Medical device comprising articulated joint between first transducer and second transducer, and apparatus and storage device implementing device

Abstract

Various embodiments are generally directed to a flexible elongate member (e.g., an endoscopic accessory tool) that can be positioned to and / or through a selected anatomical structure, such as by generating an image to position an assembly of the flexible elongate member or position an anatomical feature, e.g.,. Some embodiments are directed to assemblies that generate images with a variety of imaging techniques to locate anatomical features and / or flexible elongate members for examining, orienting, and / or facilitating access to one or more of body passages or lumens.

Description

This application is a divisional of a Chinese application with an application date of September 30, 2020, application number 202080069469.4, and name “Medical device comprising an articulated joint between a first transducer and a second transducer, and equipment and storage device for implementing the device”. CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority under 35 U.S.C. §119 to U.S. Provisional Patent Application No. 62 / 911,763, filed on October 7, 2019, which is incorporated herein by reference in its entirety for all purposes. Technical Field

[0002] The present invention relates generally to the field of medical devices. In particular, the present invention relates to devices, systems and methods for facilitating entry and / or passage of flexible elongated members into selected anatomical structures. Background Art

[0003] Typically, performing an endoscopic intubation process requires that a guidewire and / or an endoscopic accessory tool (e.g., sphincterotomy, cannula, catheter, transducer, etc.) be advanced to and through the patient's anatomical structure. An example of an endoscopic intubation process includes endoscopic retrograde cholangiopancreatography (ERCP). The ERCP procedure can be used to examine the bile duct. During the ERCP procedure, an endoscope is inserted through the oral cavity and advanced to the duodenum. An attempt is made to identify the common entry point of the bile duct and the pancreatic duct. Once successfully identified, the guidewire can be advanced into the bile duct to perform various therapeutic operations, such as stone management or the treatment of biliary malignancies. Multiple attempts to enter the bile duct may result in extended or failed surgery. In addition, multiple attempts to enter may result in tissue trauma. In addition, even if a camera is provided in the endoscope, the camera generally does not provide visualization of the general anatomical structure of the duct passage or the duct beyond the common entry point. Because the architecture / anatomical structure varies from patient to patient, the lack of visualization outside the cavity wall may require the physician to blindly manipulate the guidewire into the duct beyond the cavity wall, which may result in accidental intubation of the wrong duct in some cases.

[0004] With these considerations in mind, a variety of beneficial medical outcomes can be achieved through the devices, systems, and methods of the present invention. Summary of the invention

[0005] In one aspect, the present invention relates to a medical device comprising a flexible, elongated member having a proximal portion and a distal portion. A first transducer having a first focal region may be disposed along the distal portion of the flexible, elongated member. The first transducer may be configured to generate a first image. The first image may include features of a body cavity wall. In some embodiments, the first transducer may include an optical sensor and the first image may include an optical image. The body cavity wall may include a duodenal wall. Features of the body cavity wall may include a nipple. A second transducer may be disposed along the distal portion of the flexible, elongated member. The second transducer may be configured to generate a second image. The second image may include features outside the body cavity wall. In various embodiments, the second transducer may include an ultrasound transducer and the second image may include an ultrasound image. Features outside the body cavity wall may include structures behind the duodenal wall, such as a bile duct or a pancreatic duct. In some embodiments, an ultrasound transducer is a sensor configured to detect acoustic waves generated by a light excitation target and generate an image based on the detected acoustic waves. In such embodiments, an energy source may be included to generate energy pulses to excite tissue outside the body cavity wall to perform photoacoustic imaging with an ultrasound transducer. The articulated joint may be disposed between the first transducer and the second transducer along the distal portion of the flexible elongated member. The articulated joint may be configured to position the second transducer to facilitate generating an image based on the first and second images. The image may include features of the body cavity wall and features outside the body cavity wall. The articulated joint may be configured to position the second transducer within at least a portion of the first focal region of the first transducer. The articulated joint may be configured to contact the body cavity wall with the second transducer to facilitate generating a second image. The first balloon and the second balloon may be disposed around the distal portion of the flexible elongated member. The first and second balloons may be configured to position the first transducer or the second transducer within the body cavity. The first and second transducers may be disposed between the first balloon and the second balloon along the distal portion of the flexible elongated member. The outlet of the fluid channel may be disposed between the first balloon and the second balloon to fill the area of ​​the body cavity between the first and second balloons with fluid to facilitate generating a second image including features outside the body cavity wall.

[0006] In another aspect, the present invention relates to a device comprising a processor and a memory, the memory comprising instructions that, when executed by the processor, cause the processor to perform one or more of the following. In some embodiments, the memory may include instructions that cause the processor to generate a first image with a first transducer. In some such embodiments, the first image may include features of a body cavity wall. In an embodiment, the memory may include instructions that cause the processor to generate a second image with a second transducer. In many such embodiments, the second image may include features outside the body cavity wall. In various embodiments, the memory may include instructions that cause the processor to create a combined image including features of the body cavity wall and features outside the body cavity wall based on the first and second images. In one or more embodiments, the memory may include instructions that cause the processor to determine a trajectory visualization based on the first and second images. In one or more such embodiments, the memory may include instructions that cause the processor to generate an indication of trajectory visualization in the combined image and / or generate an indication of trajectory visualization with a light source inside the body cavity. The memory may include instructions that cause the processor to position the second transducer within at least a portion of the focal area of ​​the first transducer. The memory may include instructions that cause the processor to contact the body cavity wall with the second transducer to facilitate the generation of the second image.

[0007] In yet another aspect, the present invention relates to a method. The method may include generating a first image with a first transducer. The first image may include features of a body cavity wall. The method may include generating a second image with a second transducer. The second image may include features outside the body cavity wall. The method may include creating a combined image including features of the body cavity wall and features outside the body cavity wall based on the first image and the second image. In one or more embodiments, the method may include determining a trajectory visualization based on the first and second images. In one or more such embodiments, the method may include generating an indication of trajectory visualization in the combined image and / or generating an indication of trajectory visualization with a light source inside the body cavity. The method may include positioning the second transducer within at least a portion of the focal area of ​​the first transducer. The method may include contacting the body cavity wall with the second transducer to facilitate generating the second image. The method may include inflating one or more balloons to position the first transducer or the second transducer within the body cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Non-limiting embodiments of the present invention are described by way of example with reference to the accompanying drawings which are schematic and not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown is generally represented by a single numeral. For clarity, not every component is labeled in every figure and not every component of every embodiment is shown where illustration is not necessary for one skilled in the art to understand the present invention. In the drawings:

[0009] Figure 1 An embodiment of a medical device according to the invention described herein is shown.

[0010] Figure 2 An embodiment of a distal end of a flexible elongate member according to the invention described herein is shown.

[0011] Figure 3 An operating environment for a flexible elongate member according to the invention described herein is shown.

[0012] Figure 4A and Figure 4B An embodiment is shown in which a transducer is positioned within a focal region in accordance with the invention described herein.

[0013] Figure 5 An embodiment of a distal end of a flexible elongate member in accordance with the invention described herein is shown in an exemplary operating environment.

[0014] 6A to 6F An embodiment of imaging and trajectory visualization according to the invention described herein is shown.

[0015] 7A to 7C Various embodiments of the distal end of a flexible elongate member according to the invention described herein are shown.

[0016] Figure 8 An embodiment of a computing architecture according to the present invention described herein is shown. DETAILED DESCRIPTION

[0017] Various embodiments are generally directed to facilitating entry of a flexible, elongated member (e.g., an endoscopic attachment tool) into and / or through a selected anatomical structure, such as by generating images to locate and / or navigate components of the flexible, elongated member or imaging techniques to locate, for example, anatomical features. Some embodiments are directed to generating images using a variety of imaging techniques to locate anatomical features and / or components of the flexible, elongated member for inspecting, orienting, and / or facilitating entry into and / or navigation through one or more of a body passage or cavity.

[0018] Various additional or alternative embodiments are generally directed to imaging techniques that facilitate visualization through and beyond tissue walls based on anatomical structures outside of a body passage or cavity, such as by generating images to locate and / or navigate to a location within a body passage or cavity. Some embodiments are directed to generating images with multiple imaging techniques to locate anatomical features and / or structures beyond the wall of a body passage / cavity in which a flexible, elongated member is navigated, for use in inspecting, orienting, and / or facilitating access to one or more of the anatomical features or structures beyond the body passage / cavity. Some embodiments are directed to coordinating such imaging techniques with other imaging techniques, such as imaging techniques for visualizing anatomical structures and / or navigating within the body.

[0019] In one embodiment, for example, an articulated joint can be disposed along a flexible elongated member between a first transducer and a second transducer, the first transducer being configured to generate a first image including features of a body cavity wall (such as a papilla of a duodenal wall), and the second transducer being configured to generate a second image including features outside the body cavity wall (such as a bile duct or a pancreatic duct). In such an embodiment, the articulated joint can be configured to position the second transducer to facilitate the generation of a combined image including features of the body cavity wall and features outside the body cavity wall based on the first and second images. In an embodiment, the first and second images (or combined images) can be used to facilitate the entry and / or passage of the flexible elongated member through a selected anatomical structure, such as a bile duct. In some embodiments, a trajectory visualization can be generated based on the first and second images. In some such embodiments, the trajectory visualization can be included in the combined image and / or generated via a light source. These and other embodiments are described and claimed.

[0020] Some challenges of promoting flexible elongated members to enter and / or pass through selected anatomical structures include positioning the selected anatomical structure and positioning the distal end of the flexible elongated member as needed to enter the selected anatomical structure. These challenges may be caused by several factors, such as ergonomics of manipulating a multi-degree-of-freedom (e.g., eight) endoscope, such as a duodenoscope, to a precise position and the inability to visualize obscure or hidden entry points. For example, the target body channel may be oriented at a difficult angle (e.g., obtuse, orthogonal, inclined) relative to an endoscope attachment tool, have a very small or sealed opening, or include tortuous anatomical structures, obstructions (e.g., stones, etc.) and benign or malignant structures. Medical professionals may make multiple attempts to achieve successful intubation. In addition, the possibility of causing trauma to tissues including or surrounding the target body channel increases with the number of intubation attempts. In some cases, medical professionals may need to completely terminate the intubation process.

[0021] For example, the inability to cannulate the common bile duct is one reason for ERCP procedure failure. During the cannulation process, information about the anatomy of the duct beyond the common entry point may not be available, which further increases the complexity. For example, position / orientation information about the anatomy of the duct beyond the common entry point may not be available. Without information about the anatomy of the duct, medical professionals attempt to grope their way into the bile duct.

[0022] Various embodiments described herein include medical devices capable of locating selected anatomical structures, locating flexible elongated members to enter selected anatomical structures, and entering selected anatomical structures in a safe, accurate, and reliable manner. In embodiments, one or more devices described herein may utilize multimodal imaging to locate selected anatomical structures, locate flexible elongated members to enter selected anatomical structures, and / or enter selected anatomical structures. In embodiments, multimodal imaging may include images captured using propagation energy via two or more types and / or wavelengths. For example, a first transducer including an optical sensor may be used to generate an optical image within a body cavity to identify / locate features of a body cavity wall, such as visually / optically. A second transducer including an ultrasonic transducer may be used to generate an ultrasonic image with a body cavity to identify / locate features or characteristics outside the body cavity wall (e.g., beyond the body cavity wall). A second transducer including a photoacoustic sensor may be used in conjunction with an energy source that is calibrated to excite tissue outside the body cavity wall to generate and detect photoacoustic signals and generate images that identify or locate features or characteristics outside the body cavity wall (e.g., beyond the body cavity wall). In this case, information about selected anatomical structures of the duct beyond the entry point can be obtained based on ultrasound or photoacoustic images to determine the architecture / structure of the selected anatomical structure. It should be understood that the terms "transducer" and "sensor" can be used interchangeably herein without intending to indicate a difference in the scope or meaning of the terms. One or more selected anatomical structures described herein may include patient-specific anatomical structures. For example, in some patients, the entry point may be a common entrance for the bile duct and the pancreatic duct in the duodenal wall, while in other patients, the bile duct and the pancreatic duct may have separate entry points in the duodenal wall.

[0023] In some embodiments, different images may be generated simultaneously and / or in real time. In an embodiment, a combined image may be generated based on a set of multimodal images. In many such embodiments, the combined image may include one or more characteristics of each image in the set of multimodal images. For example, the combined image may include a papilla in the duodenal wall from an optical image and structures (e.g., duct structures) behind the duodenal wall from an ultrasound or photoacoustic image. In an embodiment, information about the anatomical structure of the duct (e.g., a combined image) may be displayed on a user interface, such as to transmit images and / or trajectory visualizations to a medical professional performing the intubation process.

[0024] In addition, in an embodiment, one or more joints may be disposed at the distal end of the flexible elongated member, between the distal-most tip and the more proximal region of the distal end, such as between the first and second transducers. One or more joints may be configured to position the second transducer to facilitate the generation of a combined image. For example, one or more joints may position the second transducer so that the ultrasound image generated by the second transducer includes features outside the duodenal wall behind the duodenal wall portion captured in the optical image generated by the first transducer. In some embodiments, one or more joints may be disposed between the first and second transducers to bring the second transducer into the focal region of the first transducer and facilitate the proper positioning of the second transducer to generate an ultrasound image. In various embodiments, articulating the second transducer via one or more joints may enable the second transducer to be placed in close contact with the tissue wall (e.g., the duodenal wall) while allowing the first transducer to remain away from the wall and continue to generate a useful image (e.g., an optical image with identifiable features).

[0025] More generally, one or more devices described herein may include one or more joints, which are arranged along the flexible elongated member between a first position at a proximal region of the distal end of the elongated member and a second position at a distal region of the distal end of the elongated member, such as between a first transducer and a second transducer, to facilitate imaging and / or access to a selected anatomical structure with the flexible elongated member. In an embodiment, one or more joints may be used to position / orient one or more components and / or portions of the flexible elongated member, such as positioning the second transducer within the focal region of the first transducer or positioning a portion of the distal region of the flexible elongated member within a body cavity. For example, one or more of the joints may include an inflatable balloon. In such an example, the balloon may be inflated to seal an area of ​​the body cavity to at least partially fill with fluid (e.g., to facilitate ultrasound imaging or application of treatment). In some embodiments, one or more joints may be operated to facilitate intubation, such as by vibration, articulation, and / or actuation.

[0026] One or more of the components, devices and / or techniques described herein can be used as part of a system to facilitate the intubation process in a safe, effective and reliable manner. In an embodiment, a system according to the present invention may include one or more medical devices that can locate a selected anatomical structure, locate a flexible elongated member to enter a selected anatomical structure, and enter a selected anatomical structure in a safe, accurate and reliable manner. In these and other ways, the components / techniques described herein can improve patient care, increase user experience, reduce learning curves, improve success rates and / or reduce adverse outcomes via a more effective and better functioning medical device with advantageous features. In an embodiment, one or more of the components and / or features described herein can lead to several technical effects and advantages that are superior to traditional computer technology, including increased capabilities and improved adaptability. For example, the visualization techniques described herein can be used to provide an improved understanding of one or more selected anatomical structures. In various embodiments, one or more of the aspects, techniques and / or components described herein can be implemented in practical applications via one or more computing devices, and thereby provide additional and useful functions to one or more computing devices, thereby leading to a more capable, better functioning and improved computing device. Furthermore, one or more of the aspects, techniques and / or components described herein may be used to improve one or more technical fields, including catheterization, diagnosis, therapy, imaging, robotics, embedded systems, and / or control systems.

[0027] In embodiments, the components described herein can provide specific and particular ways to enable multimodal imaging and / or intubation. In several such embodiments, the specific and particular ways can include, for example, controlling, monitoring, and / or interfacing with one or more of a transducer, a sensor, a connector, a working channel, and a user interface to facilitate one or more intubation procedures. In one example, the specific and particular ways can simplify the ERCP procedure to enable medical professionals to quickly learn to safely and reliably access the bile duct.

[0028] In an embodiment, one or more of the components described herein may be implemented as a set of rules that improve computer-related technology by allowing functions that were not previously executable by a computer, so that improved technical results are achieved. In an embodiment, the allowed functions may be associated with an intubation device and / or process. For example, the allowed functions may include creating a combined image based on a first image generated via a first imaging mode and a second image generated via a second imaging mode, the combined image including features of a body cavity wall and features outside the body cavity wall. In some embodiments, the allowed functions may include positioning a transducer within a focal region of another transducer having one or more joints, such as to facilitate the generation of images with the transducer. In some embodiments, the allowed functions may include generating energy pulses via an energy source to excite tissue outside the body cavity wall; and sensing energy generated by tissue via a sensor to facilitate image generation. In various embodiments, the allowed functions may include using one or more joints to locate and / or enter the target of the intubation process.

[0029] The present invention is not limited to the specific embodiments described. The terms used in this article are only used to describe specific embodiments and are not intended to be limited beyond the scope of the appended claims. Unless otherwise specified, all technical terms used in this article have the same meaning as those commonly understood by ordinary technicians in the field to which the present invention belongs.

[0030] Although embodiments of the present invention may be described with specific reference to medical devices and systems (e.g., endoscopic accessory tools and / or guidewires inserted through a duodenoscope, etc.) for selective cannulation of the common bile duct (CBD) or pancreatic duct (PD) during an endoscopic retrograde cholangiopancreatography (ERCP) procedure, it should be understood that such medical devices and systems may be used in a variety of medical procedures requiring navigation of one or more accessory tools through ductal, lumen, or vascular anatomy, including, for example, interventional radiology procedures, balloon angioplasty procedures, thrombolytic procedures, angiography, etc. The medical devices of the present invention are not limited to duodenoscopes, and may include a variety of medical devices for accessing body passages or cavities, including, for example, catheters, ureteroscopes, bronchoscopes, colonoscopes, arthroscopes, cystoscopes, hysteroscopes, etc. In addition, the disclosed medical devices and systems may also be inserted via different access points and methods, for example, percutaneously, endoscopically, laparoscopically, or some combination thereof.

[0031] As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when used herein, the terms "include" and / or "comprise" or "include" and / or "comprising" specify the presence of stated features, regions, steps, elements and / or components, but do not exclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components and / or groups.

[0032] As used herein, the term "distal" refers to the end of the device farthest from the medical professional when introduced into a patient, and the term "proximal" refers to the end of the device closest to the medical professional when introduced into a patient.

[0033] With general reference to the notation and nomenclature used herein, one or more parts of the following detailed description may be presented as a program process executed on a computer or computer network. Those skilled in the art use these process descriptions and representations to most effectively convey the essence of their work to other technicians in the field. Processes are generally considered to be a self-consistent sequence of operations that lead to desired results here. These operations are those operations that require physical manipulation of physical quantities. Usually, although not necessarily, these quantities take the form of electrical, magnetic or optical signals that can be stored, transferred, combined, compared and otherwise manipulated. Sometimes, mainly for commonly used reasons, it proves to be convenient to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, etc. However, it should be noted that all of these and similar terms will be associated with appropriate physical quantities and are only convenient labels applied to those quantities.

[0034] In addition, these manipulations are often referred to in terms such as, adding or comparing, which are often associated with mental operations performed by a human operator. However, in most cases, in any of the operations described herein that form part of one or more embodiments, such capabilities of a human operator are not necessary or desired. Instead, these operations are machine operations. Useful machines for performing the operations of various embodiments include general-purpose digital computers such as those selectively activated or configured by computer programs, in which computer programs written according to the teachings of this article are stored; and / or include devices specifically constructed for the desired purpose. Various embodiments also relate to devices or systems for performing these operations. These devices may be specially constructed for the desired purpose or may include general-purpose computers. From the description given, the required structures for various of these machines will be apparent.

[0035] Reference is now made to the accompanying drawings, in which the same reference numerals are used throughout to refer to the same elements. In the following description, for the purpose of explanation, many specific details are set forth to provide a thorough understanding thereof. However, it is apparent that novel embodiments can be practiced without these specific details. In other cases, well-known structures and devices are shown in block diagram form to facilitate description thereof. It is intended to cover all modifications, equivalents, and substitutes that fall within the scope of the claims.

[0036] Figure 1 Schematically illustrates an example of an embodiment of a medical device 102 in an operating environment 100 according to the present invention described herein. In the operating environment 100, the medical device 102 may include a flexible elongated member 104 and a controller 106. The flexible elongated member 104 includes a working channel group 108, a transducer group 110, and a joint group 112. The controller 106 includes an elongated member interface 114, a processor 116, a memory 118, and a user interface 120. In one or more embodiments described herein, the components of the medical device 102 may interoperate to facilitate the intubation process in a body cavity, such as via multimodal imaging, joint control, and / or trajectory visualization. The embodiments are not limited to this context. It should be understood that the term transducer is used in a broad sense and is intended to cover a simple sensor (input transducer) that does not generate an energy signal in addition to transmitting an image (e.g., not necessarily an actuator or output transducer). Therefore, all references herein to transducers or groups of transducers should be understood to include embodiments having simple sensors and separate energy sources / energy generation components to facilitate detecting features or structures.

[0037] In embodiments, the controller 106 may manage, monitor, and / or operate one or more components of the flexible elongated member 104. In many such embodiments, the controller 106 may manage, monitor, and / or operate one or more components of the flexible elongated member 104 based on the execution of instructions stored in the memory 118 by the processor 116. In one or more embodiments, the memory 118 may include instructions for transmitting information associated with or generated by one or more components of the flexible elongated member 104. In one or more embodiments, the memory 118 may include instructions for enabling control of one or more components of the flexible elongated member 104 based on input received via the user interface 120. For example, an image generated via one or more transducers in the transducer group 110 may be displayed via the user interface 120 and one or more joints in the joint group 112 may be operated based on the displayed image using input received via the user interface 120. In some embodiments, the user interface 120 may utilize augmented reality and / or virtual reality. For example, augmented reality or virtual reality may be used to display a trajectory visualization for the flexible elongated member 104. In various embodiments, one or more components of the controller 106 may be associated with a user interface 120. Figure 8 In various embodiments, the controller 106 may additionally or alternatively include: Figure 8 One or more components as shown and described.

[0038] In some embodiments, the flexible, elongated member 104 can be used as a stand-alone device for insertion into a body cavity during an intubation procedure. However, in additional or alternative embodiments, the flexible, elongated member 104 can be configured to extend through a working channel of another medical device (e.g., a duodenoscope, an endoscope, a ureteroscope, a bronchoscope, a colonoscope, an arthroscope, a cystoscope, a hysteroscope, etc.). In various embodiments, the flexible, elongated member 104 can include a proximal portion / region and a distal portion / region. In various such embodiments, the distal region can be inserted into a body cavity. In one or more embodiments, the flexible, elongated member 104 can include at least a portion of an endoscope, an endoscopic accessory tool, a knife, a cannula, a catheter, etc. As will be described in more detail below, such as with respect to Figure 2 In an embodiment, the transducer group 110 and the joint group 112 can be arranged along the distal portion of the flexible slender member 104.

[0039] In an embodiment, the working channel group 108 may include one or more lumens extending through at least a portion of the proximal and distal portions of the flexible elongated member 104. In several such embodiments, a component may extend through one or more of the working channels to gain access to the distal portion of the flexible elongated member 104 and / or its exterior. For example, a guide wire may extend through the working channel to control the articulation of the joint. In another example, a wire may extend through the working channel to communicatively couple a transducer to the controller 106 via the elongated member interface 114. In some embodiments, the working channel group 108 may include a channel for internal mirror operation (e.g., mirror articulation) and / or a mirror instrument channel.

[0040] In embodiments, the transducer set 110 may include one or more sensors, transmitters, receivers, transceivers, imagers, energy sources (e.g., lasers, ultrasound, etc.), and / or lights to facilitate monitoring and / or control of the flexible elongated member 104 and / or its environment (e.g., conditions, aspects, or features of the intubation process). For example, the transducer set 110 may include one or more of an optical sensor, a laser, an ultrasound transceiver or probe or sensor, a distance sensor, a pressure sensor, a positioning sensor, an electromagnetic sensor, a capacitive sensor, an inductive sensor, a piezoelectric sensor, an optical fiber, a light, an energy source (such as for inducing a photoacoustic effect), a pH sensor, an ultraviolet sensor, an infrared sensor, a spectrometer, a temperature sensor, etc., which can generate and / or detect signals in the body, such as ultrasound. In some embodiments, one or more portions of the flexible elongated member 104 may be disposable.

[0041] In various embodiments, the joint group 112 may include one or more connections between two bodies that allow movement. For example, the joint group 112 may include one or more of a power joint, a manual joint, an articulated joint, a telescopic joint, a balloon joint, a stable joint, a pitch joint, a yaw joint, a roll joint, a vibration joint, an actuator joint, etc. The joint group 112 may include one or more flexible portions that connect the distal tip of the flexible elongated member 104 and the proximal portion of the distal end of the flexible elongated member 104 so that the distal tip can be rotated or pivoted or otherwise positioned or moved relative to the proximal portion. For example, the distal tip can rotate or pivot around an axis substantially perpendicular to the longitudinal axis of the flexible elongated member 104. In some embodiments, the distal tip can rotate or pivot along an axis that is not parallel to the longitudinal axis of the flexible elongated member 104 so that the distal tip is not coaxial with the flexible elongated member. In an embodiment, the distal tip can extend along the longitudinal axis, for example, the flexible portion can expand or compress, so that the distal portion can extend distally and / or retract proximally to its relaxed position. The flexible portion may be manually operable by a medical professional, such as by extending a tool or other device through the working channel.

[0042] In some embodiments, one or more flexible portions can be remotely operated via a controller and a user interface. In various embodiments, a joint group 112, such as one including a plurality of flexible portions, can be automatically operated by a controller 106. In various such embodiments, a joint group 112 can be automatically operated by a controller 106 to manipulate the flexible elongated member 104 to a target position (e.g., target trajectory, imaging position, pipeline entry orientation, etc.). In some embodiments, the flexible elongated member 104 can have a plurality of flexible portions that can be independently expanded / compressed to manipulate / align the flexible elongated member. For example, the flexible elongated member 104 can include a plurality of longitudinal patches of an independent flexible portion. In some such examples, a plurality of longitudinal patches can be arranged around the circumference of the flexible elongated member 104. In alternative or additional examples, the flexible elongated member 104 can include a plurality of ribs that can be independently expanded and compressed.

[0043] In some embodiments, one or more aspects of the working channel group 108, the transducer group 110 and the joint group 112 can overlap. For example, the transducer can be included in the joint or the working channel. When the transducer is included in the joint, it can measure the orientation between the different ends of the joint. In another case, the working channel can extend through and / or include a part of the joint. In another case, one or more of the transducer group 110 and / or the joint group 112 can be inserted through one or more of the working channels of the working channel group 108 or be arranged therein. In an embodiment, one or more articulated joints in the joint group 112 can be designed to articulate one or more working channels of the working channel group 108, one or more transducers of the transducer group 110 and / or one or more parts of the flexible elongated member 104. In several such embodiments, one or more articulated joints can be offset / asymmetric to more accurately position one or more working channels and / or one or more transducers. For example, the offset joint can return to a predetermined angle (e.g., 180 degrees) without external force. In another case, an asymmetric joint can achieve a mechanical advantage.

[0044] In an embodiment, the medical device 102 can provide guidance before and / or during cannulation of a body cavity, such as a duodenal tube or a bile duct. In one or more embodiments, the medical device 102 may include enhanced ultrasound capabilities to improve ultrasound-guided cannulation. In various embodiments, ultrasound can be integrated with tools in one or more working channels or integrated into the design of a mirror (e.g., a duodenoscope). In an embodiment, the medical device 102 can enable optical and ultrasound images to be captured simultaneously. Optical and ultrasound images can be fused together to create images of anatomical structures behind the papilla and duodenal wall. In various embodiments, the operator may be able to switch between views, view simultaneously (if a camera and photoacoustic imaging are used, then time is multiplexed with illumination pulses for photoacoustic imaging and steady-state for direct visualization), or overlap / fuse different images together, or a combination thereof, such as via a user interface 120. In some embodiments, in addition to or in place of ultrasound capabilities, the medical device 102 may include enhanced photoacoustic capabilities to improve photoacoustic-guided cannulation. In some cases, photoacoustic imaging can allow for better differentiation of tissues or structures than standard ultrasound imaging or even differentiation between bile ducts and pancreatic ducts that standard ultrasound imaging may not be able to achieve (e.g., differentiation between bile ducts and pancreatic ducts). In various embodiments, the photoacoustic capability can be integrated with tools in one or more working channels or integrated into the design of a scope (e.g., a duodenoscope). In an embodiment, the medical device 102 can enable optical and photoacoustic images to be captured simultaneously. The optical and photoacoustic images can be fused together to create an image of the anatomical structures behind the papilla and duodenal wall. In various embodiments, the operator may be able to switch between optical and photoacoustic views, view optical and photoacoustic images simultaneously, or overlap / fuse different images together, or a combination thereof, such as via the user interface 120.

[0045] In some embodiments, during an ERCP procedure, intraoperative guidance using ultrasound can improve duct cannulation. The ability to see the papilla with direct visualization while also being able to see (e.g., via ultrasound) the duct behind the duodenal wall can better guide the medical professional in the alignment of the scope and / or tools. Improving the convenience of the cannulation process, such as duct cannulation and navigation to the target location in the bile duct can reduce the process time and improve the proficiency of the medical professional in performing the process. This can also reduce the number of accidental pancreatic duct cannulations, and therefore reduce the incidence of pancreatitis.

[0046] In one or more embodiments, the medical device 102 can provide a medical professional with a view of the bile duct and pancreatic duct behind the duodenal wall (in this case or in ERCP) or where to puncture the wall to access the ducts. In some embodiments, an ultrasonic transducer (see, e.g., Figure 2) can be integrated into the tip of the flexible elongated member 104 to contact the wall of a body cavity (e.g., tissue near the nipple) to generate an ultrasound image (see, e.g., Figure 4A ). It should be understood that the ultrasonic transducer can be a photoacoustic sensor or probe (which can be considered simpler than a standard ultrasonic transducer, but capable of generating images with higher resolution), and the terms "ultrasonic transducer" and "transducer" are understood herein to include such a photoacoustic sensor or probe as a substitute for a standard ultrasonic transducer. The photoacoustic sensor or probe can be used to detect acoustic waves generated by a photoexcitation target beyond the tissue wall, and to generate a high resolution / high contrast ultrasonic image of the photoexcitation target. In such an embodiment, an energy source is provided, such as a light source (e.g., LED, optical fiber, laser, etc.) to generate an appropriate energy pulse (e.g., 100V or higher) with sufficient energy to excite the target tissue (e.g., beyond the tissue wall where the transducer 210-2 is located) to generate a return pulse or echo (e.g., in a multiple of 10mV and in the ultrasonic frequency range, such as, in a multiple of 10MHz). The energy source can be the same light source used by the first transducer (e.g., light for a camera or other mirror) or a separate laser or other energy source capable of generating an appropriate energy pulse. Light within the full spectrum can be used. In some embodiments, light having a red wavelength is used. The energy source is positioned along the distal portion 204-2 of the flexible elongated member 204 at a location selected to generate sufficient energy and propagate it to the target site to excite the tissue at the target site. In some embodiments, the energy source is used in conjunction with the first transducer 210-1 (e.g., a light source, such as an LED or optical fiber or laser, for illuminating a path observed by a camera or the like), and can be used for both purposes of illuminating the first transducer 210-1 and generating excitation energy (e.g., pulsed energy, such as pulsed light) for the second transducer 210-2 in the form of a photoacoustic sensor. The sensor for photoacoustic imaging (e.g., a receive-only transducer) may have a more sophisticated receiver circuit than a standard ultrasound transducer to receive and process the received more sophisticated signal (compared to a standard ultrasound signal), and generate an image with a finer resolution and enhanced and higher contrast than can typically be achieved with standard ultrasound imaging.

[0047] In some such embodiments, one or more joints may be operated to bring the ultrasound transducer into contact with tissue near the nipple. In other embodiments, a portion of the body cavity may be filled with a fluid to enable ultrasound images to be generated without contacting the walls of the body cavity (see, e.g., Figure 5 ).

[0048] In various embodiments, a group (e.g., working channel group 108, transducer group 110, joint group 112) can refer to one or more components or combinations thereof having common features. For example, working channel group 108 can include one or more working channels extending through at least a portion of flexible elongated member 104. In another example, transducer group 110 can include one or more sensors for measuring and / or sensing various aspects of medical device 102 and / or the environment of medical device 102. In yet another example, joint group 112 can refer to one or more joints and / or joint mechanisms that facilitate positioning / manipulation of flexible elongated member 104.

[0049] Figure 2 An example of a flexible elongated member 204 in an environment 200 according to the present invention described herein is schematically shown. In some embodiments, the environment 200 can include one or more components that are the same or similar to one or more other components described herein. For example, the distal end of the flexible elongated member 204 can be the same or similar to the distal end of the flexible elongated member 104. In the environment 200, the flexible elongated member 204 can include a proximal portion 204-1 and a distal portion 204-2, and a working channel 208 extending through at least a portion of the proximal and distal portions 204-1, 204-2. In the illustrated embodiment, the distal portion 204-2 of the flexible elongated member 204 includes transducers 210-1, 210-2 and an articulated joint 212. The distal portion 204-2 can be considered to include the "distal end" of the flexible elongated member 204 having a proximal region, where the transducer 210-1 is generally located, and a distal region, where the most distal end is located at the substantially free end of the flexible elongated member 204. In one or more embodiments described herein, the articulating joint 212 can be used to move the transducer 210-2 while keeping the transducer 210-1 stationary. In some embodiments, the articulating joint 212 facilitates movement of the distal region relative to the proximal region of the distal portion 204-2. The embodiments are not limited in this context.

[0050] In some embodiments, the articulated joint 212 can be used to position the transducer 210-2 in contact with the body cavity wall. In various embodiments, the articulated joint 212 can be used to position the transducer 210-2 within the focal region of the transducer 210-1. In an embodiment, the articulated joint 212 can be manipulated to facilitate entry of the flexible elongated member 204 into the target body cavity. In various embodiments, one or more joints (e.g., joint 212) can include one or more features to facilitate operation of the mirror elevator. In many embodiments, the joint / working channel through which it is provided can include one or more of a cavity, a bearing, a channel, a pivot point, a tensioner, etc., to facilitate operation of one or more components of a medical device or system.

[0051] In one or more embodiments, the flexible elongated member 204 can illustrate a method of multimodal imaging. For example, the transducer 210-1 can include an optical sensor and the transducer 210-2 can include an ultrasound or photoacoustic transducer. In such an example, the transducer 210-1 can generate an optical image in concert with the ultrasound image generated by the transducer 210-2. The transducer 210-1 can be an imaging device similar to the imaging device in a standard duodenoscope. In some embodiments, the articulated joint 212 can be used in conjunction with the optical image generated by the transducer 210-1 to position the transducer 210-2 to generate an ultrasound image. In some such embodiments, the transducer 210-2 can be positioned against a body cavity wall, such as the duodenal wall near the nipple.

[0052] In an embodiment, articulation joint 212 may be disposed closer to the distal-most end of flexible elongated member 204 than transducer 210-1 and / or working channel 208. In various embodiments, transducer 210-2 may be disposed closer to the distal-most end of the distal end of flexible elongated member 204 than working channel 208, transducer 210-1, and / or articulation joint. In various embodiments, the arrangement of one or more of working channel 208, transducer 210, and articulation joint 212 may be configured to position transducer 210-1 to generate an image of a feature of a body cavity wall while positioning transducer 210-2 to generate an image of a feature external to the body cavity wall. In some such embodiments, this may facilitate positioning transducer 210-2 within a focal region of transducer 210-1. In embodiments, the net articulation of transducer 210-2 with respect to articulation joint 212 may be greater than the net articulation of transducer 210-1 (e.g., when articulation joint 212 is an asymmetric articulation joint). In several such embodiments, this may facilitate positioning transducer 210-2 in contact with a body cavity wall (e.g., acoustically coupling the transducer / sensor to a tissue region of interest) while maintaining transducer 210-1 at a distance from the wall that enables an imaging mode of transducer 210-1.

[0053] In some embodiments, one or more of the transducers 210-1, 201-2 may include multiple transducers. For example, the transducer 210-1 may be capable of both visible light and infrared imaging. In one or more embodiments, the transducer 210-1 and the working channel 208 may be positioned in a manner that promotes intuitive use, such as by positioning the transducer 210-1 and the working channel 208 in a manner familiar to the device used for training and / or common intubation procedures. In several embodiments, additional articulating joints may be provided along the flexible elongated member 204. In several such embodiments, the additional articulating joints may be configured to at least partially position each respective transducer disposed distally of the respective articulating joint.

[0054] Figure 3 An example of an operating environment 300 for a flexible elongated member 304 according to the present invention described herein is shown. In some embodiments, the environment 300 may include one or more components that are the same or similar to one or more other components described herein. For example, the distal end of the flexible elongated member 304 may be the same or similar to the flexible elongated member 204. In the environment 300, the distal end of the flexible elongated member 304 may be disposed within a body cavity 330 having a wall 332. Additionally, the environment 300 may include an external region 325 outside the body cavity 330. In the illustrated embodiment, the flexible elongated member 304 may include an articulated joint 312 disposed between a first sensor 310-1 and a second transducer 310-2. The first sensor 310-1 may be an optical sensor, and the second sensor 310-2 may be an ultrasonic transducer or sensor, however the first and second sensors 310-1, 310-2 may also be other sensors as described herein to facilitate ERCP procedures. In one or more embodiments described herein, the articulated joint 312 can be used to position the ultrasonic transducer 310-2 in contact with the wall 332 for imaging. For example, the distal tip of the flexible elongated member 304 can be rotatable, pivotable, positionable, or otherwise movable to be out of alignment with the longitudinal axis of the flexible elongated member 304. In embodiments, the ultrasonic transducer 310-2 can generate images of structures in the exterior region 325. The embodiments are not limited in this context.

[0055] In some embodiments, the positioning of one or more joints in the joint group 112 can enable the ultrasound transducer 310-2 to be positioned in contact with the wall 332 of the body cavity 330 while allowing the optical sensor 310-1 to remain at a minimum distance from the body cavity wall to enable effective imaging (e.g., visual progression of the flexible elongated member 204 within the body cavity). In some embodiments, the articulating joint 312 can include both articulating and telescoping joints. In many embodiments, the flexible elongated member 304 can include one or more working channels, however, for simplicity, the working channels are not shown in the environment 300. For example, the flexible elongated member 304 can include one or more working channels. Figure 2 The articulated joint 312 may include a lifter to angle the flexible elongated member 304 for entry. In many such embodiments, the lifter may be connected (e.g., at its distal end) to the flexible elongated member 304 distal to the transducer 312. In some embodiments, the lifter may be placed / connected near the exit of the working channel. In various embodiments, the medical device may include multiple lifters. In various such embodiments, one or more working channels may be used to operate multiple lifters.

[0056] Embodiments may include different configurations of components of the flexible elongated member 304, such as the distance between two or more of the articulated joint 312, the optical sensor 310-1, and the ultrasonic transducer 310-2. In some embodiments, the distance of the ultrasonic transducer 310-2 to the articulated joint 312 may be variable. For example, the ultrasonic transducer 310-2 and the articulated joint 312 may be movable relative to the optical sensor 310-1. In such embodiments, the articulated joint 312 may extend longitudinally relative to the flexible elongated member 304. One or more embodiments may include two or more independent articulated joints. In such embodiments, each of the two or more independent articulated joints may be disposed proximally, between, and / or distally of one or more other components of the flexible elongated member 304 along the length of the flexible elongated member 304. For example, the flexible elongated member may include an articulated joint distal to the working channel. In such an example, the operator may use the articulated joint to adjust the position of the working channel by the angle at which the ultrasonic transducer 310-2 abuts against the wall 332 of the body cavity 330.

[0057] Figure 4A and Figure 4B An example of an embodiment of facilitating positioning of a transducer within a selected focal region in environments 400A, 400B according to the present invention as described herein is shown. In some embodiments, environments 400A, 400B may include one or more components that are the same or similar to one or more other components described herein. For example, an optical sensor 410-1 and an ultrasonic transducer or sensor (used interchangeably herein, but not intended to be limiting, as described above) 410-2 may be included in transducer group 110. Environment 400A includes a distal end of a medical device 402 having a flexible, elongated member 404, the flexible, elongated member 404 including working channels 408-1, 408-2, an optical sensor 410-1, an ultrasonic transducer 410-2 extending through the working channel 408-2, an articulated joint 412, a transducer member 417, and a tensioner 435 extending through the working channel 408-1. Environment 400B includes flexible elongated member 404 including optical sensor 410-1 and ultrasonic transducer 410-2 having focal region 440. In one or more embodiments, tensioner 435 may operate articulated joint 412 to appropriately position ultrasonic transducer 410-2, such as to overlap the focal region of optical sensor 410-1 with the focal region of ultrasonic transducer 410-2. The embodiments are not limited in this context.

[0058] In several embodiments, the distal end of the tensioner 435 can be coupled to the transducer member 417. In several such embodiments, the distal end of the tensioner 435 can be coupled between at least a portion of the articulating joint 412 and at least a portion of the ultrasonic transducer 410-2. In some embodiments, the tensioner 435 can include a lifter. In various embodiments, the articulating joint 412 can include a flexible portion of a component of a medical device. For example, the ultrasonic transducer 410-2 can be included in a catheter, such as an ultrasound catheter, inserted through a working channel 408-2 of the flexible elongated member 404. In many embodiments, the flexible elongated member 404 can include an endoscope or be used in conjunction with an endoscope. In some embodiments, the optical sensor 410-1 is disposed on the body of the flexible elongated member 404 (e.g., an endoscope, a duodenoscope, etc.), and the ultrasonic transducer 410-2 is disposed on a separate, smaller flexible elongated member (e.g., an endoscopic ultrasound catheter) that passes through the working channel of the flexible elongated member 404. In one or more embodiments, the tensioner 435 can be selectively attached to the transducer member 417. It will be appreciated that providing the ultrasonic transducer 410-2 on a flexible, elongated member separate from the main flexible, elongated member on which the first transducer 410-1 is provided can allow for increased mobility and enhanced positioning capabilities of the ultrasonic transducer 410-2 to optimize its positioning relative to target tissue, and consequently improved signal reception / transmission and increased contrast for visualization, as well as potentially simplified manufacturing and attendant cost reductions.

[0059] In one or more embodiments, the medical device 402 may include additional articulated joints, which, in some embodiments, are independent of each other. For example, the articulated joint may be configured to extend / retract the transducer member 417. In some such examples, the articulated joint may be disposed in the working channel 408-2. In alternative or additional examples, the articulated joint may be configured to extend / retract the tensioner 435. In some such examples, the articulated joint may be disposed in the working channel 408-1. In many embodiments, one or more features of the medical device may be selected to appropriately position different components of the medical device 404 relative to each other. For example, the distance from the transducer 410-2 and the transducer 410-2 may be selected based at least in part on the flexibility of the articulated joint 412 and / or the transducer member 417. In some embodiments, the articulation joint 412 may include a portion of the transducer member 417 that has greater flexibility than one or more other portions of the transducer member 417. In some embodiments, the articulation is designed to articulate the working channel 408-1, the transducer 410-2, or both. In some embodiments of articulating both working channel 408-1 and transducer 410-2, the articulating joint may be offset / asymmetric to optimize the positions of working channel 408-1 and transducer 410-2 (including their relative positions).

[0060] In some embodiments, the flexible, elongated member 404 may include one or more portions of a dual channel ERCP scope having a through lumen for an ultrasound catheter including an ultrasound transducer 410-2 and / or a side exit channel with an elevator to control tool direction. In some embodiments, the use of an ultrasound catheter may enable the flexible, elongated member 404 to be disposable. In such embodiments, the ultrasound catheter may additionally or alternatively be disposable. In one or more embodiments, the flexible, elongated member 404 may include one or more portions of a duodenoscope. In various embodiments, the use of a catheter ultrasound sensor may allow a variable distance between the optical sensor 410-1 and the ultrasound transducer 410-2. In one or more embodiments, the ultrasound transducer 410-2 may have a single articulating axis (such as a sphincterotomy) to facilitate desired contact with the duodenal wall. In some embodiments, the ultrasound probe may be a modified Access and delivery catheters, such as those sold by Boston Scientific Direct Visualization System, modified for photoacoustic imaging. Figure 4B In the illustrated embodiment, the working channels 408 - 1 , 408 - 2 are not shown for simplicity.

[0061] Figure 5 An example of an embodiment of a distal end of a flexible elongated member 504 in an operating environment 500 according to the present invention described herein is shown. Although in the environment 500, the flexible elongated member 504 is disposed within the duodenum 530, it should be understood that the flexible elongated member 504 can be used in other environments without departing from the scope of the present invention. In some embodiments, the environment 500 may include one or more components that are the same or similar to one or more other components described herein. For example, balloons 512-1, 512-2 may be included in the connector assembly 112. The environment 500 may include a duodenum 530 having a duodenal wall 532 and a flexible elongated member 504 disposed therein. In addition, a papilla 542 is shown as a feature of the duodenal wall 532, and the papilla 542 includes a common entry point to the bile duct 526 and the pancreatic duct 528. In the illustrated embodiment, the distal end of the flexible elongated member 504 includes an ultrasonic transducer 510-1 and balloons 512-1, 512-2. The embodiments are not limited to this context.

[0062] In one or more embodiments, the balloons 512-1, 512-2 (or balloon 512) can be operated to generate a sealed area within the duodenum 530 to create a fluid-filled area 544. In one or more such embodiments, the fluid-filled area 544 can enable the ultrasound transducer 510-1 to generate images of structures outside the duodenum 530, such as the bile duct 526 and / or the pancreatic duct 528. In various embodiments, the balloons 512 can be operated independently. In several embodiments, each of the balloons can include an articulated joint. In some embodiments, generating images with the ultrasound transducer 510-1 by inflating / scaling the balloon 512 to avoid contacting the papilla 542 and / or the duodenal wall 532 can reduce the risk of causing irritation or inflammation.

[0063] In various embodiments, the flexible elongated member 504 can include one or more lumens (e.g., working channels) for inflating / deflation of the balloon 512. For example, fluid can be added and removed from the balloon via one or more of the lumens. In some embodiments, at least one lumen can enable fluid to be added or removed from the fluid-filled region 544. In some embodiments, the balloon 512 and the fluid-filled region 544 can be filled with different fluids. In several embodiments, the flexible elongated member can include a fluid channel having an outlet disposed between the first balloon and the second balloon to fill an area of ​​the body cavity between the first and second balloons with a fluid to facilitate generating a second image including features outside the body cavity wall.

[0064] 6A to 6F An embodiment of imaging and trajectory visualization in environments 600A-F according to the present invention described herein is shown. 6A to 6F The flexible elongated members 604 are each disposed within the duodenum 630, but it should be understood that the flexible elongated members 604 may be used in other environments without departing from the scope of the present invention. Figure 6C and Fig. 6F A medical device, such as the distal end of a flexible, elongated member (eg, a duodenoscope), is shown that may be positioned within a patient's anatomy to perform an ERCP procedure. FIG. 6A to FIG. 6B and FIG. 6D to FIG. 6EAn image is shown projected from an imaging device 6XX on a flexible elongated member and displayed on a user interface for a medical professional to cannulate a nipple. It should be understood that the flexible elongated members 604-1, 604-2 can be the same or similar to one or more of the flexible elongated members 104, 204, 304, 404, 504. Environments 600A-600F illustrate different selected anatomical structures. Environments 600A-600C include a flexible elongated member 604-1, a duodenum 630-1, a duodenal wall 632-1, a nipple 642-1, a bile duct 626-1, a pancreatic duct 628-1, a light source 634-1, a target trajectory visualization 646-1, and an actual trajectory visualization 648-1. Environments 600D-600F include flexible elongate member 604-2, duodenum 630-2, duodenal wall 632-2, papilla 642-2, bile duct 626-2, pancreatic duct 628-2, light source 634-2, bile duct trajectory visualization 646-2, and pancreatic duct trajectory visualization 648-2. The embodiments are not limited in this context.

[0065] In one or more embodiments described herein, FIG. 6A to FIG. 6E One or more features, components and / or techniques described, such as imaging-related processes, may be implemented via the controller 106. In an embodiment, these features, components and / or techniques may include one or more of the following. Visual feedback from the camera may be used to automate and / or guide the flexible elongated members 604-1, 604-2 to provide improved imaging (e.g., multimodal imaging). More generally, any technique or component described herein may be used to automate and / or guide the operation of one or more other components. One or more transducers, such as ultrasound sensors, may be integrated into the flexible elongated members 604-1, 604-2. Ultrasound sensors may be used to provide acoustic radiation force pulse elastic imaging. Additional information, such as higher density mass and visualized fluid flow, may be provided via ultrasound using techniques such as elastic imaging and / or Doppler imaging to help identify appropriate conduits for intubation. Direct and / or indirect ultrasound and / or photoacoustic capabilities may be utilized. Intraoperative ultrasound and / or photoacoustic imaging may be used for image fusion.

[0066] Multimodal imaging may also include image fusion. For example, inputs from an optical sensor and an ultrasound transducer may be fused together to provide more relevant information to assist in cannulation. In such a case, a picture of direct visualization of the papilla may be provided, such as via user interface 120, with the tract outlined on the duodenal wall, which may provide the operator with a better idea of ​​trajectory / approach.

[0067] With reference to environments 600A-600C, in embodiments, a target trajectory visualization 646-1 may illustrate a target angle of attack for a corresponding device (e.g., endoscope, catheter, flexible elongated member 604-1), and an actual trajectory visualization 648-1 may illustrate a current angle for a corresponding device (e.g., endoscope, catheter, flexible elongated member 604-1) based on actual positioning. In several such embodiments, an operator may align the actual trajectory visualization 648-1 with the target trajectory visualization 646-1 to properly position the flexible elongated member 604-1.

[0068] In some embodiments, the controller 106 can display images from cameras on the flexible elongated members 604-1, 604-2 (see FIG. 6A to FIG. 6B , FIG. 6D to FIG. 6E ), and detect and identify the nipple 642-1 for the medical professional. The controller 106 can determine a target trajectory 646-1 based on the image of the nipple 642-1, and overlay on the image to provide a direct view of the intubation path to the medical professional. In an embodiment, an ultrasound image can be obtained by an ultrasound sensor on the flexible elongated members 604-1, 604-2 to determine an image of the pancreatic duct and / or bile duct to generate the target trajectory 646-1. Once the nipple 642-1 and / or the target trajectory 646-1 are identified, the controller 106 can determine the current trajectory of the tool extending from the flexible elongated members 604-1, 604-2, and overlay the trajectory 648-1. That is, the controller 106 can display an image for the medical professional to better align the distal end of the flexible elongated member 604-1, so that the current trajectory and the target trajectory 646-1, 648-1 are substantially aligned with each other on the image of the nipple 642-1 to improve intubation and potentially reduce failed attempts. Alternatively or additionally, the controller 106 may display an image for the medical professional to better align the distal end of the flexible elongate member 604 - 2 with one of the bile duct and the pancreatic duct to improve cannulation and potentially reduce failed attempts.

[0069] In embodiments, a laser or light having a desired wavelength (e.g., from light sources 634-1, 634-5) may be used to project a target angle of attack for the device based on positioning (e.g., target trajectory visualization 646-1). In some embodiments, the laser / light (e.g., light source 634-1) may display the heading and / or direction for the tip of the flexible elongated member 604-1 (e.g., actual trajectory visualization 648-1). In embodiments, both the target trajectory 646-1 and the actual trajectory 648-1 may be displayed on an image of the nipple 642-1 so that a medical professional can view and align the flexible elongated member in real time. In some such embodiments, the heading and / or direction may inform the operator of the current trajectory of the distal end of the flexible elongated member as it moves in the duodenum.

[0070] In many embodiments, a laser can be used to display an optimal approach angle, such as set by an operator or automatically set based on imaging input (e.g., from ultrasound integrated into the flexible elongated member 604-1), to subsequently guide movement toward and into a conduit (e.g., a bile duct 626-1). The optimal approach angle can be shown as an extension of the anatomical structure of the conduit, such as determined from ultrasound or photoacoustic imaging, to assist in proper alignment based on the selected anatomical structure. In various embodiments, the target trajectory visualization 646-1 and / or the actual trajectory visualization 648-1 can be generated by software rather than laser / light.

[0071] With reference to environments 600D-600F, in some embodiments, pancreatic duct trajectory visualization 648-2 may include an entry point indication and / or outline of pancreatic duct 628-2, and bile duct trajectory visualization 646-2 may include an entry point indication and / or outline of bile duct 626-2. In various embodiments, additional sensors, extended images, and / or trajectory visualizations may assist in cannulation. In an embodiment, one or more of light sources 634-2 may include a laser. In some embodiments, one or more of trajectory visualizations 646-2, 648-2 may be generated by software rather than a light source.

[0072] Embodiments may include extended image overlays. For example, an image of a mirror or other ERCP instrument in a working channel may be virtually placed on an image (e.g., an optical image) presented via a user interface. In such an example, this may assist in navigating to the bile duct. In an embodiment, information may be integrated from a transducer to be superimposed on an image presented via a user interface. In such an embodiment, appropriate conversions may be performed to enable visualization of optically invisible images (e.g., recoloring, rescaling, etc.). This information may provide accurate location information and / or assist in navigation. In some embodiments, a ghost image of the location where an expected or desired tool will arrive may be generated.

[0073] In one or more embodiments, the trajectory can be fixed so that the initial trajectory shown remains constant, such as throughout the calibration process. In such an embodiment, the trajectory can be fixed based on determining the optimal angle into the pipeline. In an embodiment, the trajectory visualization can be adaptive so that sensors, imaging, and / or user input can be used to update the optimal trajectory for intubation. For example, the operator can slowly move the catheter toward the pipeline and into the pipeline based on the trajectory visualization. Measurement and gradual approach can be used, where, after a small move, the sensor enters the surrounding environment and adjusts the trajectory and provides feedback when necessary. The feedback can be visual, showing the operator where / what to align with.

[0074] In some embodiments, feedback may be digital and / or directional. In some such embodiments, appropriate movement may be performed to correct the value / feedback, such as automatically by the controller 106. In various embodiments, the trajectory may be used as supplemental information. In an embodiment, feedback may be generated when a certain area or target tissue has been reached, such as visual, tactile, and / or auditory. In some embodiments, feedback may be generated when a certain area or target tissue has been reached, such as visual, tactile, and / or auditory.

[0075] In embodiments, the transducer may include and / or facilitate position tracking / information, such as with ultrasound imaging and / or multimodal imaging to generate a three-dimensional map of a selected anatomical structure based on one or more 2D images. In some embodiments, the positioning sensor may provide a third dimension for constructing a map of a selected anatomical structure.

[0076] 7A to 7C Various embodiments of flexible elongated members in environments 700A, 700B, 700C are shown according to one or more embodiments described herein. In some embodiments, environments 700A, 700B, 700C may include one or more components that are the same or similar to one or more other components described herein. For example, flexible elongated member 704-1 may be the same or similar to one or more of flexible elongated members 104, 204, 304, 404, 504, 604-1, 604-2. Environment 700A includes a distal end of a medical device 702-1 having a flexible elongated member 704-1, an articulated joint 712-1, a transducer 710-1, and a transducer member 717-1. Environment 700B includes a medical device 702-2 having a flexible elongated member 704-2, articulated joints 712-2, 712-3, a transducer 710-2, and a transducer member 717-2. Environment 700C includes a medical device 702-3 having a flexible elongated member 704-3, an articulated joint 712-4, a telescoping joint 712-5, a transducer 710-1, and a transducer member 717-3. In one or more embodiments described herein, mechanical vibration and / or movement can be utilized to assist in cannulation. In some embodiments, small movements / movements such as back and forth or left and right can be used to assist in manipulation, such as during the cannulation process. In some such embodiments, the small movements / movements can be automated. The embodiments are not limited to this context.

[0077] In environment 700A, articulating joint 712-1 can radially displace transducer 710-1 relative to at least a portion of medical device 702-1, such as a portion of transducer member 717-1. In environment 700B, articulating joints 712-2, 712-3 can radially displace transducer 710-2 around a corresponding portion of medical device 702-2, such as a corresponding portion of transducer member 717-2. In environment 700C, articulating joint 712-4 can radially displace transducer 710-3 relative to at least a portion of medical device 702-1, such as a portion of transducer member 717-3, and telescoping joint 712-5 can longitudinally extend / retract transducer 710-3 relative to transducer member 717-3.

[0078] Figure 8 An embodiment of a computing architecture 800 that may be suitable for implementing various embodiments as previously described is shown. In various embodiments, the computing architecture 800 may include or be implemented as part of an electronic device and / or a medical device. In some embodiments, the computing architecture 800 may represent, for example, one or more components described herein. In some embodiments, the computing architecture 800 may represent, for example, a computing device that implements or utilizes one or more portions of the components and / or techniques described herein, such as the medical device 102, the controller 106, one or more of the transducer groups 110, one or more of the joint groups 112, the elongated member interface 114, the processor 116, the memory 118, and / or the user interface 120. The embodiments are not limited to this context.

[0079] As used in this application, the terms "system" and "component" and "module" may refer to a computer-related entity, hardware, a combination of hardware and software, software, or software in execution, examples of which are provided by the illustrative example of the computing architecture 800 disclosed herein. For example, a component may be, but is not limited to, a process running on a processor, a processor, a hard drive, a plurality of storage drives (optical and / or magnetic storage media), an object, an executable file, an execution thread, a program, and / or a computer. As an illustration, both the application running on the controller 106 and the controller 106 may be a component. One or more components may reside in a process and / or an execution thread, and a component may be located on one computer and / or distributed between two or more computers. In addition, components may be communicatively coupled to each other through various types of communication media to coordinate operations. Coordination may involve a one-way or two-way exchange of information. For example, a component may communicate information in the form of a signal communicated through a communication medium. The information may be implemented as a signal assigned to various signal lines. In this assignment, each message is a signal. However, another embodiment may alternatively employ a data message. Such a data message may be sent across various connections. Examples of connections include parallel interfaces, serial interfaces, and bus interfaces.

[0080] The computing architecture 800 includes various common computing elements, such as one or more processors, multi-core processors, coprocessors, memory units, chipsets, controllers, peripherals, interfaces, oscillators, timing devices, video cards, audio cards, multimedia input / output (I / O) components, power supplies, etc. However, embodiments are not limited to implementation by the computing architecture 800.

[0081] like Figure 8 As shown, computing architecture 800 includes a processing unit 804, a system memory 806, and a system bus 808. Processing unit 804 can be any of a variety of commercially available processors, including but not limited to and processor; Application, embedded and security processors; and and Processors; IBM and Cell processor; Core(2) and Dual microprocessors, multi-core processors, and other multi-processor architectures may also be used as the processing unit 804 .

[0082] The system bus 808 provides an interface to the processing unit 804 for system components, including, but not limited to, the system memory 806. The system bus 808 may be any of several types of bus structures, which may also interconnect to a memory bus (with or without a memory controller), a peripheral bus, and a local bus using any of a variety of commercially available bus architectures. Interface adapters may be connected to the system bus 808 via a slot architecture. Example slot architectures may include, but are not limited to, accelerated graphics port (AGP), card bus, (extended) industry standard architecture ((E)ISA), micro channel architecture (MCA), network user bus, peripheral component interconnect (extended) (PCI(X)), PCI Express, personal computer memory card international association (PCMCIA), etc.

[0083] The system memory 806 may include various types of computer-readable storage media in the form of one or more high-speed memory units, such as read-only memory (ROM), random access memory (RAM), dynamic RAM (DRAM), double data rate DRAM (DDRAM), synchronous DRAM (SDRAM), static RAM (SRAM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory (e.g., one or more flash memory arrays), polymer memory, such as ferroelectric polymer memory, austenite memory, phase change or ferroelectric memory, silicon-oxide-nitride-oxide-silicon type (SONOS) memory, magnetic or optical cards, device arrays, such as redundant array of independent disks (RAID) drives, solid-state memory devices (e.g., USB memory, solid-state drive (SSD), and any other type of storage medium suitable for storing information). Figure 8 In the illustrated embodiment, the system memory 806 may include non-volatile memory 810 and / or volatile memory 812. In some embodiments, the system memory 806 may include main memory. A basic input / output system (BIOS) may be stored in the non-volatile memory 810.

[0084] The computer 802 may include various types of computer-readable storage media in the form of one or more low-speed memory units, including an internal (or external) hard disk drive (HDD) 814, a magnetic floppy disk drive (FDD) 816 for reading from or writing to a removable magnetic disk 818, and an optical drive 820 (e.g., a CD-ROM or DVD) for reading from or writing to a removable optical disk 822. The HDD 814, FDD 816, and optical drive 820 may be connected to the system bus 808 via a HDD interface 824, a FDD interface 826, and an optical drive interface 828, respectively. The HDD interface 824 for external drive implementations may include at least one or both of a universal serial bus (USB) and an Institute of Electrical and Electronics Engineers (IEEE) 994 interface technology. In various embodiments, these types of memory may not be included in the main memory or system memory.

[0085] The drives and associated computer-readable media provide volatile and / or nonvolatile storage of data, data structures, computer-executable instructions, etc. For example, a number of program modules may be stored in the drives and memory units 810, 812, including an operating system 830, one or more application programs 832, other program modules 834, and program data 836. In one embodiment, the one or more application programs 832, other program modules 834, and program data 836 may include or implement, for example, the various techniques, applications, and / or components described herein.

[0086] A user may enter commands and information into the computer 802 through one or more wired / wireless input devices, such as a keyboard 838 and a pointing device, such as a mouse 840. Other input devices may include a microphone, an infrared (IR) remote control, a radio frequency (RF) remote control, a game controller, a stylus, a card reader, a dongle, a fingerprint reader, a glove, a drawing tablet, a joystick, a keyboard, a retina reader, a touch screen (e.g., capacitive, resistive, etc.), a trackball, a trackpad, a sensor, a stylus, etc. These and other input devices are often connected to the processing unit 804 through an input device interface 842 coupled to the system bus 808, but may also be connected through other interfaces, such as a parallel port, an IEEE serial port, a game port, a USB port, an IR port, etc.

[0087] A monitor 844 or other type of display device is also connected to the system bus 808 via an interface, such as a video adapter 846. The monitor 844 may be internal or external to the computer 802. In addition to the monitor 844, computers typically include other peripheral output devices, such as speakers, printers, and the like.

[0088] The computer 802 can operate in a networked environment using logical connections via wired and / or wireless communications to one or more remote computers, such as remote computers 848. In various embodiments, one or more interactions described herein can occur via a networked environment. The remote computer 848 can be a workstation, a server computer, a router, a personal computer, a portable computer, a microprocessor-based entertainment device, a peer device, or other public network node, and typically includes many or all of the elements described relative to the computer 802, but for the sake of brevity, only a memory / storage device 850 is shown. The depicted logical connections include wired / wireless connectivity to a local area network (LAN) 852 and / or a larger network, such as a wide area network (WAN) 854. Such LAN and WAN networking environments are common in offices and companies, and facilitate enterprise-wide computer networks, such as intranets, all of which can be connected to a global communication network, such as the Internet.

[0089] When used in a LAN networking environment, the computer 802 is connected to the LAN 852 through a wired and / or wireless communication network interface or adapter 856. The adapter 856 can facilitate wired and / or wireless communication to the LAN 852, which can also include a wireless access point disposed thereon for communicating with the wireless functionality of the adapter 856.

[0090] When used in a WAN networking environment, the computer 802 may include a modem 858, or be connected to a communications server on the WAN 854, or have other means for establishing communications over the WAN 854, such as over the Internet. The modem 858, which may be internal or external and a wired and / or wireless device, is connected to the system bus 808 via the input device interface 842. In a networking environment, program modules depicted relative to the computer 802, or portions thereof, may be stored in the remote memory / storage device 850. It should be appreciated that the network connections shown are illustrative examples, and other means of establishing a communications link between the computers may be used.

[0091] The computer 802 is operable to communicate with wired and wireless devices or entities using the IEEE 802 family of standards, such as wireless devices operatively arranged in wireless communications (e.g., IEEE 802.16 over-the-air modulation techniques). This includes at least Wi-Fi (or Wireless Fidelity), WiMax, and Bluetooth. TM Wireless technology, etc. Therefore, the communication can be a predefined structure like traditional networks, or just an ad hoc communication between at least two devices. Wi-Fi networks use radio technologies called IEEE 802.11x (a, b, g, n, etc.) to provide secure, reliable, and fast wireless connectivity. Wi-Fi networks can be used to connect computers to each other, to the Internet, and to wired networks (using IEEE 802.3 related media and functions).

[0092] Various embodiments can be implemented using hardware elements, software elements or a combination of the two.The example of hardware elements can include processors, microprocessors, circuits, circuit elements (e.g., transistors, resistors, capacitors, inductors, etc.), integrated circuits, application specific integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (DSPs), field programmable gate arrays (FPGAs), logic gates, registers, semiconductor devices, chips, microchips, chipsets, etc. The example of software can include software components, programs, applications, computer programs, application programs, system programs, machine programs, operating system software, middleware, firmware, software modules, routines, subroutines, functions, methods, processes, software interfaces, application program interfaces (APIs), instruction sets, computing codes, computer codes, code segments, computer code segments, words, values, symbols or any combination thereof. Determining whether to implement an embodiment using hardware elements and / or software elements can be based on any number of factors, such as desired computing rate, power level, heat resistance, processing cycle budget, input data rate, output data rate, memory resources, data bus speed and other design or performance constraints.

[0093] One or more aspects of at least one embodiment may be implemented by corresponding instructions stored on a machine-readable medium, which represents various logics within a processor, and when read by a machine, the instructions cause the machine to manufacture logic to perform the techniques described herein. This representation, referred to as an "IP core", may be stored on a tangible machine-readable medium and supplied to various customers or manufacturing facilities to be loaded into a manufacturing machine or processor that actually manufactures the logic. Some embodiments may, for example, be implemented using a machine-readable medium or article that can store instructions or instruction sets, and if executed by a machine, the instructions may cause the machine to perform methods and / or operations according to the embodiments. Such a machine may include, for example, any suitable processing platform, computing platform, computing device, processing device, computing system, processing system, computer, processor, etc., and may be implemented using any suitable combination of hardware and / or software. The machine-readable medium or article may include, for example, any suitable type of memory unit, memory device, memory article, memory medium, storage device, storage article, storage medium and / or storage unit, such as memory, removable or non-removable media, erasable or non-erasable media, writable or rewritable media, digital or analog media, hard disk, floppy disk, compact disk read only memory (CD-ROM), compact disk recordable (CD-R), compact disk rewritable (CD-RW), optical disk, magnetic media, magneto-optical media, removable memory cards or diskettes, various types of digital versatile disks (DVDs), magnetic tapes, cassettes, etc. The instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, etc., implemented using any suitable high-level, low-level, object-oriented, visual, compiled and / or interpreted programming language.

[0094] According to the present invention, all devices and / or methods disclosed and claimed herein can be made and performed without undue experimentation. Although the devices and methods of the present invention have been described in preferred embodiments, it is obvious to those skilled in the art that changes can be applied to the devices and / or methods and the steps of the methods described herein or in the sequence of steps without departing from the concept, spirit and scope of the present invention. All such similar substitutions and modifications obvious to those skilled in the art are considered to be within the spirit, scope and concept of the present invention as defined by the appended claims.

Claims

1. A device comprising: a flexible, elongated member having a proximal portion and a distal portion; a first transducer disposed along the distal portion of the flexible elongated member, the first transducer configured to generate a first image including features of a wall of a body cavity; a second transducer disposed along the distal portion of the flexible elongated member, the second transducer configured to generate a second image including external features of a wall of the body cavity; an articulating joint disposed along the distal portion of the flexible elongated member between the first transducer and the second transducer, the articulating joint configured to position the second transducer to facilitate generating the second image; processor; as well as A memory comprising instructions that, when executed by the processor, cause the processor to create a combined image comprising features of the body cavity wall and external features of the body cavity wall based on the first image and the second image.

2. The apparatus of claim 1, wherein the articulating joint is configured to bring the body cavity wall into contact with the second transducer to facilitate generating the second image.

3. The apparatus of claim 1, wherein the articulated joint is configured to position the second transducer within at least a portion of a focal region of the first transducer. 4 . The apparatus of claim 1 , wherein the first transducer comprises an optical sensor and the first image comprises an optical image.

5. The apparatus of claim 4, wherein the second transducer comprises an ultrasound transducer and the second image comprises an ultrasound image.

6. The apparatus of claim 1 further comprising a tensioner extending through a working channel of the flexible elongated member to operate the articulated joint to properly position the second transducer.

7. The device according to claim 1 further includes a first balloon and a second balloon arranged around the distal portion of the flexible slender member, and the first and second balloons are configured to position the first transducer or the second transducer in the body cavity, wherein the first and second transducers are arranged between the first balloon and the second balloon along the distal portion of the flexible slender member.

8. The device according to claim 7 further includes a fluid channel having an outlet disposed between the first balloon and the second balloon to fill an area of ​​the body cavity between the first and second balloons with fluid to facilitate generation of the second image including external features of the body cavity wall.

9. The device of claim 1 , wherein the device further comprises an energy source that generates energy pulses to excite tissue outside the body cavity wall, and wherein the second transducer is a sensor that is configured to detect acoustic waves generated by the light excitation target and to generate an image based on the detected acoustic waves.

10. The device of claim 1, wherein the memory includes instructions for determining a trajectory visualization based on the first and second images.

11. The apparatus of claim 10, wherein the memory includes instructions to generate an indication of the trajectory visualization in the combined image.

12. The device of claim 10, wherein the device further comprises a light source disposed along the distal portion of the flexible, elongated member, and wherein the memory further comprises instructions for utilizing the light source within the body cavity to generate an indication of the trajectory visualization.

13. The apparatus of claim 10, wherein the body cavity wall comprises a duodenal wall, wherein the feature beyond the body cavity wall comprises a duct beyond a point of entry into the body cavity wall, wherein the duct is selected from a bile duct and a pancreatic duct, and wherein the trajectory visualization is selected from a bile duct trajectory visualization and a pancreatic duct trajectory visualization.

14. The apparatus of claim 13, wherein the memory includes instructions for generating a visual indication of the trajectory in the combined image.

15. The apparatus of claim 13, further comprising a light source disposed along a distal portion of the flexible elongate member, wherein the memory further comprises instructions for generating a visual indication of the trajectory using the light source within the body cavity.

Images