Cleaning device for imaging instruments, devices, and methods

Abstract

A cleaning device for imaging instruments, devices, and methods. An apparatus for cleaning an instrument includes a manifold containing one or more fluid inlets, and a tubular member rotatable relative to the manifold and extending distally from the manifold. The tubular member includes a proximal end, a distal end, and a fluid outlet at the distal end. The fluid outlet is configured to direct a fluid flow substantially across the distal end of the tubular member. The tubular member further includes one or more fluid channels, the one or more fluid channels being fluidly coupled to the fluid outlet, and the one or more fluid channels extending from the fluid outlet to the manifold. The manifold and tubular member are configured to receive a shaft of an imaging instrument in a position such that the shaft of the imaging instrument extends through the manifold to the distal end of the tubular member. Systems and methods relate to instruments and cleaning devices.

Description

[0001] This application is a divisional application of Chinese patent application 2019800763545 (PCT / US2019 / 056983) filed on October 18, 2019 and entitled “Cleaning device for imaging instruments, devices and methods”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 747,926 (filed October 19, 2018), entitled “CLEANING DEVICES FOR IMAGING INSTRUMENTS, DEVICES, AND METHODS,” the entire contents of which are incorporated herein by reference. Technical Field

[0004] Aspects of the present disclosure relate to cleaning devices for imaging instruments. For example, aspects of the present disclosure relate to imaging instruments used in remote surgical, diagnostic, therapeutic and other treatment procedures, including but not limited to endoscopes and instruments with distal cameras or other imaging, sensing or other tools and devices. Background Art

[0005] Imaging instruments (such as endoscopes) can be used to provide observation of object parts at a location away from the object parts. Images of remote fields of view that cannot be directly observable can be transmitted to a display device (e.g., an electronic display) outside the remote field of view, and can therefore be observed by a user. An example of such use of imaging instruments is during minimally invasive surgery, diagnosis, treatment, sensing and / or other treatment procedures (collectively referred to herein as "surgical procedures") that can be performed by manual laparoscopic tools or via a remote operating system. During such procedures, the lens, viewport or other observation portion of the imaging instrument that observes the remote part may be partially or completely blocked by tissue, fluid or other materials. Therefore, the user's observation of the remote part may be partially or completely blocked, and the instrument may need to be removed, cleaned and reinserted to continue operation. The process of removing, cleaning and reinserting the imaging instrument can be time consuming, which is undesirable in surgical procedures.

[0006] There is a need for an apparatus and related systems and methods that facilitates cleaning of a viewing portion of an imaging instrument at a remote site during a procedure without removing the imaging instrument from a location for access to the remote site. In other words, there is a need for in-situ cleaning of a viewing portion of an imaging instrument while the imaging instrument is in position for imaging a remote site. Summary of the invention

[0007] Exemplary embodiments of the present disclosure may solve one or more of the above problems and / or may exhibit one or more of the above desirable features.Other features and / or advantages may become apparent from the following description.

[0008] According to at least one embodiment of the present disclosure, a device for cleaning an instrument includes a manifold and a tubular member, the manifold including one or more fluid inlets, the tubular member being rotatable relative to the manifold and extending distally from the manifold. The tubular member includes a proximal end, a distal end, and a fluid outlet at the distal end. The fluid outlet is configured to guide a fluid flow generally across the distal end of the tubular member. The tubular member also includes one or more fluid channels, the one or more fluid channels being fluidically coupled to the fluid outlet, and the one or more fluid channels extending from the fluid outlet to the manifold. The manifold and tubular member are configured to receive the axis of an imaging instrument in a position such that the axis of the imaging instrument extends through the manifold to the distal end of the tubular member. Systems and methods relate to instruments and cleaning devices.

[0009] According to at least another embodiment of the present disclosure, a system includes an imaging instrument and a cleaning device. The imaging instrument includes a shaft and an observation portion, the shaft having a proximal end and a distal end, the observation portion being at the distal portion of the shaft. The cleaning device includes a manifold and a tubular member, the manifold including one or more fluid inlets, the tubular member being rotatable relative to the manifold and extending distally from the manifold. The tubular member includes a proximal end, a distal end, and a fluid outlet at the distal end. The fluid outlet is configured to guide a fluid flow generally across the distal end of the tubular member. The tubular member includes one or more fluid channels, the one or more fluid channels being fluidically coupled to the fluid outlet, the one or more fluid channels extending from the fluid outlet to the manifold. The manifold and the tubular member are configured to receive the shaft of the imaging instrument in a position such that the shaft extends through the manifold to the distal end of the tubular member.

[0010] According to at least another embodiment of the present disclosure, a system includes an imaging instrument and a cleaning device. The imaging instrument includes a shaft and an observation portion, the shaft having a proximal end and a distal end, and the observation portion is adjacent to the distal end of the shaft. The cleaning device includes a tubular member, one or more fluid inlets, and one or more fluid outlets. The tubular member has a distal end and a proximal end, and the one or more fluid inlets are fluidically coupled to one or more fluid channels extending longitudinally through the tubular member. The one or more fluid outlets are adjacent to the distal end of the tubular member and are fluidically coupled to the one or more fluid channels. The tubular member is configured to receive the shaft of the imaging instrument. When the shaft of the imaging instrument is received in the tubular member, the tubular member does not protrude radially inward beyond the outer periphery of the observation portion of the imaging instrument.

[0011] According to yet another embodiment, a method of controlling cleaning of an imaging device includes, with the imaging device at a location where a remote site is being imaged through a viewing portion of the imaging device and in response to initiation of a cleaning process, providing feedback indicating that the imaging device is being cleaned, and flowing a cleaning fluid across the viewing portion of the imaging device.

[0012] According to yet another embodiment, a method includes receiving a command to start a cleaning operation for an endoscopic imaging device, and upon receiving the command to start the cleaning operation, starting the cleaning operation and automatically interrupting a control relationship between a user control input and a manipulator controlling a surgical instrument.

[0013] Other purposes, features and / or advantages will be explained in part in the following description, and in part will be obvious from the description, or can be learned by the practice of this disclosure and / or claims. At least some of these purposes and advantages can be realized and obtained by the elements and combinations particularly pointed out in the appended claims.

[0014] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims, which should be entitled to their full scope, including equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] From the following detailed description, it can be seen that the Figure 1 The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The accompanying drawings illustrate one or more embodiments of the present teachings and together with the description are used to explain certain principles and operations. In the accompanying drawings,

[0016] Figure 1is a schematic side view of one embodiment of a cleaning device for in-situ cleaning of an imaging instrument according to the present disclosure.

[0017] Figure 2 is a perspective view of one embodiment of an imaging apparatus and a cleaning device according to the present disclosure.

[0018] Figure 3 is based on Figure 2 An enlarged perspective view of a distal portion of an imaging instrument and a cleaning device of an embodiment of the present invention is shown at section 3-3.

[0019] Figure 4 is based on Figure 2 An enlarged cross-sectional view of the proximal portion of the imaging device and the cleaning device of an embodiment is shown at section 4-4.

[0020] Figure 5 is based on Figure 2 A partially hidden perspective view of a cleaning device of an embodiment.

[0021] Figure 6 is based on Figure 2 A partially hidden perspective view of a distal portion of a cleaning device of an embodiment.

[0022] Figure 7 is a perspective view of a tubular member of a cleaning device according to another embodiment of the present disclosure.

[0023] Figure 8 is a partially hidden perspective view of a proximal portion of a cleaning device according to another embodiment of the present disclosure.

[0024] Fig. 9 is based on Figure 8 A perspective view of a distal portion of a cleaning device of an embodiment.

[0025] Fig.10 is based on Figure 8 Detailed cross-sectional view of a distal portion of a cleaning device of an embodiment.

[0026] Fig.11 is a side cross-sectional view of a cleaning device according to another embodiment of the present disclosure.

[0027] Fig.12 is a perspective view of a manipulation system according to one embodiment of the present disclosure.

[0028] Fig.13 FIG. 4 is a partial schematic diagram of an embodiment of a manipulation system according to another embodiment of the present disclosure.

[0029] Fig.14 This is a workflow according to another embodiment of the present disclosure.

[0030] Fig.15 is a cross-sectional view of a tubular member of a cleaning device according to yet another embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The present disclosure contemplates various embodiments of cleaning devices that can be used for in-situ cleaning of imaging instruments, such as during telesurgery procedures or other teleprocedures, such as when the instrument is at a location where a remote part is to be imaged. For example, according to various embodiments of the present disclosure, the cleaning device is configured to achieve in-situ cleaning (e.g., defogging, defrosting, removing biological materials, biological fluids, etc.) of imaging instruments (such as endoscopes). Various embodiments of the present disclosure can also facilitate unimpeded observation of remote parts, and alleviate (e.g., reduce or eliminate) the need to remove imaging instruments from remote parts for cleaning. In some embodiments, the cleaning device includes a proximal manifold portion, which has one or more fluid inlets for connecting to one or more fluid sources. In one embodiment, the manifold includes two fluid inlets. One fluid inlet is configured to receive a supply of a cleaning fluid (e.g., a saline solution or other cleaning solution), and the other inlet is configured to receive a supply of a pressurized gas (e.g., carbon dioxide or other gases suitable for use during surgery). In some embodiments, a cleaning fluid is used in conjunction with a pressurized gas to clean tissue or other material from a surgical procedure from a distal viewing portion (e.g., a lens) of an imaging device, and the gas is used to flush the cleaning fluid from the imaging device and / or dry the distal lens, thereby partially or completely cleaning the distal viewing portion of the endoscope.

[0032] In various embodiments of the present disclosure, the cleaning device includes a tubular member, such as a sheath, so that the tubular member is coupled to a manifold and can rotate relative to the manifold, and extends to or slightly beyond the distal end of the viewing portion of the imaging device. The sheath can include one or more fluid channels and one or more nozzles, one or more fluid channels are fluidly coupled to the manifold, and one or more nozzles direct a fluid flow (e.g., a cleaning fluid and / or gas) above the distal viewing portion of the imaging device. In some embodiments, the cleaning device is configured so that the sheath does not obstruct the field of view of the viewing portion of the imaging device. In some embodiments, the imaging device provides an asymmetric field of view and has an axial rolling degree of freedom (i.e., it can rotate along its longitudinal axis) to provide flexibility in viewing different areas or viewing angles of remote parts being imaged. In such embodiments, the sheath has a structure that avoids obstruction of the field of view of the imaging device regardless of the rolling orientation of the imaging device axis. In some embodiments, the cleaning device contains an optically transparent material so that if a portion of the cleaning device is positioned in the field of view, light still passes through the material of the cleaning device, thereby avoiding obstruction of the field of view.

[0033] In some embodiments, the manifold is coupled to the sheath and is rotatable relative to the sheath. One or more sealing members can optionally be included between the manifold and the sheath to prevent liquid and / or gas from escaping between the sheath and the manifold while allowing the sheath to roll with the imaging device relative to the manifold. Maintaining the manifold in a stationary position enables connection of a hose or other conduit to the cleaning device for supplying a cleaning fluid (e.g., saline solution and carbon dioxide gas) without twisting or tangling the hose when the cleaning device sheath is rotated with the imaging device to prevent the sheath from obstructing the field of view.

[0034] In some embodiments, the cleaning device includes a sheath having a distal portion that defines a fluid path that directs a cleaning fluid flow toward a distal viewing portion of an imaging device without obstructing a field of view. In one embodiment, the sheath includes a distal opening through which the distal end of the imaging device is exposed. The distal opening of the sheath has a diameter that is equal to or greater than the diameter of the distal viewing portion of the imaging device. For example, the sheath can be sized so that it does not protrude radially inward beyond the outer periphery of the viewing portion.

[0035] Regardless of the rolled orientation of the imaging instrument, embodiments of the cleaning apparatus of the present disclosure facilitate reliable and unobstructed viewing through the imaging instrument while allowing in-situ cleaning of the viewing portion of the imaging instrument.

[0036] Reference now Figure 1 , shows a schematic diagram of a cleaning device according to an embodiment of the present disclosure. Figure 1 In the embodiment of the present invention, the cleaning device 100 includes a sheath portion, which is a tubular member 102 having a distal end 104 and a proximal end 106. The sheath portion is sized to fit within an imaging device such as a Figure 2 The proximal end 106 of the tubular member 102 is coupled to and rotatable relative to a manifold portion 108 that receives the proximal end portion of the shaft of the imaging device. The manifold portion 108 includes one or more fluid inlets 110 configured to fluidly couple with one or more cleaning fluid (e.g., liquid or gas) sources (not shown). One or more fluid outlets ( Figure 1102) is fluidly coupled to the fluid inlet 110 via one or more fluid passages (also not shown). In some embodiments, when the shaft of the imaging device is received within the tubular member 102, the fluid passage is at least partially defined by the shaft of the imaging device, such as being defined between the shaft and the tubular member 102. The fluid passage can optionally be integrated with the tubular member 102, such as being partially or completely formed within the wall of the tubular member 102. The one or more fluid outlets are positioned so that, when the imaging device shaft is within the tubular member 102, the one or more fluid outlets are positioned near a distal viewing portion of the imaging device. Fluid flowing into the one or more fluid inlets 110 is directed through the one or more fluid passages and from the one or more fluid outlets to clear material from the viewing portion of the imaging device.

[0037] Reference now Figure 2 , shows an embodiment of a cleaning device 200 mounted on an imaging device 212. The cleaning device 200 includes an imaging device 212 as shown in FIG. Figure 1 The tubular member 214 covering the imaging instrument shaft 218 is described as a cleaning device. The manifold 216 of the cleaning device is positioned around the proximal portion of the imaging instrument shaft 218 and is optionally configured to allow engagement of the mating imaging instrument 212 with an instrument bracket 219, which is configured to be operably coupled to the imaging instrument 212 to impart movement, such as rolling and / or other degrees of freedom, to the shaft 218 of the imaging instrument 212. The instrument bracket 219 can optionally be coupled to a remotely operated manipulator (such as the one described below). Fig.12 and Fig.13 The manipulator arms 1100, 1110, 1120, 1130, 2140 in the embodiment of the present invention are remotely operated to position the imaging instrument 212 relative to the patient's body and optionally position one or more other surgical instruments (such as Fig.12 and Fig.13 1300, 2300, 2310 in the figure). The connector portion 220 of the imaging instrument 212 is configured to couple with the instrument bracket 219 through the sterile instrument adapter 223, and the connector portion 220 can optionally include various control and connection components (such as a harness 222) for connecting to other parts of the surgical system (not shown), such as manipulator controls or other input devices, display devices, power supplies, or other components. The imaging instrument shaft 218 includes a distal portion 224, and a distal viewing portion (such as a lens, window or other imaging aperture) is located at the distal portion 224.

[0038] Figure 2 The system shown in further depicts a sterile adapter surrounding the instrument holder 219. Figure 2In the system of , the sterile adapter includes a boot portion 221 coupled to an adapter portion 223, which can optionally include an intermediate drive device (such as a rotatable drive disk) to transmit the drive force from the teleoperated manipulator to the instrument bracket 219 across the sterile barrier formed by the sterile adapter. The sterile adapter can further include a sterile drape (not shown) that is attached to the boot portion 221 and is used to maintain the sterility of the subject site.

[0039] The cleaning device 200 extends from the connector portion 220 of the imaging instrument 212 to the distal portion 224 of the shaft 218. When the imaging instrument 212 is coupled to the instrument bracket 219, the manifold 216 is positioned adjacent to the instrument bracket 219 and the tubular member 214 extends from the manifold 216 to the distal portion 224 of the endoscope shaft 218. The manifold 216 includes one or more fluid inlet ports 226, 228 (in Figure 2 One or more fluid inlet ports 226, 228 are each configured to receive a cleaning fluid flow as discussed above, such as one or more of a saline solution and carbon dioxide. One or more inlet ports 226, 228 can optionally be configured to attach to a surgical system (such as Fig.12 1000) or a support member of such a system. In one embodiment, one or more inlet ports 226, 228 are configured with Luer-type fittings (not shown); however, various other types of fluid connectors or direct attachments may also be used.

[0040] The cleaning device 200 is configured to direct fluid introduced at one or more inlet ports 226, 228 to the distal portion 224 of the shaft 218. In various embodiments, the manifold 216 and the tubular member 214 include a nozzle (e.g., a nozzle) at the distal end of the tubular member 214 located adjacent the distal portion 224 of the endoscope shaft 218 from the one or more inlet ports 226, 228. Figure 3 226, 228, through one or more channels in the manifold portion 216 and the tubular member 214, and exit the nozzle. The fluid flow from the nozzle is directed adjacent to (e.g., across) the distal viewing portion of the instrument, thereby flushing body fluids, tissue, or other debris from the distal viewing portion and removing debris from the distal viewing portion of the imaging instrument.

[0041] Reference now Figure 3 , showing that Figure 22 is an enlarged perspective view of the distal portion 224 of the imaging device 212 of the cleaning device 200. The periphery of the viewing portion 330 of the imaging device 212 is surrounded by the tubular member 214 of the cleaning device 200. The tubular member 214 includes a nozzle portion 332 extending distally from the tubular member 214. The nozzle portion 332 includes an outlet configured to direct a fluid flow (e.g., a fluid flowing into one or more inlet ports 226, 228 and flowing along the fluid channel of the tubular member 214) across the viewing portion 330 of the imaging device. For example, in Figure 3 In the embodiment of FIG. 3 , the nozzle portion 332 includes a slotted outlet 334 that directs the fluid flow above the viewing portion 330. Figure 3 , the nozzle portion 332 extends distally from the tubular member 214 such that it is positioned distally beyond the viewing portion 330 of the imaging device 212. In some embodiments, the position and shape of the nozzle portion 332 is based on the size and shape of the field of view presented to a display or operator by the viewing portion 330, and the nozzle portion 332 is positioned and configured to prevent obstruction of any portion of the field of view of the viewing portion 330.

[0042] In some embodiments where the endoscope shaft 218 is configured to roll, if the imaging device has an asymmetric field of view and the imaging device is rotated relative to the nozzle portion 332 of the tubular member 214, the nozzle portion 332 may obstruct at least a portion of the field of view. Figure 2 ) optionally includes a rotatable coupling between the manifold portion 216 and the tubular member 214 to prevent the nozzle portion 332 from obstructing the field of view. In this way, the tubular member of the cleaning device can rotate with the instrument axis while the manifold remains stationary.

[0043] For example, now refer to Figure 4 , a cross-sectional view of the proximal portion of the manifold 216 and tubular member 214 of the cleaning device 200 is shown. Figure 2 and Figure 3 436) extends through the manifold 216 and the tubular member 214. The manifold 216 is coupled to the proximal end of the tubular member 214 via a rotatable coupling 436. Figure 4In an embodiment of the present invention, the tubular member 214 includes an inner sleeve 448, an outer sleeve 450, and a spacer member 452 between the inner sleeve 448 and the outer sleeve 450. The inner sleeve 448 extends through the manifold 216 to a proximal collar 449 at the proximal end of the manifold 216. The inner sleeve 448 is welded, swaged, or otherwise affixed to the proximal collar 449. The outer sleeve 450 of the tubular member 214 extends at least partially into an annular relief 446 in the manifold 216 to maintain concentricity between the tubular member 214 and the manifold 216. The distal collar 442 is affixed (such as by welding, interference fit, or integrally formed with the outer sleeve 450) around the outer sleeve 450, and the manifold 216 is captured on the inner sleeve 448 between the distal collar 442 and the proximal collar 449.

[0044] The rotatable coupling 436 may optionally include one or more sealing members to ensure that the cleaning fluid does not leak from the cleaning device between the tubular member 214 and the manifold 216. Figure 4 In the embodiment of FIG. 4 , sealing members 438 and 439 between the manifold 216 and the tubular member 214 prevent cleaning fluid from leaking through the rotatable coupling 436 while allowing rotational movement between the tubular member 214 and the manifold 216 .

[0045] exist Figure 4 In the embodiment of the present invention, the sealing members 438 and 439 are O-rings. In other embodiments, the sealing members 438 and 439 can be or include other annular sealing members, such as gaskets or other suitable sealing structures. The sealing members 438 and 439 can include materials such as, but not limited to, natural or synthetic rubber, silicone, or other polymer materials. The sealing members 438 and 439 are positioned between corresponding sealing surfaces between the manifold portion 216 and the tubular member 214. Figure 4 In the embodiment of the present invention, sealing member 438 is located between distal collar 442 and manifold 216, and sealing member 439 is located between proximal collar 449 and manifold 216 to seal tubular member 214 and manifold 216 and prevent leakage of cleaning fluid between components of the cleaning device.

[0046] exist Figure 4 In an embodiment, the endoscope shaft (e.g., Figure 2 The shaft 218 in the endoscope is inserted through the inner sleeve 448 to assemble the endoscope with the cleaning device. In other embodiments, the cleaning device can be optionally configured without an inner sleeve, and the shaft 218 of the endoscopic device is inserted directly through the manifold 216 and the spacer member 452. In such embodiments, the outer surface of the endoscope shaft 218 functions in substantially the same manner as the outer surface of the inner sleeve 448.

[0047] In various embodiments, the manifold 216 and the tubular member 214 include a nozzle portion 332 (eg, a nozzle portion 334 configured to facilitate the flow of the cleaning fluid from the manifold 216 and along the tubular member 214 to the nozzle portion 332. Figure 3 ) features. Such features can, for example, be configured to reduce (e.g., minimize) turbulent flow when fluid flows from manifold 216 to tubular member 214. In addition, such features can be configured to ensure that flow conditions between manifold 216 and tubular member 214 remain similar (e.g., the same) regardless of the rotational roll orientation of tubular member 214 relative to manifold 216. For example, still referring to Figure 4 , the manifold 216 can include a portion having an inner diameter sized to create an annular groove 446 around an inner sleeve 448. The annular groove 446 is in fluid communication with one or more inlet ports 226, 228. Fluid flowing into the inlet ports 226, 228 enters and fills the annular groove 446 around the imaging device shaft 218.

[0048] The tubular member 214 includes a nozzle portion 332 ( Figure 3 ) various features. Now refer to Figure 5 , showing that according to Figure 2-Figure 4 The imaging instrument shaft and the cleaning device of the embodiment of the partially hidden perspective view to better illustrate the structure of the tubular member 214. The tubular member 214 includes an inner sleeve 448, an outer sleeve 450 and a spacer member 452 between the inner sleeve 448 and the outer sleeve 450, such as in combination with Figure 4 The spacer member 452 extends only partially around the circumference of the inner sleeve, leaving a longitudinally oriented fluid passage 554 defined between the inner sleeve 448 and the outer sleeve 450. In other words, the spacer member 452 has a longitudinal opening that, together with the inner sleeve 448 and the outer sleeve 450, forms a fluid passage 554 along the length of the tubular member 214 between the inner sleeve 448 and the outer sleeve 450. In embodiments that do not include an inner sleeve 448, the fluid passage 554 is at least partially defined by the shaft 218 ( Figure 2 ), a spacer member 452 and an outer sleeve 450. The proximal end 556 of the spacer member 452 is used to transfer fluid from the annular groove 446 ( Figure 4) is characterized by an inclined profile 558 that guides to the fluid channel 554. The inclined profile 558 can help reduce turbulence in the fluid flow and promote the transition of the fluid flow from the annular groove 446 into the fluid channel 554. In addition, in some such embodiments, one or more of the inlet ports 226, 228 are positioned offset relative to the longitudinal axis of the cleaning device to induce rotational flow through the annular groove 446. In embodiments having a straight fluid channel (such as channel 554) or having an annular channel extending to the distal end of the tubular member 214, the offset inlet portions 226, 228 can be optionally included and can reduce turbulent flow in the manifold and tubular member.

[0049] Reference now Figure 6 , showing a cleaning device 200 ( Figure 2 ) is a partially hidden view of the distal portion of the . The distal portion includes a nozzle portion 332. Figure 6 As shown in FIG. 1 , a fluid passage 554 defined between the inner sleeve 448 and the outer sleeve 450 terminates at the nozzle portion 332, wherein the outlet 334 is oriented to direct the fluid from the fluid passage 554 across the distal viewing portion 330 ( Figure 3 ) face. In some embodiments, the nozzle portion 332 can optionally include a profile that smoothes the flow of fluid and facilitates changing the direction of the cleaning fluid flow from flow along the fluid channel 554 to flow across the face of the endoscope viewing portion. In various other embodiments, the nozzle portion 332 can optionally include an inclined profile similar to the inclined profile 558 of the spacer member 452, and the fluid channel can optionally have an annular shape along the length of the cleaning device.

[0050] In use, when the imaging device shaft 218 ( Figure 2 ) For example, due to the instrument bracket 219 ( Figure 2 ), the tubular member 214 rotates with the shaft 218 while the manifold 216 remains stationary relative to the instrument bracket 219. The relative rotation between the manifold and the tubular member permitted by the rotatable coupling 436 thus permits the tubular member to maintain a fixed rotational orientation relationship with the instrument when the shaft is rotated, thereby preventing the field of view of the imaging instrument from being partially obscured by the nozzle.

[0051] Various embodiments further provide for equalization of the potential that may exist at the imaging instrument shaft and the potential of the patient's body (e.g., body ground potential). In some embodiments, the tubular member 214 of the cleaning device can provide a conductive path between the imaging instrument shaft 218 and the outer surface of the tubular member 214. In some embodiments, the inner sleeve 448 and the outer sleeve 450 comprise a conductive material, such as stainless steel. The nozzle portion 332 can also comprise a conductive material arranged to be in conductive contact with the inner sleeve 448 and the outer sleeve 450. The conductive material thereby forms a conductive path from the instrument shaft 218 in contact with the inner sleeve 448 to the patient's body in contact with the outer sleeve 450 through, for example, a conductive sleeve inserted through an incision in the patient's body. In other embodiments, the nozzle portion 332 comprises an optically transparent polymer, and other components of the cleaning device create a conductive path between the imaging instrument shaft and the outer surface of the tubular member 214.

[0052] For example, a conductive element can be provided to conductively couple the inner sleeve 448 to the outer sleeve 450. Referring now to Fig.15 , a cross-sectional view of a tubular member 1598 of a cleaning device according to another embodiment of the present disclosure is shown. A conductive pin 1599 is in conductive contact with the inner sleeve 448 and the outer sleeve 450. The conductive pin 1599 can be provided at any position between the inner sleeve 448 and the outer sleeve 450 to provide conductive contact between the inner sleeve 448 and the outer sleeve 450. In other embodiments, the conductive pin 1599 can be replaced by a conductive ring extending circumferentially around the tubular member 214 or alternatively a plurality of conductive pins 1599. The conductive pin 1599 or other conductive component can include materials such as metals or metal alloys (such as stainless steel, titanium or aluminum alloys), conductive composite materials (such as carburized polymers), or other conductive materials.

[0053] Other components of the cleaning device can comprise materials selected for ease of manufacture and assembly. Figure 2-Figure 6 In the embodiment of the present invention, the spacer member 452 and the manifold 216 are made of a polymer such as, but not limited to, high-density polyethylene (HDPE) or polycarbonate. In other embodiments, such components can include composite materials, plastics, metals or metal alloys, or other materials.

[0054] Reference now Figure 7 , a perspective view is shown of a cleaning device tubular member 760 according to another embodiment of the present disclosure. Figure 7 In the embodiment of the present invention, the fluid passage 762 is surrounded by a tube 764 located between the inner sleeve 748 and the outer sleeve 750. As a non-limiting example, in Figure 7In some embodiments, the pipe 764 comprises a metal or metal alloy, such as stainless steel (e.g., an iron alloy including nickel and / or chromium alloy elements), a titanium alloy, or other metals. The inner sleeve 748 and the outer sleeve 750 can comprise the same material as the pipe 764 or a different material than the pipe 764. In some embodiments, the inner sleeve 748, the outer sleeve 750, and the pipe 764 are welded to each other. Figure 7 Embodiments of the present invention can optionally include a spacer device similar to spacer member 452 to separate the fluid from the above reference Figure 4 The annular groove 446 discussed leads into the conduit 764. However, in Figure 8 In the embodiment of the present invention, such a spacer would not be required to extend to the distal end of the tubular member 760 because the fluid channel 762 is defined by the tube 764. In other words, in such an embodiment, the spacer is only used to guide the fluid into the tube 764 and does not extend along the length of the tubular member 760.

[0055] Figure 8-Figure 10 Another cleaning device according to an embodiment of the present disclosure is shown. Figure 8 , a portion of the cleaning device 800 is shown in partially hidden lines to illustrate the internal portion of the cleaning device 800. The cleaning device 800 includes a manifold 866 and a tubular member 868, generally as described above with reference to other embodiments. The manifold 866 and the tubular member 868 are rotationally separated from each other, and the cleaning device 800 can optionally include, for example, Figure 4 The manifold portion 866 includes a sealing member (not shown) similar to the sealing member 438 shown in the embodiment of FIG. 8. The manifold portion 866 includes a manifold configured to receive an imaging device shaft (such as shaft 218 ( Figure 2 )) of the manifold 866. Surrounding the central bore 870 and extending longitudinally through the transverse wall 872 of the manifold 866 is a fluid channel 874 (also referred to as manifold fluid channel 874) having a circumferential width W1. The fluid channel 874 is in fluid communication with the fluid inlet 810. The tubular member 868 includes a plurality of fluid channels 878 (also referred to as tubular member fluid channels 874) each extending longitudinally through the tubular member 868 and having a width W2 along the circumference of the tubular member. The fluid channel 878 is in fluid communication with the fluid channel 874 at the interface between the manifold 866 and the tubular member 868.

[0056] The width W1 of the fluid channels 874 in the manifold 866 and the width W2 of the fluid channels 878 in the tubular member 868 are selected to facilitate fluid flow between the manifold fluid channels 874 and the tubular member fluid channels 878. For example, the widths and number of the respective fluid channels can be selected and arranged so that the flow characteristics of the fluid flow from the manifold 866 to the tubular member 868 are similar for all rotational orientations of the tubular member 868 relative to the manifold 866. Figure 8In the embodiment of the present invention, the width W1 of the manifold fluid channel 874 is greater than the width W2 of the tubular member channel 878. Figure 8 In the case of the arrangement of the embodiments, regardless of the rotational orientation of tubular member 868 relative to manifold 866, manifold fluid channel 874 is always in fluid communication with one or more of tubular member fluid channels 878. In some embodiments, manifold fluid channel 874 is always in fluid communication with at least two of tubular member fluid channels 878, at least three of tubular member fluid channels 878, or more than three of tubular member fluid channels 878. For example, as Figure 8 As shown in the embodiment of FIG. 8 , regardless of the rotational orientation between the manifold 866 and the tubular member 868 , the manifold fluid passage 874 is in communication with at least four of the tubular member fluid passages 878 .

[0057] Other arrangements and numbers of fluid passages in manifold 866 and tubular member 868 (such as tubular member fluid passage 878 having a width W2 greater than width W1 of manifold fluid passage 874, multiple manifold fluid passages 874, or Figure 8 Other variations of the arrangement shown in FIG. 1 are within the scope of the present disclosure.

[0058] Reference now Fig. 9 and Fig.10 , showing Figure 8 868. The distal viewing portion 930 of the imaging instrument is exposed through the aperture 980 in the tubular member 868. Fig.10 , showing Figure 8 and Fig. 9 868, thereby leaving a gap G between the distal viewing portion 930 and the annular lip 986 of the tubular member 868. Fluid flowing downwardly along the tubular member fluid channel 878 exits the channel 878 and is redirected across the distal viewing portion 930 by the annular lip 986. Figure 8-Figure 10 In the embodiment of , fluid flows radially inwardly across the distal viewing portion 930 of the imaging device from a location substantially around the entire interior perimeter of the tubular member 868, and the specific fluid channel 878 through which the fluid flows is determined by the rotational orientation between the tubular member 868 and the manifold 866. Figure 8-Figure 10In some embodiments, the tubular member 868 does not protrude radially inward beyond the perimeter of the viewing portion 930, thereby preventing obstruction of the viewing portion 930 and its field of view. In other embodiments, the tubular member 868 can optionally include a transparent material, such as a transparent polymer, to mitigate obstruction of the viewing portion 930 even if the tubular member 868 extends at least partially over the viewing portion 930.

[0059] Combined with the above Figure 2-Figure 10 In the described embodiments, the tubular members and manifold of the cleaning apparatus are configured to be controlled based on, for example, a remotely operated manipulator (such as one operatively coupled to Figure 3 The apparatus can be rotated relative to each other by the rotation of the endoscope shaft driven by the remote operation manipulator of the instrument bracket 219 shown in FIG. Such an arrangement can enable the rotation of the imaging device to provide different observations of the remote part without the field of view being blocked by the cleaning device.

[0060] In other embodiments, the imaging instrument cleaning device is configured to avoid obstructing the field of view by configuring the distal portion of the cleaning device so that no portion of the cleaning device enters the field of view of the imaging device regardless of the roll orientation of the imaging device relative to the cleaning device. In such embodiments, the cleaning device can optionally include a sheath portion and a manifold portion that are fixedly coupled to each other, such as being integrally formed as a single unitary piece or formed from two or more components that are attached or otherwise joined to each other. For example, such embodiments can be used in arrangements where the direction and orientation of fluid flow across the endoscope tip is not necessarily in reference to a fixed rotational orientation of the endoscope.

[0061] For example, now refer to Fig.11 , another embodiment of a cleaning device for an imaging device is shown. Fig.11 In the embodiment of the present invention, the cleaning device 1188 includes a tubular member 1189 and a manifold 1190, which are coupled in a non-rotatable manner, such as being integrally formed, or formed from multiple parts and fixed together, such as by adhesive, welding or other fixing mechanisms. The distal end 1191 of the tubular member 1189 includes an inner diameter D in The aperture is 1192.

[0062] The imaging device shaft 218 extends through the tubular member 1189 and exposes a distal viewing portion 1193 of the imaging device through the aperture 1192. The shaft 218 has an outer diameter D out The inner diameter D of the aperture 1192 in Equal to the outer diameter D of shaft 218 out In some embodiments, the inner diameter D of the aperture 1192 is in Greater than the outer diameter D of the shaft 218 out As mentioned above Figure 8-Figure 10As discussed in the embodiments of the present invention, the tubular member 1189 also does not protrude radially inward beyond the periphery of the viewing portion 1193 of the imaging device, thereby preventing obstruction of the field of view of the viewing portion 1193.

[0063] like Fig.11 1, tubular member 1189 includes a fluid passage 1194 through which fluid flows from manifold portion 1190 to nozzle 1195. An annular lip 1198 defined by aperture 1192 and extending radially inward at the distal end of tubular member 1189 redirects fluid flow radially inward across distal viewing portion 1193 to flush debris or other matter away from distal viewing portion 1193.

[0064] exist Fig.11 In an embodiment of the present invention, the inner sleeve 1196 of the tubular member 1189 includes a flared portion 1197 that flares radially outward near the distal end of the tubular member 1189. The flared portion 1197 flares away from the imaging device shaft 218 near the distal end of the shaft 218 to facilitate positioning the nozzle 1195 radially outward from the outer diameter of the shaft 218. The nozzle 1195 can optionally extend in a ring manner around the entire circumference of the shaft 218, or alternatively, can include any number of discrete fluid flow paths located at any desired locations so as to be positioned around the circumference of the shaft 218 as needed to facilitate the flow of fluid for cleaning the viewing portion 1193. In other embodiments, the tubular member 1189 does not include the flared portion 1197, and the fluid channel 1194 is positioned further radially outward, or has a gradual taper outward along the length of the tubular member 1189 to facilitate the inner diameter D of the aperture 1192. in Greater than the outer diameter D of the shaft 218 out .

[0065] In some embodiments, the imaging apparatus may be operably coupled to a display device configured to receive data from the imaging apparatus. For example, the display device may be part of a surgical system and display images of remote locations or targets of interest in, for example, a patient's body captured by the imaging apparatus. The imaging apparatus may also be operably coupled to a fluid control system to control the flow of fluid introduced into the cleaning apparatus, such as the flow of one or two of a saline solution and carbon dioxide or other fluids. The control system may be further configured (e.g., programmed) to control the display based on the state of the cleaning apparatus. For example, because the fluid used to clean the observation portion may interfere with or block the observation of the remote location of interest, the control system can be optionally configured to indicate to the observer that the imaging apparatus is undergoing a cleaning process. Such an indication can be visual, audible, tactile and / or other suitable feedback. Additionally or alternatively, the control system can be optionally configured to modify the displayed image based on the cleaning apparatus in use. For example, in one embodiment, the display is changed from color to grayscale or other monochrome or alternative color scale to indicate that the imaging apparatus is undergoing a cleaning process. In another embodiment, the display presents a blank screen or displays a message indicating that a cleaning procedure is occurring.

[0066] In some embodiments, the control system is optionally configured to move the imaging device in a specified manner during cleaning to facilitate the cleaning process. For example, the control system can be configured to automatically roll the imaging device during the cleaning process. Such a process can optionally include rolling the imaging device a predetermined amount from an initial position when the cleaning fluid flow is supplied to the imaging device, and then rotating the imaging device back to the initial position while the cleaning fluid is flowing or after stopping the cleaning fluid flow. In some cases, the rotation of the imaging device enables the cleaning fluid to clean the viewing portion more thoroughly by ensuring that all parts of the viewing portion are exposed to the cleaning fluid flow.

[0067] Additionally or alternatively, the control system can be configured to control the flow of cleaning fluid to be input to one or more fluid inlets (e.g., Figure 2 In some embodiments, the control system is configured to flow a saline solution (or another liquid) over the distal viewing portion to flush tissue, body fluids, or other matter from the distal viewing portion. After the matter is removed by the liquid, the control system then flows a gas (such as nitrogen or carbon dioxide) across the distal viewing portion to clear the liquid to restore clear viewing from the viewing portion.

[0068] The control system can optionally be further configured to prevent the operator from manipulating the instrument and other surgical instruments during the cleaning process. In some embodiments, the control system is programmed to interrupt one or more user-controlled input devices from controlling the corresponding teleoperated manipulator and associated surgical instruments (such as Fig.12 The control interruption prevents the operator from operating the surgical instrument under obstructed observation of the remote site of interest through the imaging device because the cleaning process may interfere with the operator's observation of the remote site of interest. In some embodiments, the control system automatically reestablishes the control relationship when the cleaning is completed. In other embodiments, the control system automatically reestablishes the control relationship with respect to one or more conditions, such as when the control relationship was interrupted, the control input device has not moved more than a predetermined translation or orientation. In other embodiments, the control system does not automatically reestablish the control relationship between the input device and its associated remotely operated manipulator until the input device operator commands the control system to do so.

[0069] Reference now Fig.14 , shows an embodiment of a workflow 1400 for in-situ cleaning of an imaging device. At 1402, with the imaging device at a location of a remote site being imaged through an observation portion of the imaging device, and in response to the start of a cleaning process, the workflow 1400 includes providing feedback indicating that the imaging device is in a cleaning state. The feedback can include, for example, changing an image displayed by a display device operably coupled to the imaging device from an initial state, for example, to an indicated state indicating a cleaning state. The initial state can include, for example, a full-color display of an image captured by the imaging device. The indicated state can include an indication that a cleaning process is being performed. Such an indication can include, for example, changing a displayed color scale to, for example, grayscale, displaying an indicator, a note or message about the display, a blank portion or all of the display, or one or both of other indications. At 1404, causing a cleaning fluid to flow across the observation portion of the imaging device. The workflow 1400 can further include returning the display device from the indicated state to the initial state. The display device can include, for example, in combination with the following Fig.12 and Fig.13 The display devices 1500, 2500 discussed. Those skilled in the art will appreciate that the indication need not be a visual indication at the display, and can include or alternatively be audible, tactile and / or other types of feedback.

[0070] Embodiments of the present disclosure provide cleaning devices that enable in-situ cleaning of an imaging device viewing portion when the imaging device viewing portion is positioned to capture images of a remote site of interest without removing the imaging device to access the viewing portion. Such devices are configured to prevent obstruction of the imaging device's field of view, thereby providing consistent and reliable visualization of the remote site of interest.

[0071] Embodiments incorporating inventive aspects described herein may be used, for example, with teleoperated computer-assisted systems (e.g., teleoperated surgical systems), such as those described, for example, in U.S. Pat. No. 9,358,074 (filed May 31, 2013) to Schena et al., entitled “Multi-Port Surgical Robotic System Architecture,” U.S. Pat. No. 9,295,524 (filed May 31, 2013) to Schena et al., entitled “Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator,” and U.S. Pat. No. 8,852,208 (filed August 12, 2010) to Gomez et al., entitled “Surgical System Instrument Mounting,” each of which is fully incorporated herein by reference. In addition, embodiments incorporating one or more aspects described herein may be used, for example, with Used with surgical systems such as the da Vinci Surgical System (Model IS3000) or da Vinci Surgical systems, both with and without Single-port surgical techniques, are commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. Although the various embodiments described herein are discussed with respect to imaging instruments used with a manipulation system of a teleoperated surgical system, the present disclosure is not limited to use with imaging instruments for a teleoperated surgical system. The various embodiments described herein can optionally be used in conjunction with a handheld manual imaging instrument or other imaging instrument configured to provide images of a remote site to assist in acquiring images of a remotely performed procedure at such remote site. For example, various space exploration and other remote inspection and / or sensing applications are considered to be within the scope of the present disclosure.

[0072] As discussed above, according to various embodiments including one or more aspects, the apparatus of the present disclosure is configured for use in a teleoperated computer-assisted surgical system (sometimes referred to as a robotic surgical system). Fig.12, shows an embodiment of a manipulation system 1000 of a teleoperated computer-assisted surgical system, with surgical instruments configured to be mounted to the manipulation system 1000 for use. Such a surgical system may further include a surgeon's console (not shown) for receiving input from a user to control the instruments of the manipulation system 1000 and an auxiliary system (such as a control / vision cart (not shown)), as described, for example, in the above-included U.S. Patent Nos. 9,358,074 and 9,295,524. As will be appreciated by those skilled in the art, either or both of the surgeon's console and the auxiliary system can include a display for displaying images obtained from the imaging instrument.

[0073] like Fig.12 , the manipulation system 1000 includes a base 1020, a main column 1040, and a main beam 1060 connected to the main column 1040. The manipulation system 1000 also includes a plurality of arms 1100, 1110, 1120, 1130 each connected to the main beam 1060. The arms 1100, 1110, 1120, 1130 each include an instrument mounting portion 1200 to which an instrument 1300 can be mounted, the instrument mounting portion 1200 being illustrated as being attached to the arm 1100. Portions of the arms 1100, 1110, 1120, 1130 can be manipulated during a surgical procedure according to commands provided by a user at a surgeon's console. In one embodiment, the signal(s) or input(s) transmitted from the user control system is transmitted to the auxiliary system, which can interpret the input(s) and generate command(s) or output(s) to be transmitted to the manipulation system 1000 to cause the instrument 1300 (only one such instrument is installed in the Fig.12 ) and / or manipulation of a portion of the arm 1100 to which the instrument 1300 is coupled at the manipulation system 1000.

[0074] According to one embodiment, the instrument mounting portion 1200 includes a drive assembly 1220 and a cannula mount 1240, wherein an instrument bracket 1340 of the instrument 1300 is connected to the drive assembly 1220. The cannula mount 1240 is configured to hold a cannula 1360 through which the shaft 1320 of the instrument 1300 can extend to the surgical site during a surgical procedure. The drive assembly 1220 includes various drive and other mechanisms that are controlled to respond to input commands at the surgeon's console and transmit force to the instrument bracket 1340 to actuate the instrument 1300, as will be familiar to those skilled in the art.

[0075] although Fig.12The embodiment of FIG. 1 shows the instrument 1300 attached only to the arm 1100 for ease of viewing, but the instrument may be attached to any and each of the arms 1100, 1110, 1120, 1130. The instrument 1300 may be a surgical instrument with an end effector as discussed herein. The surgical instrument with an end effector may be attached to and used with any of the arms 1100, 1110, 1120, 1130. The embodiments described herein are not limited to Fig.12 Embodiments of the present invention and various other teleoperated computer-assisted surgical system configurations may be used with the embodiments described herein.

[0076] Other configurations of surgical systems are also contemplated, such as surgical systems configured for single-port surgery. Fig.13 , shows a portion of an embodiment of a manipulator arm 2140 of a manipulator system having two surgical instruments 2300, 2310 in an installed position. For simplicity, Fig.13 The schematic illustration of depicts only two surgical instruments, but more than two surgical instruments may be received at the manipulation system in a mounted position, as is familiar to those skilled in the art. Each surgical instrument 2300, 2310 includes an instrument shaft 2320, 2330 having a movable end effector or (if the instrument is an imaging instrument) an endoscope, camera or other sensing device at a distal end, and may or may not include a wrist mechanism (not shown) to control movement of the distal end.

[0077] exist Fig.13 In an embodiment, the distal portions of the instruments 2300, 2310 are received through a single port structure 2380 to be introduced into the patient. Other configurations of manipulation systems that can be used with the present disclosure can use several individual manipulator arms. In addition, the individual manipulator arms can include a single instrument or multiple instruments. In addition, the instrument can be a surgical instrument with an end effector, or can be a sensing instrument used to provide information (e.g., visualization, electrophysiological activity, pressure, fluid flow, and / or other sensed data) of a remote site during a surgical procedure. Therefore, one or more of the instruments can be imaging instruments according to various embodiments of the present disclosure.

[0078] Fig.12 and Fig.13The system may also include an operably coupled display device generally designated 1500, 2500. The display device 1500, 2500 can include one or more displays that are part of a user control interface (not shown) and / or an auxiliary cart (not shown) and / or as a separate component. The display device 1500, 2500 can be operably coupled to receive image data from an imaging device operably coupled to one of the manipulator arms 1100, 1110, 1120, 1130, 2420, 2430 to display an image of a remote site, e.g., a real-time image, as is familiar to those skilled in the art. The display device 1500, 2500 can also be operably coupled to a control system of a remotely operated system and configured to display various graphical user interface images that can be controlled based on system usage parameters and provide additional information about the system status to a user.

[0079] This description and the accompanying drawings illustrating various embodiments should not be considered as limiting. Without departing from the scope of this specification and the claimed invention (including equivalents), various mechanical, composition, structure, electrical and operational changes can be carried out. In some cases, known structures and technologies are not shown or described in detail to avoid blurring the present disclosure. The same numbers in two or more figures represent the same or similar elements. In addition, the elements described in detail with reference to an embodiment and their related features can be included in other embodiments that are not specifically shown or described in any practicable situation. For example, if an element is described in detail with reference to an embodiment, and the element is not described with reference to the second embodiment, but the element may also be required to be included in the second embodiment.

[0080] For the purposes of this specification and the appended claims, unless otherwise indicated, all numbers expressing quantities, percentages or ratios, as well as other numerical values ​​used in the specification and claims should be understood as being modified in all instances by the term "about", provided that they have not been so modified. Therefore, unless indicated to the contrary, the numerical parameters set forth in the specification and the appended claims are approximate values ​​that may vary depending upon the desired properties sought to be obtained. At the very least, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques, and not attempting to limit the application of the doctrine of equivalents to the scope of the claims.

[0081] It should be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the," as well as any singular use of any word, include plural referents unless expressly and unambiguously limited to one referent. As used herein, the term "include" and its grammatical variations are intended to be non-limiting, such that recitation of items in a list is not to the exclusion of other like items that can be substituted or added to the listed items.

[0082] In addition, the terminology of this description is not intended to limit the present invention. For example, spatially relative terms, such as "below", "below", "lower", "above", "upper", "near side", "distal side", etc., can be used to describe the relationship between an element or feature and another element or feature shown in the figure. These spatially relative terms are intended to cover the different positions (positions) (that is, positions (locations)) and orientations (that is, rotation placement) of the device in use or operation other than the position and orientation shown in the figure. For example, if the device in the figure is flipped, the element described as "below" or "below" other elements or features will be "above" or "above" other elements or features. Therefore, the exemplary term "below" can cover both the position and orientation above and below. The device can be oriented in other ways (rotated 90 degrees or with other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0083] In view of the disclosure herein, further modifications and alternative embodiments will be apparent to those of ordinary skill in the art. For example, the apparatus and method may include additional components or steps that are omitted from the schematic diagram and description for clarity of operation. Therefore, this specification is to be interpreted as illustrative only and is intended to teach those skilled in the art the general manner of implementing the present teachings. It should be understood that the various embodiments shown and described herein will be considered exemplary. Elements and materials and the arrangement of these elements and materials may replace those illustrated and described herein, parts and processes may be reversed, and certain features of the present teachings may be used independently, which will be apparent to those skilled in the art after benefiting from the description herein. The elements described herein may be changed without departing from the spirit and scope of the present teachings and the following claims.

[0084] It is to be understood that the specific examples and embodiments set forth herein are non-limiting and that modifications in structure, dimensions, materials, and methods may be made without departing from the scope of the present teachings.

[0085] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The specification and examples are intended to be considered exemplary only, and the appended claims are to be given their fullest scope, including equivalents, under applicable law.

Claims

1. A device for cleaning an instrument, the device comprising: a manifold comprising one or more fluid inlets; a tubular member rotatable relative to the manifold and extending distally from the manifold, the tubular member comprising: Proximal, remote, a fluid outlet at the distal end, the fluid outlet configured to direct fluid flow generally across the distal end of the tubular member, and one or more fluid passages fluidly coupled to the fluid outlet, the one or more fluid passages extending the manifold from the fluid outlet; Wherein the manifold and the tubular member are configured to receive a shaft of an imaging device in a position such that the shaft of the imaging device extends through the manifold to the distal end of the tubular member.

2. The device of claim 1, wherein the one or more fluid channels are at least partially formed within a wall of the tubular member.

3. The device of claim 1, wherein the tubular member comprises an inner sleeve and an outer sleeve, the one or more fluid passages being between the inner sleeve and the outer sleeve.

4. The device of claim 3, wherein the tubular member comprises a spacer member between the inner sleeve and the outer sleeve.

5. The device of claim 4, wherein the one or more fluid channels are defined by a longitudinal opening through the spacer.

6. The device of claim 3, wherein the inner sleeve and the outer sleeve comprise a conductive material.

7. The apparatus of claim 3, further comprising a conductive member in conductive contact with the inner sleeve and the outer sleeve.

8. The device of claim 1, wherein the one or more fluid channels are at least partially defined by a shaft of the instrument.

9. The device of claim 1, further comprising a nozzle portion extending distally from the tubular member, the nozzle portion comprising the fluid outlet.

10. The apparatus of claim 1, wherein the one or more fluid inlets include a first fluid inlet configured to be fluidly coupled to a source of cleaning fluid and a second fluid inlet configured to be fluidly coupled to a source of pressurized gas.

Images