Systems, devices, and methods for providing motorized control of medical devices

Abstract

A motorized control system for a medical device may include a control assembly including a first body with a carriage assembly and a second body movably coupled to the first body. The cradle assembly may be configured to be removably coupled to the medical device. The second body may include a gear assembly, a first motor configured to drive a first gear of the gear assembly, and a second motor configured to drive a second gear of the gear assembly. The control assembly may be configured to transition between an open configuration and a closed configuration. The gear assembly may be configured to receive a plurality of knobs of the medical device in the closed configuration. The first motor may be configured to drive the first gear to rotate a first knob. The second motor may be configured to drive the second gear to rotate a second knob.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 387,775, filed on December 16, 2022, and U.S. Provisional Patent Application No. 63 / 512,240, filed on July 6, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention generally relates to motorized controls and related accessories for medical devices. More particularly, in embodiments, the present invention relates to systems, devices, and methods that allow switching between manual and motorized control of an endoscope or other medical device. Background Art

[0003] Medical devices for accessing a target site within the body can be advanced through one or more cavities of the body and are typically manually controlled by a user. For example, in many endoscopes, the distal end of the endoscope can be steered by a knob on the proximal end, and the user may have difficulty controlling the knob when navigating altered anatomical structures. This often results in difficulty maneuvering the endoscope to the target site, or performing other treatments, because the user may not be able to maintain precise control of the endoscope by hand during a long procedure. However, the fully motorized steering system of the endoscope may cause difficulties for the user when performing parts of the procedure, such as initially inserting the endoscope into the patient's body or navigating to the target site. The user may prefer to manually steer the endoscope during the more difficult parts of the procedure or use a motorized system to robotically steer the endoscope.

[0004] The present invention may address one or more of these problems or other problems in the art. However, the scope of the invention is defined by the appended claims rather than by the ability to address a specific problem. Summary of the Invention

[0005] Various aspects of the present invention relate to systems, devices, methods, and the like for providing motorized control of an endoscope or other medical device.

[0006] In some aspects, a motorized control system for a medical device may include a control assembly comprising a first body, the first body comprising a bracket assembly; and a second body movably coupled to the first body. The bracket assembly may be configured to be removably coupled to the medical device. The second body may include a gear assembly, a first motor configured to drive a first gear of the gear assembly, and a second motor configured to drive a second gear of the gear assembly. The control assembly may be configured to transition between an open configuration and a closed configuration. The gear assembly may be configured to receive a plurality of knobs of the medical device in the closed configuration. The first motor may be configured to drive a first gear to rotate a first knob of the plurality of knobs. The second motor may be configured to drive a second gear to rotate a second knob of the plurality of knobs.

[0007] The motorized control system may include one or more of the following aspects. The motorized control system may also include a rotary drive coupled to the proximal end of the control assembly, wherein the rotary drive may be configured to rotate the control assembly and the medical device about a longitudinal axis of the medical device. The motorized control system may also include a base assembly coupled to the rotary drive, and a track assembly coupled to the base assembly. The track assembly may include at least one motor and may be configured to move the control assembly in proximal and distal directions. The control assembly may also include an actuator, and the actuator may include an elevator actuator configured to align with an elevator rod of the medical device, an elevator motor, a third gear coupled to the elevator motor, and a rack engaged with the third gear. The actuator assembly may be configured to move the elevator rod of the medical device.

[0008] The second body may further include a first worm gear coupled to the first motor and engaged with the first gear, and a second worm gear coupled to the second motor and engaged with the second gear. The first motor, the first worm gear, and the first gear may be longitudinally aligned. The second motor, the second worm gear, and the second gear may be longitudinally aligned. The first gear may be adjacent to the second gear. The first gear may include a series of recesses configured to align with the prongs of the first knob, and the second gear may include a series of recesses configured to align with the prongs of the second knob. The control assembly may be controlled by a control unit including an electronic display. The first body may include a first track portion. The first track portion may extend outward from the first body and be retractable inwardly into the first body, and the second body may be fixedly coupled to the first track portion.

[0009] The carriage assembly may include a U-shaped portion and a door rotatably coupled to the U-shaped portion. The motorized control system may further include a telescoping support assembly coupled to a distal portion of the carriage assembly. The first gear may include a first plurality of spring-biased pins configured to engage a first knob, and the second gear may include a second plurality of spring-biased pins configured to engage a second knob. The motorized control system may further include a remote control configured to communicate with the control assembly to operate the first motor and the second motor. The medical device may be an endoscope. The second body may further include a camera system configured to detect the position of the first knob, the position of the second knob, and the position of the elevator. In some other aspects, a motorized control system for a medical device may include a control assembly, a rotation drive, and a track assembly. The control assembly includes a first body including a carriage assembly; and a second body movably coupled to the first body. The carriage assembly may be configured to be removably coupled to the medical device. The second body may include a gear assembly and a first motor configured to drive the first gear of the gear assembly. The rotation drive may be coupled to a proximal end of the control assembly and configured to rotate the control assembly and the medical device about a longitudinal axis of the medical device. The track assembly can be coupled to the rotary drive device, and the track assembly can include at least one motor configured to drive the rotary drive device in a proximal or distal direction. The control assembly can be configured to switch between an open configuration and a closed configuration. The gear assembly can be configured to receive a first knob of the medical device in the closed configuration. The first motor can be configured to drive a first gear to rotate the first knob.

[0010] The motorized control system may include one or more of the following aspects. The control assembly may further include an actuator. The actuator may include a lifter actuator configured to align with a lifter rod of the medical device, a lifter motor, a third gear coupled to the lifter motor, and a rack engaged with the third gear. The actuator assembly may be configured to move the lifter rod of the medical device. The first gear may include a series of recesses aligned with the prongs of the first knob.

[0011] In an additional aspect, a motorized control system for a medical device may include a control assembly having a first body, a second body, and an actuator assembly. The first body may be configured to be removably coupled to the medical device. The second body may be movably coupled to the first body. The second body may include a gear assembly and a first motor configured to drive a first gear of the gear assembly. The actuator assembly may be configured to move a lifter rod of the medical device. The actuator assembly may include a lifter actuator configured to align with the lifter rod of the medical device, a lifter motor, a third gear coupled to the lifter motor, and a rack engaged with the third gear. The control assembly may be configured to transition between an open configuration and a closed configuration. The gear assembly may be configured to receive a first knob of the medical device in the closed configuration. The first motor may be configured to drive the first gear to rotate the first knob.

[0012] The second body of the motorized control system may further include a first worm gear coupled to the first motor and engaged with the first gear.

[0013] 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 invention, as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary aspects of the present invention and, together with the description, serve to explain the principles of the invention.

[0015] Figure 1 is a perspective view of a motorized control system coupled to an endoscope according to aspects of the present invention.

[0016] Figure 2 is connected to an endoscope according to aspects of the present invention Figure 1 A perspective view of a portion of an electrified control system.

[0017] Figure 3 According to various aspects of the present invention Figure 1 A perspective view of a portion of an electrified control system.

[0018] Figure 4 According to various aspects of the present invention Figure 1 A perspective view of a portion of an electrified control system.

[0019] Figure 5A and Figure 5B According to various aspects of the present invention Figure 1 Side view and top view of a portion of the electrification control system.

[0020] Figure 6 According to various aspects of the present invention Figure 1Side view of a portion of the electrification control system.

[0021] Figure 7 According to various aspects of the present invention Figure 1 A stereoscopic view of a portion of the motorized control system and an endoscope.

[0022] Figures 8 to 10 According to various aspects of the present invention Figure 1 Part of the motorized control system and different perspective views of the endoscope.

[0023] Figure 11 and Figure 12 1 is a perspective view and an enlarged view of another motorized control system according to aspects of the present invention.

[0024] Figure 13A 、 Figure 13B 、 Figure 14 and Figure 15 are various views of an accessory device according to aspects of the present invention.

[0025] Figure 16 is a side view of a portion of a motorized control system according to aspects of the present invention.

[0026] Figure 17 is a simplified functional block diagram of a computer and / or server that can be configured as an apparatus or system to perform any of the methods described herein according to aspects of the present invention.

[0027] Figure 18 is a perspective view of a motorized control system coupled to an endoscope according to aspects of the present invention.

[0028] Figure 19 and Figure 20 is connected to an endoscope according to aspects of the present invention Figure 18 Side view of a portion of the electrification control system.

[0029] Figure 21 is connected to an endoscope according to aspects of the present invention Figure 18 A perspective view of a portion of an electrified control system.

[0030] Figure 22 According to various aspects of the present invention Figure 18 A perspective view of a portion of an electrified control system.

[0031] Figure 23 According to various aspects of the present invention Figure 18 A perspective view of a portion of an actuator of an electrified control system.

[0032] Figure 24is a perspective view of a motorized control system according to aspects of the present invention.

[0033] Figure 25 is a perspective view of a motorized control system coupled to an endoscope according to aspects of the present invention.

[0034] Figure 26 is a perspective view of a motorized control system coupled to an endoscope according to aspects of the present invention.

[0035] Figure 27 According to various aspects of the present invention Figure 26 Side view of a portion of the electrification control system.

[0036] Figures 28 to 34 Various views are shown of an exemplary actuator assembly for a medical device according to aspects of the present invention. DETAILED DESCRIPTION

[0037] The present invention describes exemplary medical systems, methods, and medical tools for controlling medical devices, such as for controlling the movement and operation of an endoscope. This can provide improved medical device functionality and / or assist medical professionals in manipulating medical devices for performing medical procedures. However, it should be noted that reference to any particular device and / or any particular procedure is provided for convenience only and is not intended to limit the present invention. One of ordinary skill in the art will recognize that the underlying concepts of the disclosed systems, devices, and methods of application can be applied to any suitable surgical, medical, or other context.

[0038] Reference will now be made in detail to various aspects of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same or similar reference numerals will be used throughout the drawings to refer to the same or similar parts. The term "distal" refers to the portion of the device farthest from the user when introduced into a patient's body. Conversely, the term "proximal" refers to the portion of the device closest to the user when placed in a patient's body. The arrows labeled "P" and "D" in the figures are used to indicate the proximal and distal directions in the figures. As used herein, the terms "comprises," "comprising," "including," "comprising," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements may include not only those elements but also additional elements not expressly listed or inherent to such process, method, article, or apparatus. The term "exemplary" is used in the sense of "example" rather than "exemplary." Furthermore, relative terms such as, for example, "approximately," "substantially," and "about" are intended to indicate a possible variation of ±10% from a stated value or range.

[0039] The systems, related devices and methods of the present invention can provide a motorized and / or robotic system that can allow a user (e.g., an endoscopist, etc.) to reproduce a manual range of motion in an endoscope and an articulatable distal section of an endoscope to perform diagnostic and therapeutic procedures, such as endoscopic retrograde cholangiopancreatography (ERCP). Embodiments of the present invention are directed to improving the control of medical devices, such as endoscopes, during medical procedures. As non-limiting exemplary benefits, aspects of the present invention can reduce total surgical time, can reduce operator fatigue during medical procedures, can improve stability, control and / or precision of endoscope movement, etc. The systems, devices and methods of the present invention can provide a user with a choice of fully motorized control of a medical device or manual control of a medical device, and can enable a user to switch between fully motorized control of a medical device and manual control of a medical device during surgery.

[0040] refer to Figure 1 , shows a motorized control system 100 according to one or more embodiments of the present invention. The motorized control system 100 can be configured to be coupled to a medical device, such as an endoscope 105, via a bracket assembly 150. The control assembly 101 can be coupled to the bracket assembly 150 and can at least partially surround the bracket assembly 150. The control assembly 101 can be coupled at its proximal end to the rotational drive device 102 and the base assembly 120, and can be connected to the control unit 199 (via one or more wires, wirelessly, or any other electrical connection). The rotational drive device 102 and the base assembly 120 can be coupled to the base plate 103, and the base plate 103 can be movably coupled to the track assembly 104. Although not shown, the motorized control system 100 can include a motor and gear assembly, for example, in place of or in addition to the rotational drive device 102. As will be discussed in detail below in this document, the control system 100 can be configured to control movement of the endoscope 105 in proximal and distal directions, control rotation of the endoscope 105 (including the shaft of the endoscope, not shown) in clockwise and counterclockwise directions about the central longitudinal axis, control movement of a distal articulated section of the shaft of the endoscope 105 via rotation of knobs 170, 171, control movement of an elevator of the endoscope 105 via movement of one or more rods of the endoscope 105 and / or control actuation of one or more suction chambers or water jets of the endoscope 105.

[0041] For illustrative purposes only, endoscope 105 is shown with its longitudinal shaft and distal tip removed, however any endoscope shaft and distal tip structures known in the art may be incorporated into endoscope 105. For example, the shaft may be coupled to distal end 115 of handle assembly 140. Although the term endoscope may be used herein, it should be understood that other devices, including but not limited to duodenoscopes, colonoscopes, ureteroscopes, bronchoscopes, laparoscopes, sheaths, catheters, or any other suitable delivery devices or other types of medical devices may be used in conjunction with the systems, devices, and methods of the present invention, and the systems, devices, and methods discussed below may be incorporated into any of these or other medical devices.

[0042] The endoscope 105 may include a handle assembly and a flexible tubular shaft (not shown). The handle assembly may include a biopsy port, an image capture button, an elevator rod / actuator 1704 ( Figure 7 ), a locking lever, a locking knob, a first control knob 170, a second control knob 171, a suction button, an air / water button, the handle assembly / body 140, and one or more of the umbilicus. The endoscope system 105, all actuators, elevators, knobs, buttons, levers, ports, or caps, such as those listed above, may be used for any purpose and are not limited to any particular use implied by the corresponding nomenclature of each component used herein. An umbilicus (not shown) may extend from the handle assembly 140 to one or more auxiliary devices, such as a control unit 199, a water / fluid supply, and / or a vacuum source. The umbilicus may transmit signals between the endoscope 105 and the control unit 199 to control the lighting and imaging components of the endoscope 105 and / or receive image data from the endoscope 105. The umbilicus may also provide irrigation fluid and / or suction from the water / fluid supply to the distal tip of the shaft of the endoscope 105. Buttons 261 and 262 ( Figure 2 ) can control valves for suction and fluid supply (e.g., air and water), respectively. The shaft of endoscope 105 can terminate at a distal tip, and the shaft can include an articulated section for deflecting the distal tip in an upward, downward, left, and / or right direction. Knobs 170 and 171 can be used to control this deflection.

[0043] The distal tip of the endoscope 105 can include one or more imaging devices and an illumination source (e.g., one or more LEDs, fiber optics, and / or other illuminators). Examples of imaging devices (or viewing elements) include one or more cameras, one or more image sensors, an endoscope viewing element, an optical assembly including one or more image sensors and one or more lenses, and any other imaging devices known in the art. The distal tip of the endoscope 105 can include an elevator for moving accessory devices at the distal tip of the endoscope 105, and the handle assembly 140 can include a rod for actuating the elevator (e.g., elevator rod / actuator 1704).

[0044] A control unit 199 can interface with the endoscope 105 to provide power and commands to the imaging device and illuminator. The control unit 199 can also control other aspects of the endoscope 105, such as, for example, applying suction, deploying or delivering fluids, and / or moving the distal tip of the endoscope 105. The control unit 199 can be powered by an external source, such as an electrical outlet, and / or can be battery-powered. Furthermore, the control unit 199 can include one or more buttons, knobs, a touch screen, or other user interfaces to control the imaging device, illuminator, and other features of the endoscope 105. In some examples, the endoscope 105 and the control system 100 can be electrically connected to the same control unit 199 via wireless communication and / or one or more wires. In other examples, the endoscope 105 can be connected to a control unit 199 that is separate from the control system 100. In some examples, the control system 100 can include the control unit 199 incorporated into a portion of the control system 100. In some examples, the endoscope 105 can be connected to the control unit 199 via an umbilical cannula.

[0045] The control unit 199 may include electronic circuitry configured to receive, process, and / or transmit data and signals between the endoscope and one or more other devices, such as the control system 100. For example, the control unit 199 may electronically communicate with a display configured to display images based on image data and / or signals processed by the control unit 199, which may have been generated by an imaging device of the endoscope 105. The control unit 199 may electronically communicate with the display in any suitable manner, either via wires or wirelessly. The display may be manufactured in any suitable manner and may include a touch screen input and / or be connected to various input and output devices, such as, for example, a mouse, an electronic stylus, a printer, a server, and / or other electronic portable devices. The control unit 199 may include software and / or hardware that facilitates operations, such as those discussed above. For example, the control unit 199 may include one or more algorithms, models, etc., for implementing any of the methods and / or systems discussed herein.

[0046] When manually operating the endoscope 105, the user can use their left hand to manipulate knobs 170, 171, and the locking lever for each knob 170, 171, to control the movement of the distal end of the shaft of the endoscope 105. The user can also use their left hand to rotate the endoscope 105 about its longitudinal axis. Insertion and withdrawal of the shaft of the endoscope 105 into the patient can be controlled by the user's right hand, left hand, or both hands. The control system 100 can be configured to provide motorized control of the movement and operation of the endoscope 105.

[0047] Reference again Figure 1 , during operation of control assembly 100, endoscope 105 can be fixedly coupled to control assembly 101. Control assembly 101, rotary drive 102, and base assembly 120 can be moved proximally or distally relative to track assembly 104 via base plate 103, which can cause endoscope 105 to move proximally or distally, respectively. Base plate 103 can be moved relative to track assembly 104 via a motor, for example, a motor incorporated into track assembly 104 and / or base plate 103. Endoscope 105 can be rotated about a longitudinal axis via rotation of rotary drive 102, which can cause control assembly 101 and endoscope 105 to rotate. Control assembly 101 can include motors 401, 402 ( Figure 4 ), which is configured to rotate the knobs 170, 171 of the endoscope 105 to deflect the distal tip of the endoscope 105. Figures 2 to 10 Details of the features and operation of control assembly 101 are discussed below.

[0048] Figure 2A perspective view of the control assembly 101 coupled to the endoscope 105 is shown. The control assembly 101 can include a first body 201 and a second body 202 slidably received by the first body 201. A cradle assembly 150 can be coupled to the first body 201, and the cradle assembly 150 can be configured to receive a medical device, such as the endoscope 105. The cradle assembly 150 can include a door 225 and a cradle body 151. The cradle body 151 can be U-shaped and can include a radially inward surface configured to align with the outer body of the handle assembly 140 of the endoscope 105. The shape of the radially inward surface of the cradle body 151 can simply allow the handle assembly 140 to be received in a correctly oriented position within the cradle body 151 for operating the control system 100, and thus simplify the process of positioning the handle assembly 140 within the cradle body 151. In some examples, the bracket assembly 150 can include one or more markings / indicators / indicators that are configured to align with endoscope landmarks, such as the centerline of the handle assembly 140 or the juncture between the strain relief portion of the handle assembly 140 and the body of the handle assembly 140. For example, the endoscope 105 and / or the first body 201 can include one or more physical protrusions and / or one or more visual markings / indicators / indicators that can help position the handle assembly 140 within the bracket body 151. In some aspects, the door 225 can include one or more locating pins, and the one or more locating pins can be inserted into or otherwise aligned with one or more screw recesses on the handle of the endoscope 105, for example, to help ensure proper positioning of the handle assembly 140 within the bracket body 151.

[0049] Figure 3A perspective view of the control assembly 101 is shown without the endoscope 105. The distal end 251 of the cradle body 151 can be aligned with the distal portion 217 of the first body 201. The door 225 can be rotatably coupled to the cradle body 151, and the distal end 244 of the door 225 can be aligned with the distal end 251 of the cradle body 151. The door 225 can be rotated about a hinge extending longitudinally through the cradle body 151, and rotation of the door 225 can open the door 225 to provide access to the passage 243 extending longitudinally through the cradle body 151. In some examples, the door 225 can include one or more fasteners 226, 227 for locking the door 225 to the cradle body 151. For example, a user can rotate the door 225 to an open position to provide access to the passage 243, insert the endoscope 105 into the passage 243, and then rotate the door 225 to a closed position and lock the door 225 in the closed position (e.g., using fasteners 226, 227). After the door 225 is locked in the closed position and the endoscope 105 is positioned within the passage 243, the endoscope 105 can be fixedly coupled to the first body 201. The door 225 can include an opening 279 configured to receive the working channel port / biopsy port 149 of the endoscope 105. The bracket assembly 150 can be configured to couple to the handle assembly 140 at a location distal to the rotation knobs 170, 171 and proximal to the distal end 115.

[0050] The bracket assembly 150 can be positioned between the first body 201 and the second body 202 within the recessed portion / channel 250 of the first body 201. The recessed portion / channel 250 can be configured to receive the handle assembly 140 and can include an opening 269 ( Figure 2 ). The first body 201 may include one or more ports 263, 264 for connecting to the control unit 199, a power source, a USB device, or other devices. The base portion 205 at the proximal end of the first body 201 may be configured to couple to the rotary drive device 102. A pair of track portions 219, 220 may extend outwardly from the first body 201 and may movably couple the first body 201 to the second body 202. One or more electronic circuit boards, a power source such as a battery, and other electronic components known in the art may be housed within the first body 201 (see Figure 11 Alternatively, one or more electronic circuit boards, power sources (e.g., batteries), and other electronic components can be remote from the first body 201, with one or more wires routed from the one or more remote components to the first body 201. The locking button 296 can control the locking and releasing of the first and second bodies 201, 202, as will be discussed in further detail herein below.

[0051] The second body 202 can be movably coupled to the first body 201 such that the gear assembly 229 of the second body 202 can be moved toward or away from the first body 201. The second body 202 can be movably coupled to the first body 201 via one or more track portions 219, 220, and the gear assembly 229 can be moved toward and away from the channel 250 of the first body 201. The distal-most portion 216 of the second body 202 can be aligned with the distal portion 217 of the first body 201. The proximal end 275 of the second body 202 can be distal to the base portion 205 of the first body 201, and a gap 276 can extend between the proximal end 275 and the base portion 205. The gap 276 can be configured to receive the umbilicus of the endoscope 105 and can allow a user to position the endoscope 105 within the channel 250 without disconnecting the endoscope 105 from the control unit 199 and / or removing the shaft of the endoscope 105 from the patient. The cover 277 of the second body 202 may be tapered such that the height of the second body 202 decreases from a proximal end of the cover 277 to a distal end of the cover 277 .

[0052] The track portions 219, 220 of the first body 201 can be retracted inwardly into the first body 201 and can be extended outwardly away from the first body 201. In some examples, the track portions 219, 220 can be retracted and extended via one or more electronic motors positioned within the first body 201. In other examples, the track portions 219, 220 can be retracted and extended by a user manually pushing or pulling the second body 202 and / or the first body 201 to extend or retract the track portions 219, 220. In some examples, the track portions 219, 220 can be locked in one position via actuation of a locking button 296 and released via subsequent actuation of the locking button 296. The locking button 296 allows the user to lock the control assembly 101 in either the open or closed configuration. When actuation of the locking button 296 releases the lock on the track portions 219, 220, the second body 202 can freely slide toward and away from the first body 201 via the extension and retraction of the track portions 219, 220.

[0053] Figure 4A perspective view of the second body 202 is shown with the cover 277 removed to expose an interior portion of the second body 202. Lateral extensions 291, 292 of the second body 202 can be coupled to the track portions 219, 220 of the first body 201 via couplings 410, 411. The gear assembly 229 can include a first gear 403 and a second gear 404. The first gear 403 can be adjacent to the second gear 404, and each of the first gear 403 and the second gear 404 can rotate about an axis 499. A circular portion 407 of the second gear 404 can help limit movement of the first gear 403 and / or the second gear 404 and can only allow the first gear 403 and / or the second gear 404 to rotate about the axis 499. The circular portion 407 can be positioned at a proximal portion of the second body 202. The first worm gear 405 can be adjacent to or in close proximity to the first gear 403 and engaged with the first gear 403, and the second worm gear 406 can be adjacent to or in close proximity to the second gear 404 and engaged with the second gear 404. Each of the first worm gear 405 and the second worm gear 406 can extend longitudinally from the gear assembly 229 to the first motor 401 and the second motor 402, respectively. The first motor 401 and the second motor 402 can each be positioned at a distal portion of the second body 202 and can be adjacent to each other. The first motor 401, the second motor 402, and any other motors discussed herein can be high precision motors, such as stepper motors or servo motors equipped with position encoders. The operation of the first motor 401 and the second motor 402 will be discussed below in this document. Figure 6 Further detailed discussion.

[0054] The first gear 403 may include a first lumen 235 extending through the first gear 403 along an axis 499, and the second gear 404 may include a second lumen 236 extending through the second gear 404 along the axis 499. The first and second lumens 235, 236 may be connected to form a continuous passage through the first and second gears 403, 404, including the circular portion 407. The second lumen 236 may extend from the first lumen 235 to the opening 230 of the circular portion 407. The diameter of the first lumen 235 may be smaller than the diameter of the second lumen 236, and the first lumen 235 may be configured to receive the knob 171 of the endoscope 105. The second lumen 236 may be configured to receive the knob 170 of the endoscope 105. A third lumen 237 may extend through at least a portion of the first gear 403. The third lumen 237 may be connected to the second lumen 236 on a side opposite the first lumen 235, and the diameter of the third lumen 237 may be smaller than the diameter of the second lumen 236. The diameter of the third lumen 237 may also be smaller than the diameter of the first lumen 235. Third lumen 237 can be configured to receive locking knob 172 of endoscope 105. In some examples, any of first lumen 235, second lumen 236, and / or third lumen 237 can be a recess in first gear 403 or second gear 404 including circular portion 407.

[0055] Figure 5A and Figure 5B A side view and a top view of the second body 202 are shown, respectively, with the cover 277 removed to expose the interior portion of the second body 202. The first motor 401 can rotate the first worm gear 405 about its longitudinal axis, which can then rotate the first gear 403 about the axis 499. The second motor 402 can rotate the second worm gear 406 about its longitudinal axis, which can then rotate the second gear 404 about the axis 499. Figure 5B As shown, the second body 202 can be relative to the first body 201 by Figure 5B The gear assembly 229 is moved in the right or left direction, as shown by the R and L arrows in FIG, to position the gear assembly 229 over the knobs 170, 171 of the endoscope 105. The detector system 540 can be incorporated into the gear assembly 229 and can be configured to detect the position of the knobs 170, 171 of the endoscope 105. The detector system 540 can include one or more cameras and / or one or more sensors. The detector system 540 will be discussed in further detail below.

[0056] Figure 6 The gear assembly 229, the second motor 402, and the second worm gear 406 are shown removed from the second body 202. Figure 6As shown, first cavity 235 can be at least partially formed by a series of recesses 234 circumferentially spaced about a radially inward surface 650 (relative to axis 499) of first gear 403. Each recess 234 can be configured to receive a portion of knob 171, such as a prong of knob 171. Recesses 234 of first gear 403 can allow knob 171 to be temporarily coupled to first gear 403 when first gear 403 is positioned in recess 234, such that rotation of first gear 403 causes knob 171 to rotate about axis 499.

[0057] The second cavity 236 can be formed, at least in part, by a series of recesses 232 circumferentially spaced about a radially inward surface 651 (relative to the axis 499) of the second gear 404. Each recess 232 can be configured to receive a portion of the knob 170, such as a prong of the knob 170. The recesses 232 of the second gear 404 can allow the knob 170 to be temporarily coupled to the second gear 404 when the second gear 404 is positioned in the recesses 232, such that rotation of the second gear 404 causes the knob 170 to rotate about the axis 499.

[0058] like Figure 6 As shown, the helical protrusion 660 of the second worm gear 406 (which can be wound around the central longitudinal axis 699 of the second worm gear 406) can abut the gear teeth 661 of the second gear 404. When the second motor 402 rotates the second worm gear 406, the helical protrusion 660 pushes the gear teeth 661 in the proximal or distal direction, which causes the second gear 404 to rotate about the axis 499. When the knob 170 of the endoscope 105 is positioned within the recess 232, rotation of the second gear 404 causes the knob 170 to rotate clockwise or counterclockwise about the axis 499 ( Figure 5B ). Because power cannot be transmitted from the second gear 404 to the worm gear 406, the worm gear 406 provides a "self-locking" mechanism to lock the knob 170 in place when the second motor 402 is not driving (e.g., when the second worm gear 406 is not rotating). This "self-locking" mechanism provides the control system 100 with a mechanism to lock the position of the articulating tip section of the endoscope 105 in place without using any locking levers of the endoscope 105. The first motor 401, the first worm gear 405, and the first gear 403 operate in the same manner as the second motor 402, the second worm gear 406, and the second gear 404 to rotate and / or lock the knob 171 when it is positioned within the recess 234. Although the worm gears 405, 406 are discussed herein, other gear mechanisms may be used to drive the gears 403, 404, such as conventional gear assemblies, spur gears, helical gears, miter gears, or helical gears.

[0059] Figure 7Endoscope 105 is shown having an actuator assembly 1700 that can be incorporated into control system 100 to actuate an elevator rod 1704 of endoscope 105. Actuator assembly 1700 can be incorporated into first body 201 or second body 202 and can be positioned within channel 250. Actuator assembly 1700 can include a rack 1701, an elevator gear 1702, an elevator motor 1703, a frame 1711, and an elevator actuator 1706 rotatably coupled to a proximal end of rack 1701. Rack 1701 can be movably mounted to frame 1711 such that rack 1701 can only move in proximal and distal directions along a longitudinal axis of rack 1701. Teeth 1720 can extend longitudinally along an outer surface of rack 1701 and can engage elevator gear 1702. 1704. The elevator actuator 1706 can include a recessed portion 1707 configured to receive a portion of the elevator rod 1704 of the endoscope 105. When the elevator motor 1703 rotates the elevator gear 1702, the rack 1701 can translate in a proximal or distal direction to move the elevator actuator 1706 proximally or distally, thereby moving the elevator rod 1704 proximally or distally to actuate the elevator of the endoscope 105. When the elevator motor 1703 stops driving the elevator gear 1702, the elevator of the endoscope 105 can be locked in its position. The elevator actuator 1706 can be spring-loaded and / or can be biased toward the elevator rod 1704.

[0060] Figure 8 、 Figure 9 and Figure 10 The control assembly 101 is shown in perspective, rear, and front views, respectively, with the endoscope 105 positioned within the cradle assembly 150. Figure 8 、 Figure 9 and Figure 10 1 is shown in an open configuration with the second body 202 spaced apart from the endoscope 105 and the bracket assembly 150. Figure 8 As shown, the opening 230 of the second body 202 is laterally aligned with the knobs 170, 171. The bracket assembly 150 can be positioned on the first body 201 so that when the endoscope 105 is positioned within the bracket assembly 150, the knobs 170, 171 are laterally aligned with the opening 230. The second body 202 can be moved in a right or left direction (in the direction of the first body 201) by sliding along the track portions 219, 220. Figure 8 Move upward (shown as L and R arrows). Figure 9 A gap 276 is shown between the first body 201 and the second body 202. Figure 11As shown, base portion 205 may include a recess 1001 configured to receive a portion of rotary drive device 102 to fixedly couple base portion 205 to rotary drive device 102. Proximal-most end 1018 of second body 202 is shown distal to base portion 205.

[0061] To position the endoscope 105 in the control system 100, the user may first position the handle assembly 140 of the endoscope 105 in the cradle assembly 150 and temporarily securely couple the handle assembly 140 to the cradle assembly 150 by locking the door 225. Once the handle assembly 140 is locked in the cradle assembly 150, the user may move the control assembly 101 from the open configuration (e.g., Figures 8 to 10 ) to a closed form (as shown Figure 2 To move the gear assembly 229 from the open configuration to the closed configuration, the recess 234 of the first gear 403 needs to align with the prong of the knob 171 , and the recess 232 of the second gear 404 needs to align with the prong of the knob 170 .

[0062] In some examples, the detector system 540 can be used to automatically align the first gear 403 with the knob 171 and the second gear 404 with the knob 170. For example, the control unit 199 can receive images of the knobs 170, 171 from one or more cameras of the detector system 540, and the detector system 540 and / or the control unit 199 can detect the positions of the knobs 170, 171. In other examples, the control unit 199 can receive data from one or more cameras of the detector system 540, and the detector system 540 and / or the control unit 199 can detect the positions of the knobs 170, 171. The detector system 540 and / or the control unit 199 can detect a series of fiducial markers on the endoscope 105 for reference, such as the centers of the knobs 170, 171, the location of the handle of the endoscope 105, and the locations of the prongs of each of the knobs 170, 171. The detector system 540 and / or the control unit 199 can use the detected fiducial markers to determine the offset angle of each of the knobs 170, 171. Detector system 540 and / or control unit 199 can then activate motors 401, 402 to move gears 403, 404 into alignment with knobs 170, 171 to allow control assembly 101 to transition from an open configuration to a closed configuration in which knobs 170, 171 are received within gear assembly 229. In other examples, a user can manually rotate first gear 403 and second gear 404 to align gears 403, 404 with the position of knobs 170, 171.

[0063] In some examples, the detector system 540 and / or the control unit 199 can detect the position of one or more locking knobs 172 and / or locking levers and can provide a warning to the user if the locking knob 172 or locking lever is in the locked position (or is not disabled). The control system 100 can provide this warning to the user via an audible alarm, a visual display on an electronic display of the control unit 199 or other electronic device, and / or via tactile feedback, such as vibration of a portion of the control system or other device. In some examples, the control assembly 101 can include a motor and / or gears to automatically move the locking knob 172 and / or locking lever from the locked position to the unlocked position.

[0064] In some examples, the detector system 540 and / or the control unit 199 can detect the position of the elevator rod 1704. For example, the camera system and / or the control unit 199 can use fiducial markings on the elevator rod 1704 and / or on the handle of the endoscope 105. The detector system 540 and / or the control unit 199 can automatically align the elevator actuator 1706 with the elevator rod 1704 by actuating the elevator motor 1703 and moving the rack 1701 so that the elevator actuator 1706 is aligned with the elevator rod 1704.

[0065] Figure 11The control system 100 is shown coupled to an endoscope 105 with a portion of the first body 201 removed to expose the electronic circuitry 1222. The electronic circuitry 1222 can be positioned within the first body 201. A portion of the umbilicus 1220 of the endoscope 105 is shown positioned within the gap 276. The base 1203 can be coupled to the base plate 103 to couple the rotary drive 102 to the base plate 103. One or more motors can be incorporated into the track assembly 104 to move the base plate 103, as well as the rotary drive 102 and the control assembly 101 relative to the track assembly 104. The track assembly 104 provides a mechanism for translating the endoscope 105 proximally or distally to move the axis of the endoscope 105 proximally or distally through the patient. In some examples, the track assembly 104 can include graduations or other demarcations to indicate the distance the endoscope 105 has moved along the track assembly 104. In some examples, the distance traveled by the endoscope 105 along the track assembly 104 can be displayed on an electronic display, such as an electronic display of the control unit 199. The rotary drive 102 can be rotated about the axis 1299 to rotate the endoscope 105 about the longitudinal axis of the endoscope 105. In some examples, the control system 100 can be connected to the control unit 199, and the control unit 199 can control the operation of the control system 100, such as the movement of the endoscope, via the control system 100. In some examples, the remote control can be connected wirelessly or via a wire to the control system 100 and / or the control unit 199. Using the remote control, the user can actuate the control system 100 to move the endoscope 105 proximally or distally, rotate the endoscope about the axis 1299, actuate the knobs 170, 171 to move the distal articulating portion of the endoscope and / or actuate movement of the elevator of the endoscope 105. The remote control can be similar to remote control units known in the art, such as remote control or other handheld remote control unit.

[0066] Figure 12An alternative embodiment of a control system 2900 is shown, which can have any of the features discussed herein with respect to control system 100. Control system 3900 includes an actuator assembly 3907, which includes a first actuator 3910 and a second actuator 3911. Actuator assembly 3907 can be L-shaped and can extend outward from a first body 3901 of control system 3900. First body 3911 can have any of the features described herein with respect to first body 201. In some examples, actuator assembly 3907 can extend from a circuit board of circuitry 3922. Actuator assembly 3907 can include first actuator 3910 and second actuator 3911. When endoscope 105 is coupled to control system 3900, first actuator 3910 can be configured to align and engage with a button actuator 3920 of endoscope 105, and second actuator 3911 can be configured to align and engage with a button actuator 3921 of endoscope 105. For example, the first actuator 3910 and the second actuator 3911 can move to control actuators of the endoscope 105. The button actuators 3920, 3921 can be air / water actuators, suction actuators, imaging actuators, and / or can control any other aspect of the endoscope 105. The first actuator 3910 and the second actuator 3911 can provide the control system 3900 with the ability to control the actuation of the deployment or delivery of air / water from the endoscope 105, apply suction at a target site using the endoscope 105, activate an imaging system, such as taking pictures or videos using a camera of the endoscope 105, and / or control other aspects of the endoscope 105.

[0067] The shaft of the endoscope 105 is designed to be flexible to navigate tortuous pathways through the body. When the shaft of the endoscope 105 is unsupported, the shaft may form a loop when the control system 100, 3900 advances the endoscope 105 distally or proximally (e.g., by movement of the base plate 103 relative to the track assembly 104). Such a loop in the shaft may prevent the endoscope 105 from being inserted into a patient or may prevent the full range of movement of the base plate 103 (and the control assembly 101, the rotary drive 102, the base assembly 120, etc.) from being transmitted to the distal tip of the shaft. To prevent such undesirable looping, a support mechanism may be used with the control system 100, 2900.

[0068] Figure 13A and Figure 13B A telescoping support assembly 1401 is shown, which includes a series of concentric sections 1402-1405. The telescoping support assembly 1401 can be moved from Figure 13A The retracted form shown is converted to Figure 13B1405. The telescopic support assembly 1401 can be adjusted to adjust the longitudinal length of the assembly. Each portion 1402-1405 can be tubular, and a lumen can extend longitudinally through each portion 1402-1405. Portion 1402 can be received within the lumen of portion 1403. Portion 1403 can be received within the lumen of portion 1404, and portion 1404 can be received within the lumen of portion 1405. In some examples, each portion 1402-1405 can include a circumference that tapers along the longitudinal length of the portion, such that its circumference at its proximal end is greater than its circumference at its distal end. The tapering of each portion 1402-1405 can facilitate maintaining the smaller portion 1402-1405 received within the larger portion 1402-1405, even when each portion 1402-1405 is extended distally. The proximal end 1407 of the telescoping support assembly 1401 can be fixedly coupled to the distal end of the cradle assembly 150, and the proximal end 1407 can be wider than the distal portion of the support assembly 1401 (e.g., to remain within the distal end of the cradle assembly 150). Each portion 1402-1405 can be configured to receive a portion of the shaft of the endoscope 105 within its respective lumen. The distal end 1410 of the telescoping support assembly 1401 can be coupled to a fixed point during operation, such as the track assembly 104 or a bed supporting the patient. During surgery, the telescoping support assembly 1401 can extend or shorten in length as the endoscope 105 moves proximally or distally via movement of the cradle assembly 150 by the control system 100, 2900. In some examples, the telescoping support assembly 1401 can be positioned about the shaft of the endoscope 105 prior to insertion into the patient.

[0069] Figure 14An alternative embodiment of a telescoping support assembly 1501 is shown that can have any of the features described herein with respect to telescoping support assembly 1401. Telescoping support assembly 1501 includes concentric segments 1502-1505, and each segment 1502-1505 includes a slot 1531 extending longitudinally across the entire length of segment 1502-1505. A central longitudinal axis 1599 of telescoping support assembly 1501 can extend through slot 1531. Note that telescoping support assembly 1501 is shown in a collapsed configuration, where slot 1531 consists of slot 1531 from segment 1502, however, when telescoping support assembly 1501 is in a fully expanded configuration, slot 1531 includes slots from each of segments 1502-1505. Slot 1531 is configured to receive the shaft of endoscope 105 so that a user can slide the proximal portion of the shaft of endoscope 105 into slot 1531 during surgery without removing the shaft from the patient. A proximal end 1507 of telescoping support assembly 1501 can be fixedly coupled to a distal end of cradle assembly 150, and proximal end 1507 can be wider than a distal portion of support assembly 1501 (e.g., to remain within the distal end of cradle assembly 150).

[0070] Figure 15 An alternative embodiment of a telescoping support assembly 1601 is shown, which can have any of the features described herein with respect to telescoping support assemblies 1401 and 1501. Telescoping support assembly 1601 can include concentric portions 1602-1605 and a longitudinal slot 1631 extending the entire length of telescoping support assembly 1601. A radially inward surface 1632 of portion 1602 can form a portion of longitudinal slot 1631. Each portion 1602, 1603, 1604 can include a radial protrusion 1622, 1623, 1624 extending longitudinally along the length of portion 1602, 1603, 1604, respectively. In some examples, each radial protrusion 1622, 1623, 1624 can be located along a central region of portion 1602, 1603, 1604. Each segment 1603, 1604, 1605 can include a longitudinal recess 1613, 1614, 1615 extending longitudinally along the length of the segment 1603, 1604, 1605, respectively. Each longitudinal recess 1613, 1614, 1615 can be configured to receive a radial protrusion 1622, 1623, 1624 of an adjacent segment 1602-1604. By incorporating the radial protrusions 1622-1624 and the longitudinal recesses 1613-1615 into the telescoping support assembly 1601, each segment 1602-1605 can be prevented from rotating relative to the other segments, and the slot 1631 can be maintained during expansion and retraction of the telescoping support assembly 1601.

[0071] Figure 16An alternative embodiment of a second body 1802 is shown that can be incorporated into any of the control systems 100, 2900 discussed herein, for example, in place of the second body 202. The second body 1802 can have any of the features described herein with respect to the second body 202 and include an opening 1830 for a gear assembly 1829. A first recess 1810 of a first gear of the gear assembly 1829 can include a series of spring-biased pins 1851 within the first recess 1810. The first recess 1810 can be configured to receive the knob 170 of the endoscope 105, and when the knob 170 is positioned within the recess 1810, some of the spring-biased pins 1851 can compress. The spring-biased pins 1851 can conform to the shape of the knob 170 so that when the knob 170 is received within the first recess 1810, the knob 170 rotates when the first gear rotates. The depth of the recess 1810 can be substantially equal to the width of the knob 170 , and each spring biased pin 1851 can be biased toward an extended position in which the spring biased pin 1851 extends the entire width of the recess 1810 .

[0072] The second recess 1820 of the second gear 1831 of the gear assembly 1829 may include a series of spring-biased pins 1852 within the second recess 1820. The second recess 1820 may be configured to receive the rotation knob 171 of the endoscope 105, and some of the spring-biased pins 1852 may be compressed when the rotation knob 171 is positioned within the second recess 1820. The spring-biased pins 1852 may conform to the shape of the rotation knob 171 so that when the rotation knob 171 is received within the second recess 1820, the rotation knob 171 rotates when the second gear 1831 rotates. The depth of the recess 1820 may be substantially equal to the width of the rotation knob 171, and each spring-biased pin 1852 may be biased toward an extended position in which the spring-biased pin 1852 extends the entire width of the recess 1820.

[0073] Figure 16Gear assembly 1829 can facilitate positioning of knobs 170, 171 within gear assembly 1829. By incorporating gear assembly 1829 into control system 100, 2900, the user may not have to align knobs 170, 171 with any specific recesses / cavities of the gears of gear assembly 1829 before inserting them. For example, after the user couples handle assembly 140 to bracket assembly 150, the user can simply slide second body 1802 toward handle assembly 140 to insert knobs 170, 171 into gear assembly 1829. The spring-biased pins 1851, 1852 can then conform to the shape of knobs 170, 171, and the user can continue to operate control system 100, 2900. This can reduce overall surgical time and facilitate operation of control system 100, 2900. The hexagonal arrangement of the spring biasing pins 1851, 1852 can help ensure that the spring biasing pins 1851, 1852 surround the knobs 170, 171. In other examples, the arrangement of the spring biasing pins 1851, 1852 can be other shapes, such as triangular, rectangular, etc.

[0074] To operate the control system 100 or 2900, a user can first insert the handle assembly 140 of the endoscope 105 into the cradle assembly 150. The user can close and lock the door 225 using the fasteners 226, 227 to couple the handle assembly 140 to the cradle assembly 150. In some examples, the control system 100 can then automatically align the knobs 170, 171 with the recesses 232, 234 of the gear assembly 229 using the detector system 540 and / or the control unit 199. In other examples, the user can manually rotate the gears 403, 404 of the gear assembly 229 to align the recesses 232, 234 with the knobs 170, 171. The user can then slide the second body 202 toward the cradle assembly 150 to position the knobs 170, 171 in the gear assembly 229 and lock the second body 202 in the closed position. In some examples, the user can then couple the telescoping support assembly 1401, 1501, 1601 to the cradle assembly 150 and position the telescoping support assembly 1401, 1501 over a portion of the shaft of the endoscope 105. In some examples, the user can couple the telescoping support assembly 1501, 1601 to the cradle assembly 150 and position the telescoping support assembly 1501, 1601 over a portion of the shaft of the endoscope 105 after the shaft has been inserted into the patient, such as by inserting the shaft into the slot 1531, 1631.

[0075] The user can then continue to use the control system 100, 2900 to manipulate the endoscope 105 to perform the procedure. The user can utilize the control unit 199 to actuate the movement of the articulated portion of the endoscope 105 by rotating the knobs 170, 171; can rotate the endoscope 105 by driving the rotary drive 102; and can translate the endoscope 105 proximally or distally by actuating the motor within the track assembly 104 to move the base plate proximally or distally. In some examples, the user can actuate the elevator actuator 1706 of the endoscope 105 to move the elevator at the distal portion of the endoscope 105. The endoscope 105 can include a lumen, and moving the elevator can guide a medical device being delivered to the treatment site through the lumen. In some examples, the user can use a remote control, such as a handheld controller (e.g., having one or more joysticks), a laptop, a tablet, a cell phone, or other device to actuate any of these operations of the control system 100, 2900. During a procedure, a user may remove endoscope 105 from control assembly 101 to manually operate endoscope 105 , and in some examples, may then reinsert endoscope 105 into control assembly 101 to operate endoscope 105 using control system 100 .

[0076] In some examples, the control system 100, 2900 may include one or more actuators to perform one or more predetermined medical device movements. For example, a user may select a "home" button on the user interface of the control unit 199 or a button on a remote control, and the control system 100, 2900 may perform one or more movements / actuations to move the articulated section of the endoscope 105 shaft to a straight position, or a position in which the articulated section is longitudinally aligned with the proximal portion of the endoscope 105 shaft. This may facilitate withdrawal of the endoscope 105 from the patient. In other examples, the control system 100, 2900 may include one or more actuators to perform one or more predetermined medical device movements to achieve a specific position of the articulated section of the endoscope 105, such as a 45-degree bend to the right, a 45-degree bend to the left, a 90-degree bend upward, a 45-degree bend downward, or a 180-degree bend. This may allow the user to simply press a button to cause the control system 100, 2900 to move the endoscope 105 to a specific position. The various predetermined movements may be preset (e.g., factory stored movements) or may be user stored / saved movements (e.g., a user's "favorites"). In some examples, the control system 100, 2900 may include a remote image capture switch, such as a foot pedal or lever, to capture images using the endoscope 105.

[0077] In some examples, the control system 100, 2900 can be designed to allow the user to input the depth of insertion of the endoscope into the patient's body into the electronic interface of the control unit 199, and the control system 100, 2900 can automatically move the endoscope 105 by the input insertion distance. In some examples, to facilitate the insertion of the endoscope 105 into the control system 100, 2900 (e.g., when switching from manual operation to robotic operation), the control system 100, 2900 can also be designed to allow the user to input the current depth of the endoscope 105 in the patient's body during the operation, and the control system 100, 2900 then automatically moves the control assembly 101 to the appropriate position to insert the handle assembly 140 into the control assembly 101 (e.g., to compensate for the insertion depth of the endoscope).

[0078] In various embodiments, any of the systems and methods described herein may include a control unit 199, a control system 100, 2900, and a medical device (e.g., an endoscope 105). The control unit 199 and / or the control system 100, 2900 may include a processor in the form of one or more processors or central processing units ("CPUs") for executing program instructions. In some examples, the one or more processors may be one or more processing boards. The control unit 199 and / or the control system 100, 2900 may include an internal communication bus and a storage unit (such as a ROM, HDD, SDD, etc.) that may store data on a computer-readable medium, although the control unit 199 and / or the control system 100, 2900 may also receive programming and data via network communications. The control unit 199 and / or the control system 100, 2900 may also have a memory (such as RAM) that stores instructions for executing the techniques presented herein, however, the instructions may also be temporarily or permanently stored within other modules of the control unit 199 and / or the control system 100, 2900 (e.g., a processor and / or a computer-readable medium) or stored remotely, such as on a cloud server electronically connected to the control unit 199 and / or the control system 100, 2900. The various system functions of the control unit 199 and / or the control system 100, 2900 may be implemented in a distributed manner across multiple similar platforms to distribute the processing load. Alternatively, the systems discussed herein may be implemented by appropriately programming one computer hardware platform at the control unit 199.

[0079] Figure 17 Provides a functional block diagram description of a general computer hardware platform. Figure 17A network or host computer platform 700 is shown, which can generally be used to implement a server or browser, or any other device that performs the features of the methods and systems described herein. It is believed that those skilled in the art are familiar with the structure, programming and general operation of such computer equipment, and therefore the drawings should be self-explanatory.

[0080] For example, the platform 700 for a server etc. may include a data communication interface 760 for packet data communication. The platform may also include a central processing unit (CPU) 720 in the form of one or more processors for executing program instructions. The platform typically includes an internal communication bus 710, a program storage device, and data storage devices for various data files to be processed and / or communicated by the platform, such as ROM 730 and RAM 740, but the platform 700 for a server typically receives programming and data via network communication 770. The hardware components, operating systems, and programming languages ​​of such devices are conventional in nature, and it is assumed that those skilled in the art are sufficiently familiar with them. The platform 700 for a server may also include input and output ports 750 to connect to input and output devices, such as keyboards, mice, touch screens, monitors, displays, etc. Of course, various server functions may be implemented in a distributed manner on multiple similar platforms to distribute processing loads. Alternatively, a server may be implemented by appropriately programming a computer hardware platform.

[0081] The program aspects of the technology discussed herein can be considered as "products" or "articles of manufacture," which are typically in the form of executable code and / or associated data carried on or embodied in a type of machine-readable medium. "Storage" type media include computers, processors, etc., or their associated modules, such as any or all of various semiconductor memories, tape drives, disk drives, etc., which can provide non-temporary storage for software programming at any time. Sometimes, all or part of the software can be communicated via the Internet or various other telecommunications networks. For example, such communications can enable software to be loaded from one computer or processor to another, for example, from a management server or host of a mobile communication network to a server's computer platform and / or from a server to a mobile device. Therefore, another type of medium that can carry software elements includes light waves, radio waves, and electromagnetic waves, such as those used across physical interfaces between local devices, through wired and fiber optic route networks, and through various air links. Physical elements that carry such waves, such as wired or wireless links, fiber optic links, etc., can also be considered as media that carry software. As used herein, unless restricted to non-transitory, tangible "storage" media, terms such as computer or machine "readable medium" refer to any medium that participates in providing instructions to a processor for execution.

[0082] Figure 18An exemplary motorized control system 1900 is shown according to one or more embodiments of the present invention. Motorized control system 1900 can include any of the features discussed herein with respect to motorized control system 100. Motorized control system 1900 can be configured to couple to a medical device, such as endoscope 105, via a cradle assembly 1950. Cradle assembly 1950 can include a control assembly 1929, and first frame 1901 can at least partially surround control assembly 1929. Cradle assembly 1950 can couple to a rotary drive assembly 1902 and a base frame 1940 at its proximal end, and can be connected to a control unit 199 (via one or more wires, wirelessly, or any other electrical connection). Rotary drive assembly 1902 and base frame 1940 can couple to a support structure 1903, and base frame 1940 can be movably coupled to support structure 1903. In some examples, one of the base frames 1940 can include a distal cavity 1921 and can be removable to allow an endoscope or other medical device to be installed and removed mid-surgery. In some examples, the removable piece of the base frame 1940 can rotate relative to a bearing on the base frame 1940.

[0083] The support structure 1903 can be movably coupled to the track assembly 1904, and the track motor 1980 can be configured to move the base frame 1940 longitudinally relative to the track assembly 1904. As will be discussed in detail herein below, the control system 1900 can be configured to control movement of the endoscope 105 in proximal and distal directions, control rotation of the endoscope 105 in clockwise and counterclockwise directions about the central longitudinal axis 1999, control movement of a distal articulating section of the shaft 1995 of the endoscope 105 via rotation of knobs 170, 171, control movement of an elevator of the endoscope 105 via movement of one or more rods of the endoscope 105, and / or control actuation of one or more suction lumens or water jets of the endoscope 105.

[0084] like Figure 18As shown, endoscope 105 can be coupled to carriage assembly 1950 via base frame 1940, first frame 1901, and control assembly 1929. A proximal portion of shaft 1995 can extend through distal lumen 1921 of base frame 1940 and first frame 1901. Knobs 170, 171 of endoscope 105 can be received by control assembly 1929, and a shaft of endoscope 105 can be received by shaft actuator 2306 of control assembly 1929. Control assembly 1929 can be fixedly coupled to mounting plate 1906 of first frame 1901 (such as via bracket 2104 or other coupling assembly), and mounting plate 1906 can be substantially flat and extend from the proximal end of first frame 1901 to the distal end of first frame 1901. Shaft actuator 2306 can be driven by shaft motor 1915 mounted to first frame 1901. A rotational drive 1902 can be coupled to a proximal end of the base frame 1940, and the rotational drive 1902 can be configured to rotate the carriage assembly 1950, including the control assembly 1929 and the first frame 1901, about a central longitudinal axis 1999. When coupled to the carriage assembly 1950, the endoscope 105 can be in a vertical position, wherein the central longitudinal axis 1999 is substantially perpendicular to the central longitudinal axis 1997 of the track assembly 1904. Because the motorized control system 1900 is configured to receive the endoscope 105 in a vertical position, a user can more easily transition from holding the endoscope 105 in a vertical position and operating on a patient to coupling the endoscope 105 to the motorized control system 1900. The design of the motorized control system 1900 can prevent the user from having to move the endoscope 105 from a vertical position to a horizontal position in order to connect the endoscope 105 to the motorized control system 1900, and thus can reduce surgical time and reduce user errors when connecting the endoscope 105 to the motorized control system 1900.

[0085] Figure 19 and Figure 20 A side view of the bracket assembly 1950 is shown. Figure 19 As shown, the first motor 1917 is coupled to the mounting plate 1906 and the first worm gear 1931. The first motor 1917 is configured to rotate the first worm gear 1931 about its central longitudinal axis to drive the first gear 1932 of the control assembly 1929. Figure 21, second motor 1918 is also coupled to mounting plate 1906 and is configured to drive second worm gear 1933. Second motor 1918 is configured to rotate second worm gear 1933 about its central longitudinal axis to drive second gear 1934 of control assembly 1929. Each of first motor 1917 and second motor 1918 extends longitudinally along the planar surface of mounting plate 1906. First worm gear 1932 can abut and engage first gear 1932, and second worm gear 1933 can abut and engage second gear 1934. As will be described in greater detail below, first motor 1917, second motor 1918, first worm gear 1932, second worm gear 1933, first gear 1932, and second gear 1934 function in substantially the same manner as motors 401, 402 and worm gears 405, 406 described above. The lever 2101 can be coupled to the support structure 1903 and the bracket 2102, and the bracket 2102 can be fixedly coupled to the base frame 1940. The lever 2101 can be configured to fixedly couple the base frame 1940 to the support structure 1903 in a first position and to movably couple the base frame 1940 to the support structure 1903 in a second position to allow a user to vertically slide the base frame 1940 up and down along the support structure 1903. The lever 2101 can allow a user to adjust the operating height of the endoscope 105 when using the motorized control system 1900.

[0086] The first frame 1901, along with the mounting plate 1906 and the control assembly 1929, can be rotatably coupled to the rotation gear 2195 of the rotation drive 1902. The rotation drive 1902 can rotate the first frame 1901 about the central longitudinal axis 1999 relative to the base frame 1940 and the support structure 1903. The distal cavity 1921 of the base frame 1940 and the distal cavity 1981 of the first frame 1901 can be aligned with each other, and the distal cavities 1921, 1981 can be configured to receive an endoscope 105, such as the distal end 115 of the handle assembly 140. Each distal cavity 1921, 1981 can be tapered such that the distal opening of the distal cavity 1921 is smaller than the proximal opening of the distal cavity 1921, 1981. The longitudinal gap 2211 ( Figure 22 1921 ), and the gap 2211 can be configured to receive the shaft 1995 of the endoscope 105. The distal lumens 1921, 1981 can be removably coupled to the endoscope 105 and can facilitate maintaining the endoscope 105 in a vertical position (e.g., Figure 19 and Figure 20). In some examples, distal lumen 1981 of first frame 1901 can be configured to be removably, fixedly coupled to handle assembly 140, and distal lumen 1921 can be configured to be rotatably coupled to handle assembly 140 such that handle assembly 140 can be rotated within distal lumen 1921 about axis 1999 when positioned within distal lumen 1921. Longitudinal gap 2211 can allow a user to intraoperatively position endoscope 105 within distal lumens 1921, 1981 while the proximal portion of shaft 1995 is positioned within the patient's body and can avoid the need to remove shaft 1995 from the body during surgery. In addition, the longitudinal gap 2211 can provide a user with a way to connect the endoscope 105 to the bracket assembly 1950 without feeding the distal end of the shaft 1995 through the cavities 2211, 1921, and the shaft 1995 can be positioned within the cavities 2211, 1921 without feeding the distal end of the shaft 1995 through the cavities 2211, 1921.

[0087] The rotary drive device 1902 may include a rotary motor 1991, a rotary worm gear 1992, and a rotary gear 2195. Each of the rotary motor 1991, the rotary worm gear 1992, and the rotary gear 2195 may be positioned at the proximal end of the base frame 1940 and may be positioned on a proximally facing flat surface of the base frame 1940. The rotary motor 1991 may drive the rotary worm gear 1992 to rotate the rotary worm gear 1992 around a central longitudinal axis 2999 ( Figure 20 ) rotates. The central longitudinal axis 2999 can be transverse to the central longitudinal axis of the rod motor 1915. The helical groove of the rotating worm gear 1992 can engage the rotating gear 2195 to rotate the rotating gear 2195 about the axis. The rotating gear 1995 can be fixedly coupled to the first frame 1901 and can be rotatably coupled to the base frame 1940. For example, the rotating gear 2195 can rotate a shaft (not shown) extending from the rotating gear 2195 through the base frame 1940 to the first frame 1901 and thereby rotate the control assembly 1929 and the endoscope 105 about the axis 1999. In some examples, the first frame 1901 can be rotatably coupled to a proximal portion of the base frame 1940, such as proximate to the cavity 1921 of the base frame 1940, and can be configured to allow the first frame 1901 to rotate about the axis 1999.

[0088] like Figure 19 and Figure 20As shown, endoscope 105 can be coupled to cradle assembly 1950 by positioning distal end 115 of handle assembly 140 in distal lumens 1921, 1981 and positioning knobs 170, 171 in control assembly 1929. Knobs 170, 171 can be removably coupled to control assembly 1929, and rod actuator 2306 can be coupled to elevator rod 1704 of endoscope 105. In some examples, handle assembly 140 can be maintained in a vertical position via control assembly 1929, distal lumens 1921, 1981, and rod actuator 2306.

[0089] Figure 22 The bracket assembly 1950 is shown removed from the motorized control system 1900. Figure 22 As shown, the rod actuator 2306 can include a curved radial outer surface 2222 and teeth 2202 on the curved radial outer surface 2222. The teeth 2202 can mesh with the worm gear 1933 so that the worm gear 1933 can drive the movement of the rod actuator 2306 to actuate the elevator rod 1704.

[0090] Figure 23 An exemplary stem actuator 2306 is shown including biasing members 2302, 2303, a curved radially outer surface 2305 having teeth 2309, a curved radially inward surface 2304 configured to abut lifter stem 1704, and a recessed portion 2301 configured to slidably receive a protrusion 2287 of a control assembly 1929 to movably couple the stem actuator 2306 to the control assembly 1929. The biasing members 2302, 2303 may be springs and / or may be any biasing member known in the art, and in some examples, the stem actuator 2306 may include only a single biasing member 2302, 2303, or may include more than two biasing members 2303, 2303. 1704. The biasing members 2302, 2303 can provide a way for the user to move the radially inward surface 2304 and position the elevator rod 1704 so that once the user releases the radially inward surface 2304, the radially inward surface 2304 abuts the elevator rod 1704. The teeth 2309 can engage the worm gear 1933. When the rod motor 1915 rotates the rod actuators 2306, 2306, the rod actuators 2306, 2306 can move in a proximal or distal direction to move the elevator actuator 1706 proximally or distally, thereby moving the elevator rod 1704 proximally or distally, to actuate the elevator of the endoscope 105. When the rod motor 1915 stops driving the rod actuator 2306, the elevator of the endoscope 105 can be locked in its position.

[0091] refer to Figure 22, first cavity 2235 can be at least partially formed by a series of recesses 2234 circumferentially spaced about a radially inward surface 2232 of control assembly 1929. Control assembly 1929 can have any of the features of gear assembly 229 and can operate in substantially the same manner as gear assembly 229. Specifically, first motor 1917 can drive (rotate) first worm gear 1931 to rotate first gear 1932, thereby rotating knob 171 of endoscope 105. Second motor 1918 can drive (rotate) second worm gear 1933 to rotate second gear 1934, thereby rotating knob 170 of endoscope 105. Any of the features of gear assembly 229 can be incorporated into control assembly 1929. In some examples, a portion of control assembly 1929 can be integral with base plate 1906. First motor 1917 and second motor 1918 can be positioned on a side of mounting plate 1906 opposite rod motor 1915.

[0092] In operation, the motorized control system 1900 can be used in substantially the same manner as the system 100 described above and can incorporate any of the operational features discussed above with respect to the system 100. A user can first position the endoscope 105 at a target site within the patient's body. The user can then couple the handle assembly 140 to the motorized control system 1900 by inserting the knobs 170, 171 into the control assembly 1929 and inserting the handle assembly 140 into the distal lumens 1981, 1921. The user can then use a controller, such as a handheld controller, a computer, or other control unit, to actuate the motors 1915, 1917, 1918 to move (articulate) the endoscope 105 and move the elevator of the endoscope 105 during operation. The user can actuate the orbital motor 1980 to translate the endoscope in the proximal or distal direction and can actuate the rotary drive 1902 to rotate the endoscope 105 about the axis 1999. Because the motorized control system 1900 is configured to maintain the handle assembly 140 in a vertical position, the user can switch more ergonomically between manual operation of the endoscope 105 and motorized operation of the endoscope 105 via the motorized control system 1900, which can reduce user fatigue, improve surgical accuracy, reduce patient complications, and reduce overall surgical time, among other things.

[0093] Figure 24Another embodiment of a motorized control system 2400 is shown. Motorized control system 2400 can include any of the features of any of the other systems, devices, and methods discussed herein, such as motorized control systems 100, 2900, 1900. Motorized control system 2400 can include a carriage assembly 1950 having a rotary drive 1902, gears 1931, 1932, motors 1915, 1917, 1918, a mounting plate 1906, and a base frame 1940. Support structure 2503 can be T-shaped or L-shaped and can be configured to not move compared to support structure 1903 of motorized control system 1900. During operation of motorized control system 2400, a user can manually move shaft 1995 proximally or distally through a patient. Motorized control system 2400 can be configured to move endoscope 105 by rotating endoscope 105 about axis 1999, to control articulation of the distal portion of endoscope 105 via motorized control of knobs 170, 171, and to control actuation of the elevator of endoscope 105 via elevator rod 1704. By providing a fixed support structure 2503 in motorized control system 2400, system 2400 can be fixed in one location within an operating room to promote operating room efficiency and reduce surgical time.

[0094] As discussed above, the shaft 1995 of the endoscope 105 is designed to be flexible to navigate tortuous pathways through the body. When the shaft of the endoscope 105 is unsupported, the shaft may form a loop when the control system 1900, 2600 or the user advances the endoscope 105 distally or proximally. This loop in the shaft can prevent the endoscope 105 from being inserted into the patient's body or causing the shaft 1995 to become tangled, and prevents movement of the proximal portion of the shaft 1995 from being transmitted to the distal tip of the shaft 1995. To prevent this undesirable looping, a support mechanism can be used with the control system 100, 2900, 1900, 2600.

[0095] Figure 25 A telescoping support assembly 2601 is shown coupled to a control system 2600. The telescoping support assembly 2601 can include any of the features discussed herein with respect to the telescoping support assemblies 1401, 1501. The telescoping support assembly 2601 can include a series of concentric portions 2602-2605. The proximal concentric portion 2605 can include a curved portion 2612 configured as a curved proximal portion of the support shaft 1995. The proximal opening 1607 of the telescoping support assembly 1601 can face in a direction transverse to the distal-most opening (not shown) of the telescoping support assembly 2601. The telescoping support assembly 2601 can transition from a retracted configuration to a Figure 25The extended configuration shown. Telescopic support assembly 2601 can be adjusted to adjust the longitudinal length of the assembly. Each portion 2602-2605 can be tubular, and a lumen can extend longitudinally through each portion 2602-2605. Portion 2602 can be received within the lumen of portion 2603. Portion 2603 can be received within the lumen of portion 2604, and portion 2604 can be received within the lumen of portion 2605. In some examples, each portion 2602-2605 can include a circumference that tapers along its longitudinal length, such that its circumference at its proximal end is greater than its circumference at its distal end. The tapered shape of each portion 2602-2605 can facilitate retaining the smaller portion 2602-2604 within the larger portion 2603-2605, even when each portion 2602-2605 is extended distally. In some examples, the proximal end of portion 2605 can be fixedly coupled to the distal end of bracket assembly 1950. Each portion 2602-2605 can be configured to receive a portion of the shaft 1995 of the endoscope 105 within its respective lumen. The distal end of the telescoping support assembly 2601 can be coupled to a fixed point during operation, such as a track assembly 1904 or a bed supporting a patient. During surgery, the length of the telescoping support assembly 2601 can be extended or retracted as the endoscope 105 is moved proximally or distally via movement of the control system 100, 2900, 1900, 2400 or via movement of the endoscope 105 by the user. In some examples, the telescoping support assembly 2601 can be positioned around the shaft of the endoscope 105 prior to insertion into the patient.

[0096] Figure 26 An alternative embodiment of a control system 2600 is shown. The control system 2600 may include any of the features of the control system 2400 described herein and may not include the proximal portion of the base frame 1940. By removing the proximal portion of the base frame 1940, the control system 2600 may reduce the potential for pinch points on the shaft 1995 during operation of the control system 2600. For example, to reduce the potential for pinch points between the first frame 1901 and the base frame 1940, the proximal and distal portions of the base frame 1940 may be made greater than the height of the first frame 1091 in a radial direction from the central axis 1999.

[0097] Figure 26 Also included is an actuator assembly 2701, which may be included in the control system 2600. The actuator assembly 2701 may include an actuator frame 2702, a first circular member 2703, and a second circular member 2704. Figure 27, each of the circular members 2703, 2704 can be cylindrical and can include a central cavity extending longitudinally through the central longitudinal axis 2898, 2999, and each central cavity can receive a portion of the actuator frame 2702. Each circular member 2703, 2704 can include a curved radially outward (relative to its longitudinal axis 2898, 2899, respectively) surface 2806, 2805. Each radially outward surface 2806, 2805 can be configured to receive and be substantially aligned with a radially outward surface (relative to the central longitudinal axis 1999) of the shaft 1995. The actuator frame 2702 can include a first portion 2802 coupled to each of the circular members 2703, 2704, and a second portion 2803 (connected only to the circular member 2703) Figure 27 ). In some examples, the first circular member 2703 can be movable relative to the second circular member 2704. For example, when the shaft 1995 is positioned between the first circular member 2703 and the second circular member 2704, the first circular member 2703 can be biased toward a position where the shaft 1995 abuts the first circular member 2703 and the second circular member 2704. The first circular member 2703 (or the second circular member 2704 in other examples) can be moved (respectively) away from the second circular member 2704 (or the first circular member 2703) to release the shaft 1995 from the actuator assembly 2701. Each of the circular members 2703, 2704 can be a pulley. One or more motors can be incorporated into the actuator assembly 2701, and the one or more motors can drive the first circular member 2703, the second circular member 2704, or both the first circular member 2703 and the second circular member 2704. In some examples, actuator assembly 2701 can be electrically connected via one or more wires or wirelessly to control unit 199 and / or one or more handheld controllers configured to operate one or more motors.

[0098] In some examples, each of first circular member 2703 and second circular member 2704 can be actuated simultaneously and can rotate at the same rate about their respective longitudinal axes 2898, 2899 to move shaft 1995 in a proximal or distal direction. In other examples, only one of first circular member 2703 or second circular member 2704 can be actuated and driven by a motor, and the other of first circular member 2703 and second circular member 2704 can rotate freely about its respective longitudinal axis 2898, 2899. In some examples, one or more of curved radially outer surfaces 2805, 2806 can be coated with rubber or other material to increase friction between curved radially outer surfaces 2805, 2806 and shaft 1995. By providing actuator assembly 2701, control system 2600, or any other control system discussed herein, can be positioned close to the patient during surgery, which is more convenient for the user and can facilitate operation of control system 2600. During operation, a user may first insert the shaft 1995 into the actuator assembly 2701 by positioning the shaft 1995 between the first circular member 2703 and the second circular member 2704, and then the user may proceed with an operation including any of the steps described herein with respect to the control systems 100, 2900, 1900, 2600. The user may actuate the actuator assembly 2701 via a control unit, remote control, or other device to move the shaft 1995 in a proximal or distal direction (for insertion and withdrawal from the patient during surgery).

[0099] Figures 28 to 34 Another embodiment of an actuator assembly 2901 is shown. Actuator assembly 2901 can have any of the features described above with respect to actuator assembly 2701 and can be used in the same manner as actuator assembly 2701 with any of the devices described herein, such as control systems 100, 2900, 1900, 2600, and any other suitable medical device. For example, a user can actuate actuator assembly 2901 via a control unit, remote control, or other device to move shaft 1995 in a proximal or distal direction (for insertion and withdrawal from a patient during surgery), as will be described further below.

[0100] Figure 28A perspective view of an actuator assembly 2901 is shown, including a first circular member 2928 and a second circular member 2929. Each of the first circular member 2928 and the second circular member 2929 can be movably coupled to a first frame portion 2903, and the first frame portion 2903 can be substantially planar. The first frame portion 2903 can be fixedly coupled to the base 2902, and the first and second circular members 2928 and 2929 can be coupled to the same side of the first frame portion 2903. A first motor 2905 can be operably coupled to the first circular member 2928, and a second motor 2904 can be operably coupled to the second circular member 2929. The first motor 2905 can be coupled to a side of the first frame portion 2903 opposite the first and second circular members 2928 and 2929. The second motor 2904 can be coupled to the second frame portion 2906, and the second frame portion 2906 can be substantially planar and coupled to the base 2904. The second motor 2904 is located on the same side of the first frame 2903 as the first circular member 2928 and is located on the opposite side of the first frame 2903 from the first motor.

[0101] Second frame portion 2906 may include a series of protrusions 2907-2909, and each protrusion 2907-2909 may include a cavity configured to receive second drive shaft 2991. Second motor 2904 may drive (e.g., rotate) second drive shaft 2991. Second worm gear 2914 may be coupled to second drive shaft 2991 and rotated by second motor 2904, and may drive (e.g., rotate) second gear 2910. Second gear 2910 may include a series of teeth 2912, and teeth 2912 may engage grooves 2911 of second worm gear 2914. Third drive shaft 2913 may be coupled to second gear 2910 and may also be coupled to second circular member 2929. When second gear 2910 is rotated by second worm gear 2914, second circular member 2929 may rotate via third drive shaft 2913.

[0102] The first circular member 2928 can be rotatably coupled to the circular channel 2921 in the first frame portion 2903. Figure 30 and Figure 31, the circular channel 2921 may include a series of gears that are configured to engage the third circular member 2939. The third circular member 2939 may be adjacent to the first circular member 2928, and the third circular member 2939 may be positioned within a recess of the first frame 2903, at the protrusion 2923 of the first frame 2903. The first gear 2930 may be fixedly coupled to the third circular member 2939 via a fourth drive shaft 2944, and the fourth drive shaft 2944 may be rotatable about the central longitudinal axis 2988. The first circular member 2928 may be movable within the circular channel 2921 so that a user can adjust the distance between the first circular member 2928 and the second circular member 2929. As Figure 30 As shown, the central rotational axis 2987 of the first circular member 2928 can be offset from the central longitudinal axis 2988 of the fourth drive shaft 2944.

[0103] Figure 29 29. A front view of the actuator assembly 2901 is shown with the first circular member 2928 adjusted so that the first circular member 2928 abuts the second circular member 2929. Figure 29 As shown, the first circular member 2928 and the second circular member 2929 are longitudinally aligned and are configured to receive the shaft of the medical device. Figure 30 A perspective, rear view of actuator assembly 2901 is shown, illustrating gap 2959 between first frame portion 2903 and second frame portion 2906. Gap 2959 can be configured to receive a shaft of a medical device and can facilitate guiding the shaft toward first circular member 2928 and second circular member 2929. Gap 2959 can help reduce tangles in the shaft of the medical device during operation of actuator assembly 2901, for example, by helping to limit the space through which the shaft can move.

[0104] like Figure 31 As shown, first frame portion 2903 may include a series of protrusions 2933-2935, and each protrusion 2933-2935 may include a cavity configured to receive first drive shaft 2917. First motor 2905 may drive (e.g., rotate) first drive shaft 2917. First worm gear 2940 may be coupled to first drive shaft 2917, and first worm gear 2940 may be rotated by first motor 2905 and may drive (e.g., rotate) first gear 2930. First gear 2930 may include a series of teeth 2965, and teeth 2965 may engage grooves 2981 of first worm gear 2940. Fourth drive shaft 2944 may be coupled to first gear 2930 and may also be coupled to third circular member 2939. When first gear 2930 is rotated by first worm gear 2940, third circular member 2939 may rotate via fourth drive shaft 2944.

[0105] Figure 32 A perspective view of actuator assembly 2901 coupled to shaft 1995 of endoscope 105 is shown. Each of first circular member 2928 and second circular member 2929 can be actuated simultaneously and can rotate at the same rate to move shaft 1995 in either a proximal or distal direction. In other examples, only one of first circular member 2928 or second circular member 2929 can be actuated and driven by one of motors 2904, 2905, while the other can rotate freely. By providing actuator assembly 2901, control system 2600, or any other control system discussed herein, can be positioned close to the patient during surgery, which is more convenient for the user and can facilitate operation of control system 2600. During operation, the user can first insert shaft 1995 into actuator assembly 2901 by positioning it between first circular member 2928 and second circular member 2928. The user can then move the first circular member 2928 to a position adjacent the shaft 1995, and the user can then proceed with operations including any of the steps described herein with respect to the control systems 100, 2900, 1900, 2600. The user can actuate the actuator assembly 2901 via a control unit, remote control, or other device to move the shaft 1995 in a proximal or distal direction (for insertion and withdrawal from the patient during surgery).

[0106] Figure 33 and Figure 34 The actuator assembly 2901 is shown with the first circular member 2928 in two different positions. Figure 33 In FIG, a portion of the first circular member 2928 abuts a portion of the second circular member 2929. Figure 34 2929, first circular member 2928 has been moved along channel 2921 to adjust the position of first circular member 2928 relative to second circular member 2929, and first circular member 2928 is spaced apart from second circular member 2929 to allow shaft 1995 to be positioned between first circular member 2928 and second circular member 2929. By allowing first circular member 2928 to be movable relative to second circular member 2929 and then to be locked in position during operation of actuator assembly 2901, actuator assembly 2901 can accommodate various sizes and / or shapes of shafts of medical devices.

[0107] Although the disclosed methods, apparatuses, and systems are described with exemplary reference to the control unit 199 and the control system 100, 2900, it should be understood that the disclosed embodiments may be applicable to any environment, such as a desktop or laptop computer, etc. In addition, the disclosed embodiments may be applicable to any type of Internet protocol.

[0108] Embodiments of the present invention are directed to improving the operation of medical devices, such as endoscopes, and facilitating the control of the movement of medical devices, such as endoscopes, during medical procedures. As non-limiting exemplary advantages, aspects of the present invention can reduce surgical time, improve the maneuverability of medical devices, reduce surgical complications, improve patient outcomes, etc.

[0109] It should be understood that in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof to simplify the present invention and aid in understanding one or more of the various inventive aspects. However, this approach of the present invention should not be interpreted as reflecting an intention that the claimed invention requires more features than expressly recited in each claim. On the contrary, as reflected in the following claims, inventive aspects exist in features that are less than all of the features of a single aforementioned disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim existing independently as a separate embodiment of the present invention.

[0110] Furthermore, although some embodiments described herein include some features included in other embodiments and not other features, combinations of features from different embodiments are intended to be within the scope of the present invention and to form different embodiments, as will be understood by those skilled in the art. For example, in the following claims, any of the claimed embodiments may be used in any combination.

[0111] Thus, although certain embodiments have been described, those skilled in the art will recognize that other and further modifications may be made thereto without departing from the spirit of the invention, and it is intended that all such changes and modifications fall within the scope of the invention. For example, steps may be added or deleted from the method described within the scope of the invention.

[0112] The subject matter disclosed above should be considered illustrative, not restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other embodiments that fall within the true spirit and scope of the invention. Therefore, to the maximum extent permitted by law, the scope of the present invention should be determined by the broadest permissible interpretation of the following claims and their equivalents, and should not be restricted or limited by the foregoing detailed description. Although various embodiments of the present invention have been described, it will be apparent to those skilled in the art that more embodiments may be within the scope of the present invention. Therefore, the present invention is not limited except in accordance with the appended claims and their equivalents.

Claims

1. A motorized control system for a medical device, comprising: A control component, comprising: A first body comprising a bracket assembly, wherein the bracket assembly is configured to be removably coupled to the medical device, the first body comprising: Gear assembly, a first motor configured to drive a first gear of the gear assembly, and a second motor configured to drive a second gear of the gear assembly; wherein the gear assembly is configured to receive a plurality of knobs of the medical device; wherein the first motor is configured to drive the first gear to rotate a first knob among the plurality of knobs; and The second motor is configured to drive the second gear to rotate a second knob among the plurality of knobs.

2. The motorized control system of claim 1 , further comprising a rotational drive coupled to a proximal end of the control assembly, wherein the rotational drive is configured to rotate the control assembly and the medical device about a longitudinal axis of the medical device.

3. The electrified control system according to claim 2, further comprising: a base assembly coupled to the first body; as well as A track assembly is coupled to the base assembly, wherein the track assembly includes at least one motor and is configured to move the control assembly in proximal and distal directions.

4. The electrified control system according to claim 3, wherein the control component further comprises: An actuator assembly, the actuator assembly comprising: a lifter actuator configured to align with a lifter rod of the medical device, lifter motor; and a third gear coupled to the elevator motor; Wherein the actuator assembly is configured to move an elevator rod of the medical device.

5. The motorized control system of any preceding claim, wherein the bracket assembly further comprises: a first worm gear coupled to the first motor and engaged with the first gear; as well as A second worm gear is coupled to the second motor and engages with the second gear.

6. The electrified control system according to claim 5, wherein: the first motor, the first worm gear, and the first gear being longitudinally aligned; the second motor, the second worm gear, and the second gear are longitudinally aligned; as well as The first gear is adjacent to the second gear.

7. The motorized control system of any one of the preceding claims, wherein the first gear includes a series of recesses configured to align with the prongs of the first knob; and wherein the second gear includes a series of recesses configured to align with the prongs of the second knob.

8. A motorised control system according to any preceding claim, wherein the control assembly is controlled by a control unit comprising an electronic display.

9. The motorised control system of any one of the preceding claims, wherein the first body comprises a first frame, a base frame and a mounting plate.

10. The motorized control system of claim 9, wherein the mounting plate extends longitudinally in a proximal-distal direction, and wherein the first motor and the second motor are coupled to the mounting plate.

11. A motorised control system according to any preceding claim, further comprising a telescopic support assembly.

12. The motorized control system of claim 9 or 10, wherein the first frame includes a first distal cavity and the base frame includes a second distal cavity, and wherein each of the first distal cavity and the second distal cavity is configured to receive a portion of the medical device.

13. The motorized control system of any preceding claim, further comprising a remote control configured to communicate with the control assembly to operate the first motor and the second motor.

14. A motorised control system according to any preceding claim, wherein the medical device is an endoscope.

15. The motorized control system of any preceding claim, further comprising an actuator assembly comprising a first circular member and a second circular member, wherein the actuator assembly is configured to receive a shaft of the medical device.

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