Control assemblies for medical devices and related methods of use

Abstract

The invention relates to a medical assembly comprising a medical device comprising a handle having an actuator, a shaft extending distally from the handle, and a sensor at a distal end of the shaft. The distal end of the shaft is coupled to the actuator by a wire, the wire extending through the shaft; and the sensor is configured to measure data indicative of the distal end of the shaft, the distal end moving from a first position to a second position. The actuator is configured to articulate the distal end of the shaft based on the data measured by the sensor to move the distal end from the second position to the first position.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 332,578, filed on April 19, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0002] Various aspects of the present disclosure generally relate to devices and methods for automated control of medical devices. For example, the present disclosure relates to systems, assemblies, and methods for automated control of a medical device at a target treatment site within a subject during surgery. Background Art

[0003] Technological developments have given users of medical devices the ability to perform increasingly complex surgeries. One challenge in the field of minimally invasive surgery (such as endoscopy, laparoscopy, bronchoscopy, and thoracoscopy, among other surgical procedures) is associated with the favorable control of medical devices with respect to the orientation and position of such devices during surgery. In certain surgeries, maintaining the stability of a medical device within a subject can be difficult due to the subject's regular body movements throughout the procedure.

[0004] For example, during an endoscopic lung surgery on a subject, a user may insert the sheath of an endoscope into a body cavity of the subject. The user may control the device using the handle of the endoscope during the surgery. Instruments may pass through the working channel of the endoscope to deliver therapeutics to a target site within the patient's lungs. Given the position of the endoscope within the subject's lungs, unexpected movement of the instrument may be caused by respiratory motion of the lungs. Movement of the endoscope (such as during a biopsy procedure) may result in potential injury to the subject. To maintain the stability of the instrument at a remote site, the user may need to manually control the endoscope and / or instrument, which is inserted into the working channel during the surgery to suppress unexpected movement caused by the lungs. The present disclosure may address one or more of these or other issues of the prior art. Summary of the invention

[0005] Aspects of the present disclosure relate to systems, devices, and methods, among other things, for treating a target treatment site using a medical assembly that provides automatic control of a medical device. For example, a medical assembly may include a medical device, a drive mechanism, and a controller. The medical device may include an actuator, a shaft, and a sensor at a distal end, the shaft having a distal end coupled to the actuator and located at a target treatment site within a subject, the sensor configured to measure data indicating movement of the distal end (e.g., the distal end moving away from the target treatment site).

[0006] The actuator may be configured to articulate the distal end based on data measured by the sensor, thereby moving the distal end toward the target treatment site (e.g., returning the distal end toward the target treatment site). The drive mechanism may include a pin and a motor, the pin being configured to engage the actuator, the motor being configured to move the pin when activated. The controller may be communicatively coupled to the sensor and the motor, and may be configured to actuate the actuator via movement of the pin to articulate the distal end a certain distance, thereby returning the distal end to the target treatment site. Each of the aspects disclosed herein may include one or more of the features described in conjunction with any of the other disclosed aspects.

[0007] According to one example, a medical assembly includes a medical device; the medical device includes a handle, a shaft, and a sensor at a distal end of the shaft; the handle has an actuator; the shaft extends distally from the handle, wherein the distal end of the shaft is connected to the actuator by a wire extending through the shaft; the sensor is configured to measure data indicating the distal end of the shaft, which moves from a first position to a second position; wherein the actuator is configured to articulate the distal end of the shaft based on the data measured by the sensor so that the distal end moves from the second position to the first position.

[0008] Any of the medical assemblies described herein may include any of the following features. The sensor is configured to measure resistance, and the data includes a voltage corresponding to the measured resistance. The medical assembly includes a drive mechanism configured to connect the medical device at the actuator. The drive mechanism includes a housing and one or more pins, and the one or more pins extend outward from the housing. The medical device includes one or more apertures located on the actuator, and wherein the actuator is configured to receive one or more pins through the one or more apertures to connect the medical device to the drive mechanism. The drive mechanism includes a motor coupled to the one or more pins, and the drive mechanism is configured to rotate the actuator by the movement of the one or more pins when the motor is enabled. The medical assembly also includes a controller, which is communicatively coupled to the sensor of the medical device and the motor of the drive mechanism. The controller is configured to determine the distance between the first position and the second position based on the data measured by the sensor of the medical device. The controller is configured to actuate the actuator via the movement of one or more pins to articulate the distal end of the shaft by the distance, so that the distal end of the shaft returns to the first position. The actuator includes a first actuator and the wire includes a first wire, and wherein the handle includes a second actuator and the shaft includes a second wire. The distal end of the shaft is connected to the second actuator by the second wire. The first actuator is configured to move the proximal portion of the distal end, and the second actuator is configured to move the distal portion of the distal end. One or more pins include a first pin and a second pin, the first pin is configured to engage the first actuator, and the second pin is configured to engage the second actuator. The motor includes a first motor, the first motor is coupled to the first pin and is configured to rotate the first pin relative to the handle when enabled, and the drive mechanism includes a second motor, the second motor is coupled to the second pin and is configured to rotate the second pin relative to the handle when enabled. The distal end includes an initial configuration of a first position and a modified configuration when in the second position, wherein the controller is configured to determine the modified configuration of the distal end based on data measured by the sensor. The controller is configured to rotate at least one of the first pin or the second pin to move the corresponding proximal portion or the distal portion to return the distal end to the initial configuration.

[0009] According to another example, a medical assembly includes a medical device; the medical device includes a handle, a shaft, and a sensor at a distal end; the handle has a first actuator and a second actuator; the shaft extends distally from the handle, wherein a proximal portion of the distal end of the shaft is connected to the first actuator via a first wire, wherein a distal portion of the distal end is connected to the second actuator via a second wire, wherein the first actuator is configured to move a proximal portion of the distal end, and wherein the second actuator is configured to move a distal portion of the distal end; the sensor is configured to measure data indicating the distal end, which moves from an initial configuration to a modified configuration; wherein at least one of the first actuator is configured to articulate the proximal portion of the distal end or the second actuator is configured to articulate the distal portion of the distal end, so as to move the distal end from the modified configuration to the initial configuration based on the data measured by the sensor.

[0010] Any of the medical assemblies described herein may include any of the following features. The medical assembly includes a drive mechanism configured to couple a medical device and a first actuator and a second actuator. The drive mechanism includes a first pin, a second pin, a first motor, and a second motor; the first pin is configured to engage the first actuator; the second pin is configured to engage the second actuator; the first motor is coupled to the first pin and configured to rotate the first actuator relative to the handle when enabled; the second motor is coupled to the second pin and configured to rotate the second actuator relative to the handle when enabled. The medical assembly includes a controller communicatively coupled to the sensor, the controller configured to determine a modified configuration of the distal end based on data measured by the sensor, and configured to rotate at least one of the first pin or the second pin to move a corresponding proximal portion or distal portion of the distal end to return the distal end to an initial configuration.

[0011] According to another example, a method for controlling a medical device includes: positioning an axis of the medical device at a target site; connecting an actuator of the medical device to a drive mechanism by inserting a pin of the drive mechanism into the actuator, wherein the actuator is configured to control movement of the axis; detecting a displacement of the axis relative to the target site via a sensor of the medical device; and enabling a motor of the drive mechanism to rotate the pin and actuate the actuator, thereby moving the axis by the displacement and moving toward the target site.

[0012] It is understood that the foregoing general description and the following specific embodiments are exemplary and explanatory only and do not limit the invention claimed. As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to encompass a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but may also include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "distal" refers to the portion furthest from the user when the device is introduced to the patient. The term "proximal" refers to the portion closest to the user when the device is placed on the subject. The term "top" refers to the direction or side relative to which the device is oriented during use; and the term "bottom" refers to the direction or side relative to which the device is oriented during use, which direction or side is opposite to "top." The term "exemplary" is used in the sense of "example" rather than "ideal." As used herein, the terms "about," "substantially," and "approximately" indicate a numerical range of + / -10% of the stated numerical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate several aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0014] Figure 1 shows a perspective view of an exemplary medical device;

[0015] Figure 2 Shows Figure 1 A partial stereoscopic view of a medical device;

[0016] Figure 3 Shows Figure 1 A partial side view of a medical device;

[0017] Figure 4A Shown along Figure 1 The line 4-4 intercepts Figure 1 A cross-sectional view of a medical device;

[0018] Figure 4B Shown along Figure 1 The line 4-4 intercepts Figure 1 A cross-sectional view of a medical device, wherein a control wire is received through the medical device;

[0019] Figure 5 Shows Figure 1 A partial side view of a distal end of a medical device;

[0020] Figure 6 Shows Figure 1 A partial perspective view of a distal end of a medical device;

[0021] Figure 7 Shows Figure 1 A partial perspective view of a distal end of a medical device;

[0022] Figure 8 Shows Figure 1 A perspective view of a sensor of a medical device;

[0023] Fig. 9 shows a partial perspective view of an exemplary drive mechanism;

[0024] Fig.10 Shows Figure 1 A partial perspective view of a medical device coupled to Fig. 9 The driving mechanism;

[0025] Fig.11 A perspective view of a user device is shown, the user device being communicatively coupled to Fig.10 The drive mechanism is used to control Figure 1 medical devices;

[0026] Fig. 12A Shows the first position Figure 1 A partial side view of a distal end of a medical device;

[0027] Fig. 12B The second position is shown Figure 1 A partial side view of a distal end of a medical device;

[0028] Fig. 12C The hinged position is shown Figure 1 A partial side view of the distal end of a medical device. DETAILED DESCRIPTION

[0029] Embodiments of the present disclosure relate to automatic medical assemblies for facilitating control of a medical device based on sensor data. The medical device may be manually controllable by a user, such as in response to manipulation of one or more actuators on a handle of the medical device to control movement of a distal end of the medical device relative to a target treatment site. The medical assembly herein may include a drive mechanism for coupling the medical device, thereby also providing automatic control of one or more actuators. The drive mechanism may actuate one or more actuators to provide automatic movement of the distal end relative to the target treatment site.

[0030] Examples of the present disclosure may relate to components, devices, and methods for automatic control of medical devices to perform various medical procedures and / or treat the lungs, large intestine (colon), small intestine, cecum, portions of the esophagus, any other portion of the gastrointestinal tract, and / or any other suitable patient anatomical structure (collectively referred to herein as the "target treatment site"). In an example, accessing the patient's esophagus includes intraluminal placement of one or more medical devices to the target treatment site. The placement of the medical device can be inserted into the anatomical passage through a catheter, a scope (endoscope, bronchoscope, colonoscope, gastroscope, ureteroscope, duodenoscope, laparoscope, etc.), a tube, or a sheath through a natural orifice or through laparoscopic surgery. The orifice can be, for example, the nose, mouth, or anus, and the placement can be in any part of the gastrointestinal tract, including the esophagus, stomach, duodenum, large intestine, or small intestine.

[0031] It can also be placed in other organs or other body spaces accessible via the gastrointestinal tract, other body cavities or body openings (including via laparoscopic surgery). The present disclosure is not limited to any specific medical device, method, medical operation or in vivo treatment site. Aspects of the present disclosure can be used in any suitable part of the body in combination with any suitable medical device and / or medical method. Each example described herein includes a single use or disposable medical device. Reference will now be made in detail to aspects of the present disclosure, examples of which are shown in the accompanying drawings. Where possible, the same or similar reference numerals will be used in the accompanying drawings to refer to the same or similar parts.

[0032] Figure 1 An exemplary medical device 100 is shown according to one or more examples of the present disclosure. The medical device 100 may include a handle 102 and a shaft 140, the handle 102 having a distal end 104 and a proximal end 106, and the shaft 140 extending distally from the distal end 104. The handle 102 may include one or more ports, such as a first port 103 and a second port 108, for receiving one or more medical devices within the medical device 100, and in particular through the shaft 140. For example, the second port 108 may be configured to receive a medical device (such as an umbilical cord or a tube) that includes one or more channels for providing suction, irrigation, and / or for receiving a camera wire. As described in detail below, the umbilical cord or tube received by the second port 108 may extend into the shaft 140 via the internal channel 105 of the handle 102 (see Figure 2 ).

[0033] The medical device 100 may include one or more actuators, such as a first actuator 110, a second actuator 120, and a third actuator 130, on the handle 102 positioned adjacent to the proximal end 106. In other embodiments, the medical device 100 may include additional and / or fewer actuators than those shown and described herein without departing from the scope of the present disclosure.

[0034] In this example, the third actuator 130, the second actuator 120, and the first actuator 110 can each be located above one another in a stacked arrangement, with the second actuator 120 located between the third actuator 130 and the first actuator 110. In other words, each of the actuators on the handle 12 can be arranged in series with the third actuator 130, the second actuator 120, and the first actuator 110, with the third actuator 130 located on and extending radially outward (relative to the longitudinal axis of the handle 102) from the second actuator 120, the second actuator 120 located on and extending radially outward from the first actuator 110, and the first actuator 110 extending radially outward from the handle 102. In other embodiments, one or more of the first actuator 110, the second actuator 120, and / or the third actuator 130 can have various other suitable arrangements and / or positions relative to one another and / or the handle 102 without departing from the scope of the present disclosure.

[0035] Each of the actuators on the handle 102 can be configured to control one or more control wires disposed within the shaft 140. Each of the actuators can be actuated (e.g., rotated) to move one or more corresponding control wires relative to the lumen of the shaft 140. Although the actuators 110, 120, 130 are shown and described as being rotatable, other types of actuators (e.g., rods, knobs, buttons, sliders, etc.) can be utilized without departing from the scope of the present disclosure. Figure 1 In an embodiment of the present invention, the actuator may be actuated via manual manipulation by a user of the medical device 100. Additionally or alternatively, the actuator may be actuated via automatic control applied by another component of the medical assembly (such as the drive mechanism 200), discussed in more detail below (see Figures 9 to 11 ).

[0036] Still refer to Figure 1 , each of the actuators on the handle 102 may include one or more apertures sized and shaped to receive a corresponding component (e.g., a pin) of the drive mechanism 200. In this example, the first actuator 110 may include a pair of first apertures 112, the second actuator 120 may include a pair of second apertures 122, and the third actuator 130 may include a pair of third apertures 132. In some embodiments, the diameter and / or shape of the aperture on each actuator may correspond to the diameter and / or shape of a corresponding pin of the drive mechanism 200, which is received by the particular aperture. The diameter and / or shape of the aperture on each of the actuators may be the same and / or different from each other. In an alternative, each of the first actuator 110, the second actuator 120, and the third actuator 130 may include only a single aperture, which may have a size and shape keyed to a corresponding pin of the drive mechanism 200, which is received by the particular aperture.

[0037] The shaft 140 may include a longitudinal length defined between a proximal end 142 coupled to the handle 102 at the distal end 104 and a distal end 144 opposite the proximal end 142. The distal end 144 may include a proximal portion 150 and a distal portion 160, with the distal portion 160 being positioned distally relative to the proximal portion 150. As described herein, each of the proximal portion 150 and the distal portion 160 may be configured to move independently relative to each other (e.g., bend, articulate, pivot, etc.) when one or more actuators are actuated. In some embodiments, the medical device 100 may include a second shaft configured to receive the shaft 140 within a lumen of the second shaft (see Fig.10 ). As described below, the second shaft can be configured to facilitate positioning of shaft 140 relative to the subject for maintaining a fixed position and / or configuration of shaft 140 during surgery.

[0038] Reference Figure 2 , the top housing of the handle 102 is omitted to illustrate one or more internal components of the medical device 100. The medical device 100 may include one or more rings rotatably disposed within the handle 102 at the proximal end 106. For example, the medical device 100 may include a first ring 114, a second ring 124, and a third ring 134. The third ring 134, the second ring 124, and the first ring 114 may each be located on top of each other in a stacked arrangement, wherein the second ring 124 is located between the third ring 134 and the first ring 114. In other words, each of the rings in the handle 102 can be arranged in series with the third ring 134, the second ring 124 and the first ring 114, the third ring 134 is located on the second ring 124, the second ring 124 is located on the first ring 114, and the first ring 114 is directly located on the inner surface of the bottom shell of the handle 102.

[0039] Each of the rings 114, 124, 134 disposed within the handle 102 can be coupled to a corresponding actuator 110, 120, 130 located on the exterior of the handle 102. For example, the first actuator 110 can be coupled to the first ring 114, the second actuator 120 can be coupled to the second ring 124, and the third actuator 130 can be coupled to the third ring 134. Thus, each of the corresponding rings can be configured to move (e.g., rotate) within the handle 102 when the corresponding actuator on the handle 102 is actuated. It should be understood that the medical device 100 can include at least one ring disposed within the handle 102 for each actuator located on the exterior of the handle 102. Additionally, the arrangement and / or position of the first, second, and / or third rings 114 , 124 , 134 relative to each other and / or the handle 102 may correspond to the respective arrangements and / or positions of the first, second, and third actuators 110 , 120 , 130 .

[0040] Still refer to Figure 2 , each of the rings may include one or more control wires coupled thereto. For example, each ring may include a groove extending around the outer surface of the ring, and one or more control wires may be received within the groove and fixedly attached to the ring therein. In this embodiment, the first ring 114 may include a first groove 119 and a pair of first control wires 116A, 116B, the pair of first control wires 116A, 116B coupled to the first ring 114 within the first groove 119. The second ring 124 may include a second groove 129 and a pair of second control wires 126A, 126B, the pair of second control wires 126A, 126B coupled to the second ring 124 within the second groove 129. The third ring 134 may include a third groove 139 and a pair of third control wires 136A, 136B, the pair of third control wires 136A, 136B coupled to the third ring 134 within the third groove 139.

[0041] Although reference is made herein to a pair of control wires, it should be understood that the respective pairs of control wires may be portions of a single respective wire that is wound around the respective rings. As further described below, each of the first ring 114, the second ring 124, and the third ring 134 may include one or more openings for receiving at least one sleeve configured to secure one or more corresponding control wires to the respective rings. For example, the third ring 134 may include a pair of openings 138, such as Figure 2 As shown; and each of the first ring 114 and the second ring 124 may include a corresponding pair of openings.

[0042] In some embodiments, Figure 3As can be seen, each of the rings may include at least one sleeve disposed in a groove for securing each terminal end (proximal end) of the corresponding control wire to the ring. For example, the third ring 134 may include a pair of third sleeves 137 received through the opening 138 and securely secured in the third groove 139 along opposite sides of the third ring 134; and each of the pair of third sleeves 137 may be configured to attach (e.g., by crimping) the terminal end (proximal end) of at least one of the pair of third control wires 136A, 136B to the third ring 134. The second ring 124 may include a pair of second sleeves 127, which are received through the opening 128 and firmly fixed in the second groove 129 along the opposite sides of the second ring 124; and each of the pair of second sleeves 127 may be configured to attach (for example, by crimping) the terminal end (proximal end) of at least one of the pair of second control wires 126A, 126B to the second ring 124.

[0043] Similarly, the first ring 114 may include a pair of first sleeves (not shown) received through the opening and fixedly secured within the first groove 119 along opposite sides of the first ring 114; and each of the pair of first sleeves may be configured to attach (e.g., by crimping) a terminal end (proximal end) of at least one of the pair of first control wires 116A, 116B to the first ring 114. Since the control wires are secured to the respective rings and each ring is movably coupled to a corresponding actuator, each of the rings may be configured to apply tension to the respective control wire when the respective actuator coupled thereto is actuated.

[0044] Return to reference Figure 2 Each of the first control wire 116A, 116B, the second control wire 126A, 126B, and the third control wire 136A, 136B can extend from a corresponding loop at the proximal end 106 of the handle 102 toward the distal end 104 and into the shaft 140. As described below, the shaft 140 may include a plurality of channels for receiving the control wires, as well as various other medical instruments and / or devices (see FIG. 4A to FIG. 4B , described in more detail below). The handle 102 may include an internal passage 105 extending toward a distal end 144 of the shaft 140. The internal passage 105 may be sized and shaped to receive one or more medical instruments, such as medical instruments received within the medical device 100 via the first port 103 and / or the second port 108. In addition, the handle 102 may include a movable rod 101 at the proximal end 106 for selectively locking one or more actuators 110, 120, 130 to the handle 102.

[0045] Reference FIG. 4A to FIG. 4B, shows a cross-sectional profile of the shaft 140 with a plurality of channels extending therethrough. It should be understood that the plurality of channels may extend through the longitudinal length of the shaft 140 from the proximal end 142 to the distal end 144 (see Figure 1 ). In this embodiment, the shaft 140 may include a corresponding pair of channels for receiving each of the pair of control wires from a ring disposed within the handle 102. For example, the shaft 140 may include a pair of first channels 144A, 144B, a pair of second channels 146A, 146B, and a pair of third channels 148A, 148B; the first channels 144A, 144B are sized and shaped to receive the first control wires 116A, 116B; the second channels 146A, 146B are sized and shaped to receive the second control wires 126A, 126B; and the third channels 148A, 148B are sized and shaped to receive the third control wires 136A, 136B.

[0046] Each of the control wires can be configured to move relative to the corresponding channel in response to a proximal force and / or tension applied thereto, such as caused by rotation of a corresponding ring coupled to the control wire. The pair of first control wires 116A, 116B and the pair of second control wires 126A, 126B can be configured to articulate the proximal portion 150 of the distal end 144 relative to and independently of the distal portion 160 (see Figure 1 In this embodiment, the first control wires 116A, 116B can be configured to hinge the proximal portion 150 at least 180 degrees in a first set of directions, such as, for example, in an upward and downward direction relative to the proximal end 142 of the shaft 140 .

[0047] The second control wire 126A, 126B can be configured to articulate the proximal portion 150 at least 180 degrees in a second set of directions that can be different from the first set of directions, such as, for example, in a lateral left and lateral right direction relative to the proximal end 142. The first set of directions and the second set of directions can be substantially perpendicular to each other. Thus, simultaneous actuation of at least one first control wire 116A, 116B and at least one second control wire 126A, 126B can provide for articulation of the proximal portion 150 in one or more oblique directions. For example, articulating the first control wire 116A and the second control wire 126A can articulate the proximal portion 150 in an upward left direction, while actuating the first control wire 116B and the second control wire 126B can articulate the proximal portion 150 in a downward right direction.

[0048] The pair of third control wires 136A, 136B can be configured to articulate a distal portion 160 of the distal end portion 144 relative to and independently of the proximal portion 150. In this embodiment, the third control wires 136A, 136B can be configured to articulate the distal portion 160 at least 180 degrees in a third set of directions that can be different from the first and second sets of directions, such as, for example, in an upward and downward direction relative to the proximal portion 150.

[0049] Still refer to FIG. 4A to FIG. 4B , the shaft 140 may further include at least one working channel 141 for receiving auxiliary instruments (e.g., guide wires, biopsy devices, etc.), an instrument channel 147A for receiving an illumination device (e.g., a fiber optic cable 111 and / or an imaging device (e.g., a cable / wire for powering the imaging device)), and a fluid channel 147B for providing a fluid (e.g., water), pressurized air, and / or suction to the target treatment site. It should be understood that the working channel 141, the instrument channel 147A, and the fluid channel 147B can receive one or more instruments and / or devices via the internal channel 105 of the handle 102 (see Figure 2 ).

[0050] In other embodiments, the shaft 140 may include additional and / or fewer channels than those shown and described herein without departing from the scope of the present disclosure. For example, the shaft 140 may include a second instrument channel for receiving a cable or wire to provide power to an illumination device, an imaging device, a sensing device, etc. The shaft 140 may be formed of a variety of suitable materials, such as polytetrafluoroethylene (PTFE). In this example, the shaft 140 may be braided and reflowed with a 72D extrusion.

[0051] Figure 5 The distal end 144 of the shaft 140 is shown, wherein the outer surface / wall of the shaft 140 and (including the outer surface / wall of the proximal portion 150) are omitted for illustration purposes only. The first control wire 116A, 116B, the second control wire 126A, 126B, and the third control wire 136A, 136B may extend through the FIG. 4A to FIG. 4B The proximal portion 150 is shown and described within the corresponding channels. The proximal portion 150 can be secured to the distal portion 160 via a first weld ring 158 therebetween. The first weld ring 158 can include an internal cavity that can facilitate the connection between the channels within the proximal portion 150 to the corresponding channels within the distal portion 160.

[0052] For example, each of the first channel 144A, 144B, the second channel 146A, 146B, and the third channel 148A, 148B can terminate at the distal end of the proximal portion 150, so that the first control wire 116A, 116B, the second control wire 126A, 126B, and the third control wire 136A, 136B can exit the proximal portion 150 and extend into the interior cavity of the first welding ring 158. The terminal ends (distal ends) of the first control wire 116A, 116B and the second control wire 126A, 126B can terminate at and can be fixed (e.g., welded) to the interior surface of the first welding ring 158, particularly as Figure 5 As shown in B.

[0053] Thus, movement of the first control wire 116A, 116B and / or the second control wire 126A, 126B can provide corresponding movement of the first weld ring 158, thereby causing movement of the proximal portion 150 relative to the distal portion 160. For example, proximal and / or distal movement of the first control wire 116A, 116B can cause the first weld ring 158 to at least partially move (e.g., pull, push) in at least one of the first set of directions (e.g., up, down), thereby causing the proximal portion 150 to articulate and / or bend relative to the distal portion 160 (and the proximal end 142 of the shaft 140). The proximal and / or distal movement of the second control wires 126A, 126B can cause the first welding ring 158 to at least partially move (e.g., pull, push) in at least one direction of the second set of directions (e.g., left, right), thereby causing the proximal portion 150 to articulate and / or bend relative to the distal portion 160 (and the proximal end 142 of the shaft 140). The proximal portion 150 can be formed of a variety of suitable materials, such as a thermoplastic elastomer (e.g., 32D ). In this example, the proximal portion 150 may be braided and reflowed as a 32D extrusion.

[0054] Reference Figure 6, the third control wires 136A, 136B can extend through the interior cavity of the first welding ring 158 and can be received in the corresponding channels of the distal portion 160. In this example, the paired third channels 148A, 148B of the shaft 140 and the proximal portion 150 can extend through and / or continue into the distal portion 160. In some embodiments, the third channels 148A, 148B in the proximal portion 150 can be at least partially misaligned with the corresponding third channels 148A, 148B in the distal portion 160. Therefore, the third control wires 136A, 136B can be bent and / or curved within the interior cavity of the first welding ring 158 to realign with the third channels 148A, 148B in the distal portion 160, and the first welding ring 158 is located between the proximal portion 150 and the distal portion 160. In other embodiments, the third control wire 136A, 136B may have a linear configuration between the proximal portion 150 and the distal portion 160 without any bends and / or bends within the first weld ring 158 .

[0055] like Figure 7 As can be seen, the working channel 141, the instrument channel 147A, and the fluid channel 147B can extend from the shaft 140 and the proximal portion 150, and extend into the distal portion 160. The medical device 100 can include a distal tip 170 at the distal end 144 of the shaft 140, and the distal portion 160 can be fixed to the distal tip 170 via a second weld ring 168 located therebetween. The second weld ring 168 can include an internal cavity that can facilitate the connection between the channels of the distal portion 160 to corresponding channels extending through the distal tip 170. In this example, the third channels 148A, 148B can terminate at the distal end of the distal portion 160, so that the third control wires 136A, 136B can exit the distal portion 160 and extend into the internal cavity of the second weld ring 168 at the distal end of the distal portion 160.

[0056] The terminal end (distal end) of the third control wire 136A, 136B may terminate at, and may be fixed (e.g., welded) to the inner surface of the second welding ring 168. Thus, movement of the third control wire 136A, 136B may provide corresponding movement of the second welding ring 168, thereby causing movement of the distal portion 160 relative to the proximal portion 150. For example, proximal and / or distal movement of the third control wire 136A, 136B may cause the second welding ring 168 to at least partially move (e.g., pull, push) in at least one direction of the third set of directions (e.g., upward, downward), thereby causing the distal portion 160 to move relative to the proximal portion 150.

[0057] Thus, the medical device 100 is operable to move the distal end 144 with 180 degrees of motion in all directions via movement of the proximal portion 150 and the distal portion 160, as caused by selective actuation of the first actuator 110, the second actuator 120, and the third actuator 130. The working channel 141, the instrument channel 147A, and the fluid channel 147B may extend from the distal portion 160 and extend through the distal tip 170.

[0058] Still refer to Figure 7 , the distal tip 170 may include one or more openings for each of the channels extending therethrough. For example, the distal tip 170 may include at least one primary opening 172 and a pair of secondary openings 174. The primary opening 172 may be aligned with the working channel 141, and at least one of the pair of secondary openings 174 may be aligned with each of the instrument channel 147A and the fluid channel 147B. Thus, one or more medical instruments and / or devices received by each of the channels of the shaft 140 (e.g., from the first port 103 and / or the second port 108), the proximal portion 150, and the distal portion 160 may extend out of the medical device 100 via the corresponding openings at the distal tip 170.

[0059] In one example, the distal tip 170 may receive an imaging device, such as via the instrument channel 147A. The imaging device may include a camera, an image sensor, a fiber optic imaging device, a peripheral vision probe, and / or other devices. The imaging device may be operable to record images and / or real-time video streams of a target treatment site in a subject. The medical device 100 may also include one or more sensors 162 disposed on an outer surface of the distal portion 160 or on an interior of the distal portion 160. In this example, the medical device 100 may include a plurality of sensors 162 positioned in an annular array around the outer surface of the distal portion 160. The sensor 162 may extend between the first welding ring 158 and the second welding ring 168 along the longitudinal length of the distal portion 160. The sensor 162 may include a flexure sensor (e.g., a variable resistor) that may be configured to move and / or bend according to a corresponding movement of the distal portion 160. In other words, the sensor 162 may be flexible and deformable according to the shape and / or configuration of the distal portion 160.

[0060] refer to Figure 8 , each sensor 162 may include a body (base) 164 having a connector 165 at the proximal end of the sensor 162 and a plurality of metal plates 166 disposed along the longitudinal length of the body 164. The sensor 162 may be configured to measure resistance and / or voltage that indicates an amount of deflection of the distal portion 160 (relative to the proximal portion 150) by detecting resistance via the plurality of metal plates 166.

[0061] For example, as the body 164 bends in response to corresponding movement and / or deflection of the distal portion 160 relative to the proximal portion 150 (measured by the metal plate 166 in the form of a voltage change), the resistance of the sensor 162 may increase. In some instances, the resistance may be proportional to the degree of deflection. The sensor 162 may also be configured to detect the position of the distal end 144 relative to the target treatment site in the subject. The connector 165 is operable to transmit the sensor data measured by the sensor 162 to a controller of the medical assembly, such as, for example, via a wired connection. In other embodiments, the sensor 162 is operable to transmit the sensor data to the controller wirelessly. In other embodiments, the connector 165 may be omitted entirely.

[0062] Reference Fig. 9 , shows an exemplary drive mechanism 200 of a medical assembly. The drive mechanism 200 may include a tower platform 202 having a proximal (upper) end 204 and a distal (lower) end 206 (see Fig.11 ). The proximal end 204 can define an interface surface for receiving the medical device 100 on the tower platform 202, so that a user of the medical assembly can suspend the medical device 100 from the drive mechanism 200 without requiring continuous handling of the medical device 100 during surgery. The drive mechanism 200 may include one or more pins extending outwardly from the proximal end 204 for engaging one or more actuators on the medical device 100. For example, the drive mechanism 200 may include a pair of first pins 212, a pair of second pins 222, and a pair of third pins 232 (due to Fig. 9 232 are labeled). When the medical device 100 is coupled to the drive mechanism 200, each of the pair of pins can be configured to extend into and / or engage with a corresponding aperture of one or more actuators on the handle 102, as discussed below.

[0063] Each of the paired pins may be coupled to a corresponding ring disposed within the tower platform 202. For example, the first pin 212 may be fixed to the first ring 210, the second pin 222 may be fixed to the second ring 220, and the third pin 232 may be fixed to the third ring 230. The third ring 230, the second ring 220, and the first ring 210 may be respectively located on top of each other in a stacked arrangement, wherein the second ring 220 is located between the third ring 230 and the first ring 210. In other words, each of the rings in the tower platform 202 may be arranged in series with the third ring 230 and the second ring 220, the third ring 230 being located on the second ring 220, and the second ring 220 being located on the first ring 210. It should be understood that the drive mechanism 200 may include at least one ring disposed within the tower platform 202 for each actuator located on the exterior of the handle 102. Additionally, the arrangement and / or position of the first ring 210 , the second ring 220 , and / or the third ring 230 relative to each other and / or the tower platform 202 may correspond to the respective arrangement and / or position of the first actuator 110 , the second actuator 120 , and the third actuator 130 on the handle 102 .

[0064] Still refer to Fig. 9 , the drive mechanism 200 may also include at least one motor coupled to each of the rings, such that each motor may be configured to move (e.g., rotate) the corresponding ring independently of the other rings when activated. In this example, the drive mechanism 200 may include a first motor 213 coupled to the first ring 210, a second motor 223 coupled to the second ring 220, and a third motor 233 coupled to the third ring 230. It should be understood that the drive mechanism 200 may include at least one ring (and corresponding pin) for each actuator on the medical device 100.

[0065] The drive mechanism 200 may include a support member 240 configured to hold at least a portion of the shaft 140 when the medical device 100 is coupled to the drive mechanism 200. The support member 240 may include a first arm 242 extending laterally outward from the tower platform 202 and adjacent to the proximal end 204, and a second arm 244 extending proximally (upwardly) from a terminal end (distal end) of the first arm 242. The support member 240 may also include a hand 246 and a finger 248 at a terminal end of the second arm 244. Each of the hand 246 and the finger 248 may define a platform and / or surface for receiving a portion of the medical device 100. In this example, the hand 246 may include a horizontal interface that is transverse to (e.g., perpendicular to) a vertical interface of the finger 248; and each of the interfaces defined by the hand 246 and the finger 248 may be configured to support a component of the medical device 100 (e.g., the axis 140) when the medical device 100 is connected to the drive mechanism 200, as discussed in detail below.

[0066] As discussed in more detail below, the drive mechanism 200 may also include one or more rotatable members 250 (e.g., rollers) disposed on the support member 240 and, in particular, along the horizontal interface of the hand 246. The rotatable member 250 may be configured to rotate about a central axis extending along the longitudinal length of the rotatable member 250. The rotatable member 250 may be configured to translate the shaft 140 relative to a target treatment site within a subject (and / or relative to the handle 102) (e.g., axially move the shaft 140 in a proximal or distal direction) when the rotatable member 250 is rotated. As described herein, the rotatable member 250 may at least partially facilitate the automatic movement of the shaft 140 toward the target treatment site during surgery.

[0067] In an exemplary use of a medical assembly including the medical device 100 and the drive mechanism 200, a user (e.g., a physician) may manually or remotely (e.g., via the user device 10) control the medical device 100 to navigate the shaft 140 through the body of a subject. For example, by manually actuating one or more of the first actuator 110, the second actuator 120, and / or the third actuator 130 (e.g., rotating them), the user may actuate the medical device 100 to move the proximal portion 150 and the distal portion 160 independently of each other (e.g., articulate, deflect, and / or bend) to position the distal end 144 at the target treatment site. Alternatively, the user may couple the medical device 100 to the drive mechanism 200 to move the distal end 144 by controlling the actuation of one or more actuators 110, 120, 130 by transmitting an input signal from the user device 10, as described in more detail below.

[0068] By way of illustrative example only, the target treatment site may be located within a lower region of the subject's lungs, such as below the hilum. As the user navigates shaft 140 through the subject's body, the location of distal end 144 may be determined via sensor data transmitted by a plurality of sensors 162. Additionally, the user may determine the location of the target treatment site via image data transmitted by an imaging device that extends away from distal tip 170. It should be understood that medical device 100 may be communicatively coupled to a display screen for receiving sensor data and / or image data from sensors 162 and imaging devices, respectively.

[0069] like Fig.10 As can be seen, the medical device 100 can be coupled to the drive mechanism 200 by attaching the proximal end 106 of the handle 102 to the proximal end 204 of the tower platform 202. In this embodiment, the first pin 212 can be inserted into the first aperture 112 of the first actuator 110, the second pin 222 can be inserted into the second aperture 122 of the second actuator 120, and the third pin 232 can be inserted into the third aperture 132 of the third actuator 130 (see Figure 1 ) to couple the handle 102 to the proximal end 204. Thus, the first ring 210 can be movably coupled to the first actuator 110 by receiving the first pin 212 through the first aperture 112, the second ring 220 can be movably coupled to the second actuator 120 by receiving the second pin 222 through the second aperture 122, and the third ring 230 can be movably coupled to the third actuator 130 by receiving the third pin 232 through the third aperture 132.

[0070] In some embodiments, the drive mechanism 200 may include one or more medical devices that can be coupled to the medical device 100 when the handle 102 is attached to the tower platform 202. For example, the drive mechanism 200 may include an umbilical cord or tube having one or more channels for providing suction, irrigation, and / or a channel for receiving a camera wire. The umbilical cord or tube may be coupled to the medical device 100 via one or more of the first port 103 and / or the second port 108.

[0071] As the handle 102 is coupled to the tower platform 202, the shaft 140 can be received by the support member 240. In this example, the middle portion of the shaft 140 can be located on the hand 246. The middle portion of the shaft 140 can be disposed between the pair of rotatable members 250 and received by the central opening of the finger 248. The rotatable member 250 can be configured to contact and / or engage an outer surface of the shaft 140 so that movement (e.g., rotation) of the rotatable member 250 can cause a corresponding movement (e.g., translation) of the shaft 140.

[0072] For example, the rotatable member 250 can be configured to rotate in a first (distal) direction relative to the hand 246 to translate the shaft 140 in the first (distal) direction relative to the handle 102. The rotatable member 250 can also be configured to rotate in a second (proximal) direction relative to the hand 246 to translate the shaft 140 in the second (proximal) direction relative to the handle 102. As the rollers 250 rotate, they can apply frictional forces to the shaft 140. Thus, the shaft 140 can be configured to translate relative to the handle 102, the support member 240, and / or the target treatment site within the subject in response to the rotation of the rotatable member 250. In some embodiments, the shaft 140 can be configured to flex and / or bend to facilitate translation of the shaft 140 when the rotatable member 250 is rotated. In other embodiments, the shaft 140 can be longitudinally extendable and / or collapsible to facilitate translation of the shaft 140 relative to the handle 102.

[0073] In some embodiments, the medical device 100 may include a second shaft 149, which may be configured to receive the shaft 140 movably through the lumen of the second shaft 149. The proximal end of the second shaft 149 may be fixed to the finger 248, so that the second shaft 149 can be fixed relative to the support member 240 and / or can be immovable. The second shaft 149 may be flexible to facilitate navigating the shaft 140 in an environment (e.g., an operating room) and toward the body of the subject. In addition, the second shaft 149 may be sufficiently rigid to maintain a modified shape and / or configuration in response to the second shaft 149 being manually manipulated by the user (e.g., physically deformed). Therefore, the second shaft 149 may be configured to maintain a fixed orientation when manually adjusted by the user, so that the second shaft 149 can maintain the shaft 140 in a fixed orientation during surgery without the need for continuous manual control by the user. The shaft 140 can be axially movable relative to the shaft 140 to allow the shaft 140 to translate toward the proximal side or toward the distal side.

[0074] like Fig.11 As can be seen, the distal end 206 of the tower platform 202 may include a movable base 208 (e.g., one or more wheels) for providing selective movement of the medical device 100 and the drive mechanism 200 within the environment to facilitate positioning the medical assembly relative to the subject. It should also be understood that the drive mechanism 200 can be sized to occupy minimal space within the environment (e.g., an operating room). The distal end 144 of the shaft 140 can extend outwardly from the distal end opening of the second shaft 149 before the shaft 140 is received within the body, such as, for example, at a point within the environment outside the body of the subject.

[0075] Because the medical device 100 is coupled to the drive mechanism 200, a user of the medical assembly can control the medical device 100 via user input generated at the user device 10, which is communicatively coupled (e.g., wirelessly or wired) to an exemplary controller of the medical assembly. In some embodiments, the controller may be separate from the medical device 100 and the drive mechanism 200, such as a remote device. In other embodiments, the controller may be included in one or more of the medical device 100 and / or the drive mechanism 200. In other embodiments, the medical device 100 and the drive mechanism 200 may each include a controller that is communicatively coupled to each other and configured to cooperatively perform one or more processes described in detail herein.

[0076] Still refer to Fig.11 , a user may transmit one or more user inputs from user device 10 indicative of controlling medical device 100. For example, the one or more user inputs may transmit command signals to drive mechanism 200 for translating shaft 140 relative to a subject, articulating proximal portion 150, and / or articulating distal portion 160. The one or more user inputs generated at user device 10 may facilitate positioning distal end 144 of shaft 140 at a target treatment site within a subject and / or delivering a therapeutic agent at the target treatment site.

[0077] Reference Fig. 12A Since the distal end 144 is positioned adjacent to the target treatment site A in the subject's body (e.g., in the lower lung region), the user can observe the location of the target tissue site A via an imaging device; and one or more medical instruments and / or devices received by the shaft 140 can exit the distal tip 170 to access the target treatment site A via the primary opening 172 and the secondary opening 174 (see Figure 7 ).

[0078] During surgery at the target treatment site A, the user of the medical assembly can automate the continuous control of the medical device 100 via the autonomous movement of the shaft 140 to maintain the distal end 144 at the target treatment site A. For example, the controller can automatically operate the drive mechanism 200 to control the medical device 100. In an alternative, the controller can supplement the medical device 100 with the user control of the user device 10 by automatic control, so that a combination of automatic control and user-initiated control is provided. It should be understood that the position of the shaft 140 in the subject and in particular the first position of the distal end 144 relative to the target treatment site A can be affected by the respiratory movement of the subject's lungs during surgery. In order to stabilize the position of the distal end 144 relative to the target treatment site A during the use of the medical assembly, the medical assembly can be operated to automatically move the shaft 140 (e.g., translate, articulate, bend, pivot, etc.) to maintain the distal end 144 in the first position adjacent to the target treatment site A throughout the surgical procedure.

[0079] like Fig. 12B As can be seen, the distal end 144 may accidentally move to a second position that is Fig. 12A The first position is seen to be farther from the target treatment site A. Unintended movement of the distal end 144 may be caused by a variety of factors, such as breathing of the subject's body. The sensor 162 may be configured to detect, record, and transmit sensor data in response to the unintended movement of the distal end 144 from the first position to the second position. In this example, the sensor 162 may be configured to measure resistance, and the sensor data may include a voltage corresponding to the resistance.

[0080] The controller of the medical assembly may receive sensor data recorded by the sensor 162 to determine a first position ( Fig. 12A ) and the second position ( Fig. 12B ) between the offset distance (e.g., displacement) or angle. In other embodiments, the controller may be configured to adjust the original configuration (e.g., displacement) of the distal end 144 based at least in part on the sensor data measured by the sensor 162. Fig. 12A ) determines the modified configuration of the distal end 144 ( Fig. 12B ) (e.g., the angles of the proximal portion 150 and the distal portion 160).

[0081] The controller may be operable to automate motorized control of the medical device 100 to compensate for any spatial deviation of the distal end 144 of the shaft 140 relative to the target treatment site A. For example, the controller may be configured to determine the degree and / or direction of spatial deflection of the distal portion 160 relative to the target treatment site A based at least in part on the voltage change measured by the sensor 162. For example, the controller may be configured to determine that the offset distance or angle that the distal portion 160 and / or the proximal portion 150 has moved relative to the target treatment site A is proportional to the difference in voltage measurements detected by the sensor 162 before and after the unintended movement of the distal end 144.

[0082] The controller of the medical assembly may also be configured to determine that the direction of movement of the distal portion 160 relative to the target treatment site A is based at least in part on the relative positions of the sensors 162 disposed around the outer surface of the distal portion 160, the sensors 162 detecting changes in voltage measurements. For example, one or more of the plurality of sensors 162 positioned along and / or adjacent to a first surface (e.g., top, bottom, left, right, etc.) of the distal portion 160 may detect a greater difference in voltage measurements than one or more other sensors 162 positioned along and / or adjacent to an opposite surface of the distal portion 160. Thus, the controller may be operable to determine that the direction of movement of the distal portion 160 (e.g., up, down, left, right, etc.) is based at least in part on the positions of the sensors 162 measuring the greater difference in voltage.

[0083] The controller can be configured to automatically enable one or more of the motors of the drive mechanism 200 to move one or more corresponding rings movably coupled thereto. The controller can be configured to actuate one or more actuators coupled to one or more rings to cause movement of the proximal portion 150 and / or the distal portion 160, taking into account the connection between the corresponding pins on each ring and the apertures of each actuator.

[0084] For example, the controller may be configured to determine that articulation of the proximal portion 150 toward at least one of the first set of directions (as provided by actuation of the first control wires 116A, 116B) may return the distal end 144 from the second position to the first position, which is adjacent to the target treatment site A. Accordingly, the controller of the medical assembly may be operable to enable the first motor 213 to rotate the first ring 210 and the pair of first pins 212 (coupled to the first ring 210). In response to the rotation of the first pins 212 (which are received within the first apertures 112), the controller may actuate the first actuator 110 to translate the first control wires 116A, 116B, thereby articulating the proximal portion 150 in at least one of the first set of directions.

[0085] In another example, the controller can be configured to determine that articulation of the proximal portion 150 toward at least one of the second set of directions (provided by actuation of the second control wires 126A, 126B) can cause the distal end 144 to move from the second position to the first position, which is adjacent to the target treatment site A. The controller can be operable to enable the second motor 223 to rotate the second ring 220 and the second pin 222. With the second pin 222 received within the second aperture 122, the second actuator 120 can be actuated to translate the second control wires 126A, 126B, thereby articulating the proximal portion 150 in at least one of the second set of directions.

[0086] By way of another example, the controller may be configured to determine that articulation of the distal portion 160 toward at least one of the third set of directions (as provided by actuation of the third control wires 136A, 136B) may cause the distal end 144 to move from the second position to the first position, which is adjacent to the target treatment site A. The controller may enable the third motor 233 to rotate the third ring 230 and the third pin 232 coupled thereto. By rotation of the third pin 232, the third actuator 130 may be actuated to translate the third control wires 136A, 136B and thereby articulate the distal portion 160 to at least one of the third set of directions because the third pin 232 is received within the third aperture 132.

[0087] The controller may also be configured to determine that articulation of the proximal portion 150 and / or the distal portion 160 in multiple directions is desired. The controller may actuate multiple of the first control wires 116A, 116B, the second control wires 126A, 126B, and / or the third control wires 136A, 136B to articulate the proximal portion 150 and / or the distal portion 160 in multiple directions. Any combination of the control wires may be articulated to achieve the desired controller-determined articulation.

[0088] like Fig. 12C As can be seen, the controller of the medical assembly can determine that articulation of one or more of the proximal portion 150 and / or the distal portion 160 in one or more directions may be necessary to return the distal end 144 to the target treatment site A. The controller can be operable to automatically adjust the current position (i.e., the second position) and / or the current configuration (i.e., the modified configuration) of the distal end 144 relative to the target treatment site A throughout the procedure to continuously maintain the distal end 144 in the first position and / or the original configuration near the target treatment site A.

[0089] In this case, the medical assembly can improve the stability of one or more medical instruments and / or devices received through shaft 140 (e.g., via working channel 141, instrument channel 147A, and / or fluid channel 147B). By stabilizing the medical instruments and / or devices located at the target treatment site A, accidental damage to the subject can be minimized and effective treatment of the subject can be improved despite accidental movement of shaft 140 caused by the subject's respiratory motion.

[0090] For example, since a biopsy instrument (e.g., a needle, a knife, etc.) is received through the working channel 141 for use at the target treatment site A, the automatic control of the medical device 100 can minimize the risk of injury to the subject by automatically and accurately adjusting the position of the distal end 144 in response to the continuous movement of the shaft 140. By way of another example, since a delivery instrument (e.g., a catheter) is received through the working channel 141 for use in delivering a drug to the target treatment site A, the automatic control of the medical device 100 can improve the rate of delivering the drug to the target treatment site A by automatically and accurately maintaining the position of the distal end 144 at the first position.

[0091] Although the principles of the present disclosure are described herein with reference to illustrative examples of specific applications, it should be understood that the present disclosure is not limited thereto. Those skilled in the art and those exposed to the teachings provided herein will recognize that additional modifications, applications, and substitutions of equivalents all fall within the scope of the examples described herein. Therefore, the present invention should not be considered to be limited by the aforementioned specific embodiments.

Claims

1. A medical component comprising: A medical device, comprising: a handle having an actuator; a shaft extending distally from the handle, wherein a distal end of the shaft is coupled to the actuator by a wire extending through the shaft; and a sensor at the distal end of the shaft, the sensor configured to measure data indicative of the distal end of the shaft, the distal end moving from a first position to a second position; Wherein, the actuator is configured to articulate the distal end of the shaft based on the data measured by the sensor to move the distal end from the second position to the first position.

2. The medical assembly according to claim 1, wherein: The sensor is configured to measure resistance, and the data includes a voltage corresponding to the measured resistance. 3 . The medical assembly of claim 2 , further comprising a drive mechanism configured to couple the medical device at the actuator.

4. The medical assembly according to claim 3, wherein: The drive mechanism includes a housing and one or more pins extending outwardly from the housing.

5. The medical assembly according to claim 4, wherein: The medical device includes one or more apertures on the actuator, and wherein the actuator is configured to receive the one or more pins through the one or more apertures to couple the medical device to the drive mechanism.

6. The medical assembly according to claim 5, wherein: The drive mechanism includes a motor coupled to the one or more pins, and the drive mechanism is configured to rotate the actuator through movement of the one or more pins when the motor is activated.

7. The medical assembly of claim 6, further comprising a controller communicatively coupled to the sensor of the medical device and the motor of the drive mechanism.

8. The medical assembly according to claim 7, wherein: The controller is configured to determine a distance between the first location and the second location based on the data measured by the sensor of the medical device.

9. The medical assembly according to claim 8, wherein: The controller is configured to actuate the actuator via movement of the one or more pins to articulate the distal end of the shaft the distance to return the distal end of the shaft to the first position.

10. The medical assembly according to any one of claims 7 to 9, wherein: The actuator comprises a first actuator and the wire comprises a first wire, and wherein the handle comprises a second actuator and the shaft comprises a second wire.

11. The medical assembly according to claim 10, wherein: The distal end of the shaft is coupled to the second actuator via the second wire.

12. The medical assembly according to claim 11, wherein: The first actuator is configured to move a proximal portion of the distal end, and the second actuator is configured to move a distal portion of the distal end.

13. The medical assembly according to claim 12, wherein: The one or more pins include a first pin and a second pin, the first pin being configured to engage the first actuator and the second pin being configured to engage the second actuator; and Wherein, the motor includes a first motor, which is connected to the first pin and is configured to rotate the first pin relative to the handle when enabled, and the drive mechanism includes a second motor, which is connected to the second pin and is configured to rotate the second pin relative to the handle when enabled.

14. The medical assembly according to claim 13, wherein: The distal end includes an initial configuration in the first position and a modified configuration when in the second position, wherein the controller is configured to determine the modified configuration of the distal end based on the data measured by the sensor.

15. The medical assembly according to claim 14, wherein: The controller is configured to rotate at least one of the first pin or the second pin to move the corresponding proximal portion or the distal portion to return the distal end to the initial configuration.

Images