Medical system

Abstract

A medical system includes a medical device including a handle and a shaft extending distally from the handle; and an accessory device including a communication interface configured to connect with a corresponding communication interface of the medical device. Wherein the handle includes: a pull wheel coupled to a first pull wire and a second pull wire, where the first pull wire and the second pull wire extend through the shaft to a distal end of the shaft, and the pull wheel is configured to apply tension to at least one of the first pull wire or the second pull wire to deflect the distal end of the shaft; and a motor coupled to the pull wheel and configured to rotate the pull wheel in response to a signal.

Description

[0001] This application is a divisional application of the application with the filing date of August 27, 2020, application number 202080067147.6 (international application number PCT / US2020 / 048250), and invention title "Endoscope Device with USB Port and Power Supply Accessory".

[0002] Priority Claim

[0003] This disclosure claims priority to U.S. Provisional Patent Application Serial No. 62 / 904,909, filed on September 24, 2019, the disclosure of which is incorporated herein by reference. Technical Field

[0004] This disclosure relates to an endoscope device, and more particularly to an endoscope handle having a USB port and a power supply accessory. Background Art

[0005] Various accessory devices can be used with an endoscope device to perform various diagnostic and therapeutic procedures in an imaging cavity. However, the accessory devices may not always be compatible with the endoscope device. For example, the physical construction of these devices may be difficult to combine, or these devices may not be programmatically compatible. Summary of the Invention

[0006] This disclosure relates to an endoscope deployment device, comprising: a body mountable on an endoscope device, the body having a movable carriage coupled to an elongate end effector device, the elongate end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath sized and shaped to be inserted through a working channel of an endoscope shaft of the endoscope device, the body having a carriage channel sized to allow the carriage to slide therein, wherein by sliding the carriage in the carriage channel, the end effector can be actuated between an extended open position and a retracted closed position, which in turn causes the outer sheath to slide onto the end effector shaft to expose or cover the end effector; a communication interface extending from the body and configured to mate with a corresponding communication interface on the endoscope device on which the body is mounted to receive power therefrom and exchange data therewith; and a motor having a drive shaft coupled to the carriage, rotation of the drive shaft causing the carriage to slide in the carriage channel and actuating the end effector in response to a signal.

[0007] In one embodiment, the signal is generated based on actuation of an actuator on the endoscope device.

[0008] In one embodiment, the actuator is a button pad that controls the motor via the mating communication interfaces of the endoscope deployment device and the endoscope device.

[0009] In one embodiment, the signal is generated in response to an endoscopic sensor reading.

[0010] In one embodiment, the motor is a stepper motor.

[0011] In one embodiment, the drive shaft has an arm extending orthogonally therefrom, the arm is coupled to a slot in the carriage, and the arm has a pin at an end thereof opposite the drive shaft, the pin is coupled to the slot such that when the drive shaft rotates, the pin slides in the slot in a direction orthogonal to the carriage channel, and the carriage slides in the carriage channel.

[0012] In one embodiment, the drive shaft is a lead screw coupled to a threaded through-hole that extends through a portion of the carriage and is parallel to the carriage channel such that when the drive shaft rotates, the carriage slides in the carriage channel.

[0013] In one embodiment, a pinion is coupled to the drive shaft and to a rack that is part of the carriage such that when the drive shaft rotates, the pinion drives the rack and the carriage slides in the carriage channel.

[0014] In one embodiment, the end effector device is a retrieval device for capturing an object at the distal end of the endoscopic shaft.

[0015] In one embodiment, the end effector device is a laser fiber or energy fiber for pulverizing or cauterizing an object at the distal end of the endoscopic shaft.

[0016] In one embodiment, the end effector device has a Segura TM handle for coupling to the carriage of the endoscopic deployment device, wherein, before attaching the Segura TM handle to the endoscopic deployment device, the carriage and the slider of the Segura TM handle are fully positioned proximally.

[0017] In one embodiment, the endoscopic device has a proximal communication interface and a distal communication interface, and the communication interface of the endoscopic deployment device is compatible with the proximal communication interface of the endoscopic device.

[0018] In addition, the present disclosure relates to an endoscope device, the endoscope device comprising: an elongated flexible endoscope shaft including a working channel and a deflectable distal end, the flexible endoscope shaft being sized and shaped to be inserted into a target site within a living body, the distal end including a camera; a handle from which the endoscope shaft extends distally, the handle including a cable pulley having a cable attachment, first and second cables extending distally from the cable attachment through the endoscope shaft to the distal end, rotation of the cable pulley causing deflection of the distal end by tensioning a first one of the first and second cables and releasing a second one of the first and second cables, the handle including an actuator, a proximal end of the handle including a communication interface for connecting an accessory device; and a motor including a rotatable drive shaft coupled to the cable pulley and configured to cause the cable pulley to rotate in response to a signal.

[0019] In one embodiment, the deflection knob operates as a switch such that deflection of the deflection knob in a first direction causes the cable pulley to rotate a predetermined angular range to apply tension to a first one of the first and second cables, and deflection of the deflection knob in a second direction causes the cable pulley to rotate a predetermined angular range to apply tension to a second one of the first and second cables.

[0020] In one embodiment, the signal is generated by a button pad external to the handle.

[0021] In addition, the present invention relates to a method, which includes: attaching an endoscope deployment device to the endoscope device, the endoscope deployment device including a body mountable on the endoscope device, the body having a movable carriage couplable to an elongated end effector device, the elongated end effector device having an end effector shaft covered by an outer sheath and an end effector extending distally from a distal end of the end effector shaft, the outer sheath being sized and shaped to be inserted through a working channel of the endoscope shaft of the endoscope device, the body having a carriage channel sized to allow the carriage to slide therein, wherein actuation of the end effector between an extended open position and a retracted closed position is achieved by sliding the carriage in the carriage channel, which in turn slides the outer sheath onto the end effector shaft to expose or cover the end effector, the endoscope deployment device further including a communication interface extending from the body and configured to mate with a corresponding communication interface on the endoscope device on which the body is mounted to receive power therefrom and exchange data therewith, the endoscope deployment device further including a motor having a drive shaft coupled to the carriage; and actuating the motor in response to a signal, actuation of the motor causing rotation of the drive shaft and sliding of the carriage in the carriage channel to actuate the end effector.

[0022] In one embodiment, the actuator is a button pad on the endoscope device, which is operated by the thumb of the user's grasping hand.

[0023] In one embodiment, the button pad further actuates the deflection of the distal end of the endoscope shaft.

[0024] In one embodiment, the motor is a stepper motor.

[0025] In one embodiment, the end effector device is a retrieval device for capturing an object at the distal end of the endoscope shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1A A front view of an endoscope device compatible with a power supply accessory in accordance with various exemplary embodiments of the present disclosure is shown.

[0027] Figure 1B is Figure 1A a rear view of the endoscope device;

[0028] Figure 2 A pressure sensor device configured to be compatible with the Figure 1A endoscope device is shown.

[0029] Figure 3 A flow sensor device configured to be compatible with the Figure 1A endoscope device is shown.

[0030] Figure 4A A transparent side view of a first embodiment of a motorized deployment device is shown.

[0031] Figure 4B A transparent perspective view of the Figure 4A motorized deployment device is shown.

[0032] Figure 5A A transparent side view of a second embodiment of a motorized deployment device is shown.

[0033] Figure 5B A transparent perspective view of the Figure 5A motorized deployment device is shown.

[0034] Figure 6 An exemplary Segura Figures 4A - 5B handle compatible with the motorized deployment device and the elongate end effector device is shown. TM handle.

[0035] Figures 7A - 7F An exemplary elongate end effector device compatible with the Segura TM / Dakota TM handle is shown.

[0036] Figure 8 A stepper motor control board is shown.

[0037] Figure 9 Shows a motorized handle of an endoscope device for controlling the deflection of the distal end.

[0038] Figures 10A - 10C Shows a Figure 9 gear train for driving the wire pulley of the device.

[0039] Figure 10D Shows Figure 9 the wire pulley of the device, which is formed with gears.

[0040] Figure 11 Shows a Figures 10A - 10C gear train with pulleys.

[0041] Figure 12 Shows an ergonomic button pad for controlling the endoscope tip and the elongate end effector device. Detailed Description

[0042] The present disclosure can be further understood with reference to the following description and drawings, in which like elements are denoted by like reference numerals. Exemplary embodiments describe an endoscope having an endoscope handle with one or more external communication interfaces (e.g., USB ports) and an accessory device that is compatible with and insertable into the endoscope. For example, the accessory device can include a pressure sensor, a temperature sensor, a flow sensor, an additional camera, an additional light, an optical sensor, a catheter, a laser time-of-flight distance sensor, a deployment device, other sensors, or a combination thereof.

[0043] In another embodiment, an accessory device is described that is a motorized deployment device for controlling an elongate end effector device to capture, for example, kidney stones. The motorized deployment device is compatible with the endoscope or can be integrated into an endoscope handle. The elongate end effector device refers to any one of a variety of devices that are compatible with and actuated by the motorized deployment device. For example, the elongate end effector device can be a retrieval device for capturing kidney stones, a laser fiber device, a treatment needle, a snare, forceps, a ligation device, etc. Any elongate end effector device can be fitted with, for example, a Segura TM or Dakota TM handle, the size and shape of which can be used with the motorized deployment device. Thus, any elongate end effector device that is compatible with a Segura TM or Dakota TM handle (or similar device) and fitted with a Segura TM or Dakota TM handle (or similar device) can also be used with the motorized deployment device.

[0044] In another embodiment, the endoscope handle has a motor for controlling the articulation of the distal end of the endoscope shaft. The motor can be, for example, a stepper motor, which allows for precise positioning and holding of the shaft end and / or precise control of the end effector features of the elongate device. The motor can be inside the handle or can be externally coupled to the handle, for example, connected to a wire pulley via a flexible drive shaft extension or the like.

[0045] In each embodiment, the communication interface between the endoscope handle and the accessory device, whether an internal communication interface or via an external communication interface, is arranged such that the operating surgeon can operate the articulation of the distal shaft end and ergonomically control the accessory device. For example, in one embodiment, in the case where a motorized deployment device is connected to the endoscope handle via an external communication interface, the deflection knob for the distal shaft end and the button controller for the motorized deployment device are arranged such that both can be operated simultaneously or independently without overstraining the surgeon's hand.

[0046] In another embodiment, in the case where the motorized deployment device is integral with or otherwise compatible with the endoscope handle, a button pad can be used to operate both the shaft end and the elongate device. The button pad can include, for example, four momentary buttons located on the underside of the endoscope handle and can be operated by the grasping thumb of the surgeon. Pressing a button causes movement of the endoscope shaft or end effector, and releasing the button causes the stepper motor to stop and hold the current position. In another embodiment, non-momentary buttons, such as a typical on / off switch, can be used. In yet another embodiment, the control is achieved entirely remotely, for example, via a console away from the device.

[0047] This embodiment has a data bus in the endoscope handle, in which case data can be received via various accessory devices and control of these devices can be achieved. The handle can be coupled to an endoscope console, etc., via a cable, sending data from the device to the endoscope console or achieving control of the device from the endoscope console. In some embodiments, data from one accessory device and / or the endoscope can be used to control the operation of another accessory device and / or the endoscope. For example, a reading from a pressure sensor can trigger the operation of a flushing mechanism. In another example, the output from a laser distance sensor can adjust / optimize the distance from the laser fiber end to a ureteral stone via a stepper motor to maximize laser efficiency during stone fragmentation. In another embodiment, data from the accessory device is displayed on, for example, a monitor screen for the surgeon to evaluate and react accordingly.

[0048] Figures 1A - 1BThe front view and rear view of an endoscope device 100 compatible with a power supply and a data attachment according to various exemplary embodiments of the present disclosure are shown. The endoscope device 100 may be dedicated to a specific endoscopic procedure, such as ureteroscopy, or may be a general-purpose device suitable for multiple procedures. The endoscope device 100 includes a handle 102 connected to an endoscope shaft 104, and the endoscope shaft has a deflected distal end 106 at the distal end 103. As understood by those skilled in the art, the distal end 106 has a camera and may have, for example, a full 270° deflection capability in more than one direction for observing the patient's anatomy.

[0049] The handle 102 of the endoscope device 100 has a plurality of elements configured to facilitate endoscopic procedures. A cable 108 extends from the handle 102 and is configured to be attached to an electronic device (not shown), such as a computer system, a console, a microcontroller, etc., for providing power, analyzing endoscopic data, controlling endoscopic interventions, or performing other functions. The electronic device to which the cable 108 is connected may have the function of identifying other endoscopic attachments and exchanging data with other endoscopic attachments, which will be described in detail below. The handle 102 has a gripping area 118 for the operating surgeon to hold during an endoscopic procedure. As understood by those skilled in the art, the deflection of the distal end 106 can be controlled by actuating a deflection knob 116 at the proximal end 105 of the device. Even when the endoscope has a motorized deflection device (which will be described in detail below), in this embodiment, there may still be a deflection knob 116 in the form of a short handle for manually straightening the distal end 106 and removing the shaft 104 from the patient's anatomy in the event of, for example, a power failure.

[0050] The handle 102 further has at least one communication interface for attaching an attachment device. In this embodiment, the handle 102 has a first communication interface 112 and a second communication interface 114, which are universal serial bus type-C (USB-C) ports in this embodiment. However, more or fewer various types of communication interfaces may be used, including, for example, custom interfaces. In other embodiments, the handle 102 has only one communication interface, but may receive, for example, a USB hub having multiple ports for connecting multiple attachments. In addition to exchanging data with the attachment device, the communication interfaces 112, 114 may also provide power to the attachment device. Therefore, the attachment device does not need to have a separate cable extending to the console or a battery that adds additional weight to the handle 102. The attachment device may be uniquely associated with the endoscope device 100 and identified by the console through a "plug and play" function without any user settings.

[0051] The T-shaped connector 110 extends from the distal portion of the handle 102 and is provided with two ports 124, 126 for accessing the working channel of the endoscope shaft 104. In this embodiment, the first and second ports 124, 126 are arranged perpendicular to each other, wherein the first port 124 faces distally and the second port 126 faces proximally. An accessory device or an elongate end effector device can pass through either of the first and second ports 124, 126. However, when the device is proximal to the T-shaped connector 110, the second port 126 may be preferred. In another embodiment, a Y-shaped connector is used, wherein both the first and second ports face proximally such that two devices can access the working channel of the endoscope shaft 104 from positions proximal to the Y-shaped connector.

[0052] A variety of accessory devices can be mated with either of the two communication interfaces 112, 114. However, certain accessory devices are more compatible with either of the two interfaces 112, 114. The first communication interface 112 is located distally on the handle 102. Certain accessory devices have corresponding communication interfaces (e.g., male USB-C ports) extending from these devices, which facilitate their spatial compatibility with the first communication interface 112.

[0053] For example, Figure 2 A pressure sensor device 200 is shown, which is configured to be compatible with the endoscope device 100, particularly with the first communication interface 112 of the endoscope device 100. The pressure sensor device 200 has a communication interface 202 that can be mated with the first communication interface 112 of the endoscope device 100, such as inserted into the first communication interface. The pressure sensor device 200 has a shaft 204 extending from the proximal end 205 of the pressure sensor device 200 to the distal end 203 of the pressure sensor device 200. The shaft 204 has a through cavity, i.e., a channel, extending through its length. The proximal end of the shaft 204 has a Luer hub 210 extending therefrom and a communication interface 202 adjacent thereto. The communication interface 112 of the endoscope device 100 is angled such that when the pressure sensor device 200 is attached to the endoscope device 100, the Luer hub 210 is oriented in a manner similar to the second port 126 of the T-shaped connector 110. Thus, the pressure sensor device 200 is more easily coupled to a male Luer port during use, for example, for fluid communication.

[0054] The pressure sensor device 200 has a pressure sensor 206 at the distal end of the shaft 204 and a plurality of clips 208 adjacent thereto for fixing the shaft 204 of the pressure sensor device 200 to the endoscope shaft 104. Although this embodiment uses clips 208, the shaft 204 can be fixed to the endoscope shaft 104 by other means (e.g., retainers, etc.).

[0055] As described above, the pressure sensor device 200 can also be mated with the second communication interface 114 of the endoscope device 100. However, in the presently described embodiment, in view of the fact that the shaft 204 of the pressure sensor device 200 can be easily clamped to the shaft 104 of the endoscope device 100 and the positioning of the Luer hub 210, mating with the first communication interface 112 is preferred.

[0056] In another example, Figure 3 a flow sensor device 300 is shown, which is configured to be compatible with the endoscope device 100, particularly with the first communication interface 112 of the endoscope device. Similar to the pressure sensor device 200, the flow sensor device 300 has a communication interface 302 that can be mated with the first communication interface 112 of the endoscope device 100. The flow sensor device 300 has a shaft 304 that extends from the proximal end 305 of the flow sensor device 300 to the distal end 303 of the flow sensor device 300. The shaft 304 has a through cavity extending through its length. The proximal end of the shaft 304 has a female Luer hub 310 extending therefrom, a communication interface 302 adjacent thereto, and a handle 312. Similar to the pressure sensor device 200, the flow sensor device 300 can be easily coupled to a male Luer port for fluid communication or for any other reason.

[0057] The flow sensor device 300 has a flow sensor 306 adjacent to the handle 312 and a plurality of clips 308 adjacent to the distal end of the shaft 304 for securing the shaft 304 of the flow sensor device 300 to the endoscope shaft 104. Similar to the pressure sensor device 200, the flow sensor device 300 can use attachment means other than the clips 308, such as retainers, etc. The pressure sensor device 200 can also be mated with the second communication interface 114 of the endoscope device 100. However, in view of the above-described spatial advantages, mating with the first communication interface 112 is preferred.

[0058] The second communication interface 114 is located proximally on the handle 102 and is compatible with an accessory device configured to be inserted through the working channel of the endoscope shaft 104 via, for example, a second port 126. For example, an accessory device (such as an additional camera, an additional light, an optical sensor, or other devices) can be mated with the second communication interface 114 and inserted into the working channel. In this way, the cable / shaft of the device does not obstruct the operating surgeon and can be used without severely bending the accessory.

[0059] However, these devices can also have a flexible cable that is inserted into the first communication interface 112 and bent into the working channel without damaging the cable. Since the second communication interface 114 is proximal to the T-shaped connector 110, where the second port 126 of the T-shaped connector 110 points proximally, there may be a situation where fluid used during ureteroscopy leaks and / or splashes proximally. Therefore, the second communication interface 114 on the proximal side can have a fluid seal, such as a Tuohy borst adapter, UroLok TM or Gateway TM . The console cable 108 of the endoscopic device 100 can be associated with one of the communication interfaces 112, 114 such that an interface on the handle 102 is not necessary. For example, the cable 108 can be bifurcated and have an interface extending from the bifurcated portion of the cable 108, such as a USB port.

[0060] In this embodiment, the handle 102 of the endoscopic device 100 has two mounting holes 120, 122 that are positioned to be coupled to, for example, a motorized first deployment device 400 compatible with the elongated end effector device. The elongated end effector device can be any one of a variety of devices with multiple uses, such as capturing and removing an object (such as a kidney stone), which will be described in further detail below.

[0061] Figure 4A A transparent side view of the first deployment device 400 is shown, and Figure 4B a transparent perspective view of the first deployment device is shown. The first deployment device 400 can be coupled to the endoscopic device 100 at the mounting holes 120, 122 using corresponding mounting pins 402, 404. The first deployment device 400 has a communication interface 406 that can match the second communication interface 114 of the endoscopic device 100, such as being inserted into the second communication interface. The communication interface 406 can be, for example, a male USB-C port. The communication interface 406 is connected to the control board 410 of the motor 412 via a flexible cable 408. The control board 410 includes electrical ports (for connecting USB in this case), drive circuits, and motor terminals for connecting to the motor 412. The motor 412 can be, for example, a stepper motor.

[0062] The motor 412 can be driven by, for example Figure 12Actuated by the signal provided by the button pad 1200 shown. In another embodiment, a signal is generated in response to an endoscope sensor reading. If the flexible cable 408 is long enough, the communication interface 406 can match the first communication interface 112 of the endoscope device 100. However, in the presently described embodiment, the first deployment device 400 is particularly suitable for connection via the second communication interface 114. Connecting to the first deployment device 400 via one of the communication interfaces 112, 114 allows the first deployment device 400 to be actuated via the controller on the handle 102.

[0063] The first deployment device 400 has a handle coupler 414 that extends from the distal end 403 of the first deployment device 400 to the proximal end 405 of the first deployment device 400. The handle coupler 414 is configured to receive the handle of the elongated end effector device, which will be described below with reference to Figure 6 -7. The elongated end effector device includes a pull wire and an outer sheath that will be fed through the working channel of the shaft 104 via the T-connector 110 of the endoscope device 100 or other embodiments of the endoscope device. The elongated end effector device includes a handle at the proximal end of the pull wire and an end effector at the distal end of the pull wire, and the end effector can be actuated by a slider on the handle between an extended open state and a retracted closed state, for example, for grasping an object during an endoscopic procedure or extending / retracting a laser fiber or a treatment needle.

[0064] In an alternative embodiment, the elongated end effector device and the first deployment device 400 are formed in a single integrated unit. The end effector can be actuated via the linear movement of a carriage 416 that is coupled to the slider of the handle of the elongated end effector device, which will be described in detail below. For example, when the handle of the elongated device is inserted into the handle coupler 414, the distal movement of the carriage 416 can cause the slider of the elongated end effector device to slide to close the end effector, while the proximal movement of the carriage 416 can cause the end effector to open. The movement of the carriage 416 is achieved via a motor 412 via an actuation link inside the first deployment device 400, which will be described below.

[0065] The carriage 416 of the first deployment device 400 is configured to slide within the channel 424 of the first deployment device 400. The channel 424 prevents any movement other than proximal / distal sliding. The carriage 416 has a slot 422, and a pin 420 is configured to slide within the slot. The pin 420 is connected to the motor 412 via an arm 418. When the motor 412 is actuated, the arm 418 is caused to rotate about a predetermined arc segment 426. The connection of the pin 420 with the slot 422 converts the angular movement of the arm 418 into linear movement of the carriage 416. The slot 422 allows the pin 420 to translate slightly in a direction orthogonal to the proximal / distal direction while driving the carriage 416 in the proximal / distal direction. When the carriage 416 is brought to its farthest distal position, the end effector is fully closed, and when the carriage 416 is brought to its nearest proximal position, the end effector is fully open, with varying degrees of open / closed between its farthest distal and nearest proximal positions.

[0066] In an alternative embodiment, as Figures 5A - 5B shown, the second deployment device 500 extends from a distal end 503 to a proximal end 505, and a lead screw may be used to drive the carriage 516 instead of the linkage described with respect to the second deployment device 500. Similar to the first deployment device 400, the second deployment device 500 has mounting pins 502, 504 for attaching the second deployment device 500 to the endoscopic device 100. Additionally, the communication interfaces 506, the flexible cable 508, the drive control board 510, the handle coupler 514, the carriage 516, and the channel 528 are substantially similar to those described with respect to the first deployment device 400. However, the second deployment device 500 has two position options for the motor, both of which are coupled to a lead screw, i.e., a screw that serves as the linkage for converting rotational movement into linear movement.

[0067] In a first embodiment, the motor 512 is disposed adjacent to the channel 528 that houses the carriage 516 and is oriented parallel to the channel. When the motor 512 is actuated, the lead screw 518 extending from the motor rotates. The lead screw 518 is coupled to a threaded through-hole 520 that extends through a portion of the carriage 516. Thus, as the lead screw 518 rotates, the carriage 516 is driven in the proximal / distal direction. In a second embodiment, the motor 522 is disposed at a location proximal to the channel 528 that houses the carriage 516. A lead screw 524 extends from the motor 522 and is coupled to a threaded through-hole 526 that extends through the proximal portion of the carriage 516. The second motor 522 drives the carriage 516 in a manner substantially similar to the first motor 512.

[0068] In an alternative embodiment, the first deployment device 400 and the second deployment device 500 may implement a rack and pinion mechanism to drive the linear movement of the carriers 416, 516. The pinion may be attached to the stepper motor shaft, and the rack may be an integral part of the carrier.

[0069] Figure 6 An exemplary Segura is shown TM handle 600, which may be assembled to any of the above-described elongated end effector devices. In another embodiment, a Dakota TM handle may be used, which is similar to the Segura TM handle but modified to have a reliable opening trigger. Thus, the handle 600 may be a Segura TM handle or a Dakota TM handle, depending on the elongated end effector device to which it is assembled, or may be a similar device for actuating the end effector device.

[0070] The Segura TM handle 600 has a body 602 on which a slider 604 can slide. A male Luer connector 610 is attached to the distal end of the slider 604, and the shaft of the elongated end effector device (i.e., the pull wire) is held at the proximal end 605 of the body 602 by a jaw clamp 606. As the cap 608 is screwed onto the body 602, the cap 608 forces the jaws to close around the shaft of the end effector device. The body 602 has a through cavity (not shown) for the shaft of the elongated end effector device. Thus, it can be seen that the slider 604 can move relative to the body 602 and the shaft of the elongated end effector device.

[0071] The outer sheath of the end effector device is connected to the male Luer connector 610 via a female Luer connector and extends to cover the end effector at the distal end of the end effector device. When the slider 604 moves distally, it in turn causes the outer sheath to move distally over the end effector to close the end effector, and when the slider 604 moves proximally, it in turn causes the outer sheath to move proximally to expose the distal end of the end effector, thereby opening the self-opening, memory-set end effector. The Segura TM travel limiter in the handle 600 controls the travel of the slider 604 relative to the size of the end effector, where T is the travel length of the slider 604.

[0072] As previously described, in these embodiments, the sizes and shapes of the carriers 416, 516 of the first deployment device 400 and the second deployment device 500 are adapted to the Segura TM / Dakota TMcompatible with the slider 604 of the handle 600. Thus, when the first deployment device 400 is actuated to move the carriage 416 in the proximal or distal direction, the slider 604 moves relative to the body 602 accordingly, and the end effector of the end effector device moves towards open or towards closed.

[0073] Figure 7 shows an example of an elongated end effector device compatible with the Segura TM / Dakota TM handle 600, including a stone / particle retrieval basket. Figures 7A - 7F Zero Tip retrieval baskets 702, laser fiber devices 704, treatment needles 706, snare 708, forceps 710, and ligator 712 are shown respectively. Each elongated end effector device can be fitted with a Segura TM / Dakota TM handle and can be operated by the first deployment device 400 or the second deployment device 500. TM handle and can be operated by the first deployment device 400 or the second deployment device 500.

[0074] The motors described with respect to the first deployment device 400 and the second deployment device 500 can be, for example, DC motors, servo motors, stepper motors, etc. A preferred embodiment of the motor is a stepper motor. A stepper motor is a brushless electromechanical device that converts a sequence of electrical pulses applied to the excitation windings into a precisely defined stepped mechanical shaft rotation. For each discrete pulse, the shaft of the motor rotates through a fixed angle, which can be converted into linear motion in any of the above ways. Each pulse provides one step of motion, i.e., the angle through which the stepper motor shaft turns for each pulse is called the step angle, usually expressed in degrees.

[0075] The position of the motor shaft is controlled by controlling the number of pulses. This feature makes the stepper motor very suitable for open-loop control systems, where the precise position of the shaft is maintained using an accurate number of pulses without the use of feedback sensors. If the step angle is smaller, the number of steps per revolution is larger, and the resulting position accuracy is higher. The step angle can be as large as 90 degrees and can be as small as 0.72 degrees. However, common step angles are 1.8 degrees, 2.5 degrees, 7.5 degrees, and 15 degrees.

[0076] The rotational direction of the shaft depends on the pulse sequence applied to the stator. The speed of the shaft, or the average motor speed, is proportional to the frequency of the input pulses applied to the excitation windings (the rate of the input pulses). Thus, if the frequency is low, the stepper motor rotates step by step, and for high frequencies, it rotates continuously like a DC motor due to inertia. The stepper motor can continue to generate a holding torque even in a stationary state. This means that the motor can be held in the stopped position without using a mechanical brake. The built-in pulse generation function (controller) allows the stepper motor to be driven via a directly connected personal computer, programmable controller, or console. Precise positioning can be achieved via digital control of the stepper motor, which will be further explained in detail below.

[0077] Figure 8 A stepper motor control board 800 is shown. The control board 800 includes a USB port 804 for connecting a USB cable and motor terminals 802 for connecting a stepper motor. When the motor is a stepper motor, the stepper motor control board 800 can be used as the control board 410 or 510 for motors 412, 512, or 522 in the first deployment device 400 and the second deployment device 500. However, if a stepper motor is not used, the corresponding control board is configured to drive the motor in use. For example, if motor 412 is a servo motor, the control board 410 is a servo motor control board. The motor control board can be customized. The motor can be powered via the USB port 804. However, in another embodiment, the motor can be powered by a battery.

[0078] The first deployment device 400 has buttons 430 for controlling the movement of the carriage via the control board 410 and the motor 412. The first deployment device 400 preferably has at least two buttons 430. For example, the first button can be pressed to make the carriage travel in the distal direction and stop when the button is released. The second button can be pressed to make the carriage travel in the proximal direction and stop when the button is released. Double-clicking either button can make the carriage reach its farthest or nearest position. Other button press configurations can, for example, increase or decrease the speed of the carriage movement.

[0079] In Figure 12 the illustrated embodiment, the nearest side button 1202 is for the upward direction of the endoscope axis (US), while the farthest side button 1201 is for the downward direction of the endoscope axis (US). In other countries, the proximal button is for the downward direction and the distal button is for the upward direction. The user can program the two side buttons 1203, 1204 on the button pad to move the carriage distally or proximally when pressed, since the microprocessor executes the movement direction of the stepper motor via the program when the conditional statement in the program is true. The upward and downward endoscope axis buttons can also be switched by modifying the conditional statement without switching the cable of the cable pulley.

[0080] The setting of the button 430 adjacent to the grasping area 118 and the deflection knob 116 of the endoscope device 100 (when the endoscope device 100 and the first deployment device 400 are attached) provides ergonomic benefits to the user of the device. For example, a typical user may have difficulty operating both the deployment device and the endoscope deflection simultaneously, especially when the thumb is fully extended on the deflection knob 116, and especially if the user has small hands. Due to the proximity of the button 430 and the deflection knob 116, the spatial configuration of the endoscope device 100 and the first deployment device 400 allows for easy use. The second deployment device 500 similarly has a button 530 for controlling the carriage movement in a manner similar to that described above.

[0081] In an alternative embodiment, voice commands for controlling the end effector can be implemented, such as but not limited to "open", "close", "stop", "faster", "slower", "load", etc.

[0082] Different elongated end effector devices can be implemented in the first deployment device 400, each end effector device having a different dataset for controlling the end effector. For example, each end effector device can have different stop limits or stroke lengths for the carriage. However, through the "plug and play" function of the endoscope device 100, the dataset can be automatically loaded into the controller.

[0083] Alternatively, the type of the elongated end effector device can be selected through a drop-down menu on the console. To assemble the Segura TM handle to the first deployment device 400, for example, by pressing Figure 12 the button 1203, the carriage is moved to the proximal most position, and the slider of the Segura TM handle is also moved to the proximal most position. This will match the profiles of the slider and the carriage, such that the Segura TM handle is aligned and can be snapped into the deployment device. For example, the button 1204 is pressed to close or retract the end effector before the end effector is inserted into the working channel of the endoscope. To remove the elongated end effector device, the end effector is closed by pressing, for example, the button 1204. The shaft of the end effector is retracted, and the Segura TM handle can be removed from the deployment device and set aside for later use. Another elongated device can be quickly replaced with the previous elongated device to perform its function.

[0084] In an alternative embodiment, the endoscope device 100 and the first deployment device 400 or the second deployment device 500 may be implemented in a single integrated unit. In such an embodiment, instead of using mounting holes and mounting pins to connect the respective devices, the deployment device is constructed within the handle of the endoscope device, and all relevant wiring is within the device.

[0085] In yet another embodiment, the deflection of the distal end 106 of the endoscope device 100 may be motorized / wired using the same control board (such as control board 800) as the first deployment device 400. In such an embodiment, the second driver and the second motor will be implemented in the handle 102 for controlling the distal end 106.

[0086] Figure 9 A handle 900 of an endoscope device with a motor 902 for controlling the deflection of the distal end is shown. The endoscope device in this embodiment has two wire ropes (not shown) for deflecting the distal end in either of two directions. The wire rope pulley 904 has a first wire rope attachment 906 and a second wire rope attachment 908. The motor 902 is mounted in the handle 900, and its drive shaft is mounted at the center of the wire rope pulley 904. The deflection knob 910 can be keyed to the rotation of the wire rope pulley 904 via a controller / driver and wiring (not shown). Thus, the deflection knob 910 can be operated as a switch and rotated independently of the wire rope pulley 904.

[0087] When pressure is applied to the deflection knob 910 in a first direction, the motor 902 will rotate the wire rope pulley 904 such that one of the two wire ropes (such as the wire rope attached to the first wire rope attachment 906) pulls the distal end of the endoscope device in one of two directions. Similarly, when pressure is applied to the deflection knob 910 in a second direction, the motor 902 will rotate the wire rope pulley 904 such that the second of the two wire ropes (such as the wire rope attached to the second wire rope attachment 908) pulls the distal end of the endoscope device in a second direction of the two directions. The release of the deflection knob 910 can cause the motor 902 to stop, allowing the position of the deflected distal end to be maintained. The maximum angular travel of the motor 902 will be set as the limit of the deflection of the distal end.

[0088] A gear train may be used in the handle 900 instead of the motor 902 that directly drives the wire rope pulley 904. Figures 10A - 10C A simple double gear train 1000 is shown, where the smaller gear 1002 drives the larger gear 1004, and the larger gear rotates the wire rope pulley 904. The larger gear 1004 and the wire rope pulley 904 may be formed as a single part, in which case the gear teeth extend from the circumference / periphery of the wire rope pulley 904, as Figure 10D shown. Figure 11A dual gear train 1100 with a smaller gear 1102 and a larger gear 1104 is shown, and the dual gear train includes a pulley belt 1106. The mechanical advantage of the above embodiment is to use a motor with less power / lower cost. In the handle 900, directly driving the cable pulley 904 would require a higher motor torque specification compared to using the gear train system shown in FIGS. 10-11.

[0089] The above aspects of the present disclosure can be combined in various ways. In a first example, both the endoscopic tip and the deployment device are motorized. Figure 12 An ergonomic button pad 1200 for controlling the endoscopic tip and the deployment device is shown. The button pad 1200 has a first button 1201, a second button 1202, a third button 1203, and a fourth button 1204. The button pad 1200 is also adjacent to a shortened deflection knob 1205. The deflection knob 1205 is shortened to allow the button pad 1200 to be placed adjacent to the deflection knob 1205. In other embodiments, the deflection knob 1205 can be completely eliminated, and the deflection of the endoscopic tip is controlled by the button pad 1200. In another embodiment, the shortened deflection knob can be used as a safety / emergency rescue feature in the event of, for example, a power failure, considering that the deflected endoscopic shaft must be straightened before it can be removed from the body without damage.

[0090] The button pad 1200 is connected to a controller that is programmed for all aspects of the intervention. The button pad 1200 is located on the bottom side of the endoscopic handle and can be operated, for example, by the thumb of the hand grasping the endoscopic handle. For example, the first and second buttons 1201, 1202 (opposite each other) can be used to deflect the endoscopic tip in either of two directions. The third and fourth buttons 1203, 1204 (opposite each other) can be used to control the opening / closing of the elongated end effector device. A fifth button can be implemented such that when the fifth button is "on", the third and fourth buttons 1203, 1204 are used to open / close the fluid management system to flush the imaging cavity.

[0091] In another embodiment, these buttons are implemented on a console, a tablet computer (such as an iPad), etc. and are remotely controlled. Thus, the endoscopic device can be formed without control features directly implemented thereon and can be controlled via Bluetooth, an infrared remote control, etc.

[0092] Those skilled in the art will understand that changes can be made to the above embodiments without departing from the concept of the present invention. It should also be understood that the structural features and methods associated with one embodiment can be incorporated into other embodiments. Therefore, it should be understood that the present invention is not limited to the specific embodiments disclosed, but modifications are also covered within the scope of the present invention defined by the appended claims.

Claims

1. A medical system, comprising: A medical device, the medical device including a handle and a shaft extending distally from the handle, the handle including: A pull wheel, the pull wheel being coupled to a first cable and a second cable, wherein the first cable and the second cable extend through the shaft to a distal end of the shaft, and wherein the pull wheel is configured to apply tension to at least one of the first cable or the second cable to deflect the distal end of the shaft; and A motor, the motor being coupled to the pull wheel and configured to rotate the pull wheel in response to a signal; and An attachment device, the attachment device including a communication interface configured to connect to a corresponding communication interface of the medical device.

2. The medical system according to claim 1, wherein, The motor includes a rotatable shaft coupled to the pull wheel.

3. The medical system according to claim 1, wherein The pull wheel includes a first cable attachment coupled to the first cable and a second cable attachment coupled to the second cable.

4. The medical system according to claim 1, wherein, The handle includes an actuator coupled to the motor and configured to generate the signal.

5. The medical system according to claim 4, wherein, The actuator includes a knob or a button pad.

6. The medical system according to claim 5, wherein, The attachment device includes a motor coupled to a carriage, and wherein the actuator includes a button pad configured to control the motor of the medical device and the motor of the attachment device.

7. The medical system according to claim 5, wherein The actuator includes a knob configured to rotate independently of the movement of the pull wheel.

8. The medical system according to claim 4, wherein, The actuator is configured to rotate the pull wheel within a predetermined angular range.

9. The medical system according to claim 1, wherein, The attachment device includes a carriage configured to be coupled to an end effector device.

10. The medical system according to claim 9, wherein, The carriage is configured to move within a channel of the attachment device to actuate the end effector device.

11. The medical system according to claim 10, wherein, The attachment device includes a motor coupled to the carriage and configured to move the carriage within the channel.

12. The medical system according to claim 1, wherein, The motor is inside the handle or is externally coupled to the handle.

13. The medical system according to claim 1, wherein The medical device further includes one or more communication interfaces capable of connecting to the communication interface of the attachment device.

Images