire, and the cable guide 330 can seal the hole 236 when the cable guide 330 is pressed against the underside of the cap 230.

[0036] Back to Figure 3A and 3B, the O-ring 320 can be compressed between the cable guide 330 and the chassis part 220, thus pushing the cable guide 330 upward against the inner surface of the flush cap 230. The bottom of the cable guide 330 can include brackets 338 that contact the O-ring 320, so that the gap between the brackets 338 on the cable guide 330 provides an opening through which the cleaning fluid enters the instrument shaft 120 during the flushing or cleaning process. In an alternative implementation, the O-ring 320 can be replaced with a spring or even a rigid surface / spacer that similarly pushes the cable guide 330 against the flush cap 230 and leaves an opening for fluid to flow into the instrument shaft 120.

[0037] Above Figure 4A A cable guide 330 is shown for a medical device that is a non-powered device, for example, a medical device that does not require an electrical wire extending through the shaft of the device. Figure 4A The cable guide 330 does not have holes for wires and covers the holes 236 in the flush cap 230 so that water or other cleaning fluids do not pass through the holes 236 during the flushing process.

[0038] Medical devices capable of monopolar cautery can electrically excite the push-pull rod 244 so that the push-pull rod 244 is used for both gripping actuation and conducting power to the jaws of the distal tool. However, monopolar cautery instruments can use wires to electrically shield the instrument shaft. For example, Figure 5A A cable guide 530 is shown having two pins 540 electrically coupled to the cable guide 530. The pins 540 may be sized to fit through the holes 236 and close the holes 236 in the flush cap 230 to prevent leakage of water or other cleaning fluids. Figure 5B As shown, the shield wire 520 can be connected to the pin 540 to ground the metal cable guide 530, which can be electrically connected to the instrument shaft 120 and the drive cable 242 when assembled into the medical device. The electrical shield wire 520 can alternatively be connected to the cable guide 530 using other techniques, for example, the wire 520 can be directly crimped or welded to the cable guide 530 instead of using the pin 540. The flushing cap 230 made of an electrically insulating plastic as described above can include a guide hole 234 for the push-pull rod 244 so that the push-pull rod 244 is electrically insulated from the metal cable guide 530.

[0039] Bipolar cautery instruments may employ electrical wires that pass through the instrument shaft and along the drive cable. Fig. 6A The cable guide 630 shown may include two holes 640 for insulated wires or Figure 6BOther conductive wires 620 are shown passing through a path to the distal tool. The insulated conductors 620 can substantially fill the holes 640 in the cable guide 630 or the holes 236 in the cap 230 so that water or other cleaning fluids will be directed out of the cable guide 630 and primarily down the instrument axis, as in other implementations described above.

[0040] Some implementations of the flushing system disclosed herein can provide several advantages over alternative flushing systems. In particular, some flushing systems disclosed herein do not require a flushing tube extending through the instrument shaft, and thus can provide a more compact flushing system that works in a narrower instrument shaft, and can provide a flushing system to avoid problems that may occur when the flushing tube is kinked. In addition, an implementation using a two-piece flushing cap can complete a "seal" around each drive cable (not necessarily a perfect seal, but any leakage is an acceptable amount) and still be able to use pre-crimped cables, which can simplify the assembly of medical devices. Some implementations can guide the cleaning fluid down the instrument shaft along the path of least resistance without the need or use of a complete seal on the drive element, which can avoid problems associated with rapid wear of the seal due to the sawing action of the drive cable. In addition, the flushing path can be achieved by thin-walled components that fit together, so that water or cleaning fluid pressure tends to increase the amount of sealing, which can improve the reliability of cleaning medical devices.

[0041] Although specific implementations have been disclosed, these embodiments are merely examples and should not be considered limiting. Various modifications and combinations of features of the disclosed implementations are within the scope of the appended claims.

Claims

1. A medical device comprising: a shaft having one or more exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft; and The backend, which includes: a mechanism for manipulating a drive element extending through the shaft and coupled to the tool; a fluid inlet; and A fluid channeling assembly is in communication with the fluid inlet and includes the proximal end of the shaft.

2. The medical device according to claim 1, wherein: The fluid channeling assembly includes a cap adjacent the proximal end of the shaft; and The drive element extends through the cap and into the shaft.

3. The medical device according to claim 2, further comprising: A chassis includes the fluid inlet, the chassis further comprising a groove, the groove containing the cap.

4. The medical device according to claim 3, wherein: The cap includes a flexible portion that seals against the sidewalls of the slot.

5. The medical device according to claim 2, further comprising: a guide in said cap; Wherein the guide comprises a resilient surface for redirecting the drive element.

6. The medical device according to claim 5, wherein: The cap includes a first opening; The guide member includes a second opening; and The first opening and the second opening overlap to create a through hole that is smaller than the first opening, smaller than the second opening, and fits tightly around the drive element.

7. The medical device according to claim 6, wherein: The driving element includes a cable and a crimping portion on the cable; and The crimping portion is adapted to pass through the first opening and through the second opening, and is not adapted to pass through the through hole.

8. The medical device according to claim 1 or any one of claims 2 to 7, wherein: The tool further includes an outlet configured for fluid flow.

9. The medical device according to claim 8, wherein: The exhaust port exposes the drive element for cleaning on the exterior of the shaft.

10. A method for cleaning a medical device, comprising: allowing a cleaning fluid to be injected into a fluid channel assembly comprising a proximal end of a shaft of the medical device, wherein a drive element extending through the fluid channel assembly and through the shaft, and The drive element is coupled to a tool at a distal end of the shaft; removing contaminants from the interior of the shaft by directing the cleaning fluid to flow through the shaft in a proximal to distal direction; and The cleaning fluid is facilitated to exit the shaft through an exit hole near the distal end of the shaft.

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