Medical system comprising a medical imaging device with a light source and a member for moving a sensor detecting

Abstract

A medical system (100) is disclosed that includes a medical device (110) having an imaging device configured to capture an image of a target site to determine a position of the target site from the image. The medical device includes a light source configured to direct light onto a location of a target site, and a processor (104) and a non-transitory computer readable medium storing instructions that when executed by the processor, the light source is configured to direct light onto the location of the target site. The instructions cause the processor to move the sensor of the medical device (140) toward a position of the target site in accordance with the sensor detecting light at the target site.

Description

This case is a divisional application of Invention Patent Application No. 202080084241.2 Cross-reference to Related Documents

[0001] This application claims priority to U.S. Provisional Application No. 62 / 942,959, filed December 3, 2019, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] Various aspects of the present disclosure generally relate to medical device tracking systems, devices, and related methods. More particularly, at least certain embodiments of the present disclosure relate to systems, devices, and related methods for locating one or more target sites within a patient during an endoscopic procedure to facilitate placement of a medical device, among other aspects. BACKGROUND

[0003] Advances in technology have given users of medical systems, devices, and methods the ability to perform increasingly complex procedures on subjects. One challenge in the field of minimally invasive surgery, such as endoscopy, is related to cannulation of target sites within a patient, such as the ampullary opening to the common bile duct. Due to the generally lack of visibility of the target site, as well as the lack of control over placement of a medical device at the location of the target site, it can be difficult to arrange a medical device at the precise location of the target site within the patient. Limitations in the stability provided by the medical device in placing an endoscope at the target treatment site of the patient can lengthen the procedure time, limit its efficiency, and / or cause harm to the patient due to misplacement or instability of the medical device. There is a need for devices and methods that can address one or more of these difficulties or other related issues. SUMMARY

[0004] Aspects of the present disclosure relate to, among other things, systems, devices, and methods for placing a medical device at a target treatment site with a medical system that includes target identification logic. Each aspect disclosed herein can include one or more of the described features in relation to any other disclosed aspect.

[0005] According to one example, a medical system includes a medical device having an imaging device configured to capture an image of a target site. A location of the target site is determined from the image. The medical device further includes a light source configured to shine light onto the location of the target site, and a processor and a non-transitory computer-readable medium storing instructions that, when executed by the processor, cause the processor to move a sensor of the medical instrument toward the location of the target site in accordance with the sensor detecting the light at the target site.

[0006] Any of the medical systems described herein can have any of the following features. The sensor is movable relative to a position of the imaging device toward the location of the target site in accordance with the sensor detecting the light at the target site. Instructions stored in a non-transitory computer readable medium cause a processor to detect a change in position of the imaging device relative to the target site, determine a position of the target site relative to the imaging device, and redirect the light to the position of the target site. The processor is configured to detect the change in position of the imaging device relative to the target site in accordance with images periodically captured by the imaging device. The processor is configured to compare the position of the target site to an original position of the target site to determine a position discrepancy. The processor is configured to determine whether the position discrepancy exceeds a preset threshold. The light source includes a source that produces a laser beam. The imaging device includes a camera. The medical system can include a medical instrument, wherein the sensor includes at least one of a photodetector, a photodiode, and a charge-coupled device (CCD). The sensor is configured to produce a photodiode signal in response to detecting the light at the target site. The intensity of the photodiode signal produced by the sensor includes a greater intensity when the sensor is located at a first distance from the light; and a lesser intensity when the sensor is located at a second distance from the light. The first distance is less than the second distance. The medical device includes a mirror configured to reflect the light produced by the light source to the position of the target site. The mirror is configured to move in response to the processor detecting the change in position of the imaging device relative to the target site to redirect the light to the position of the target site. The mirror includes a micro-mirror (MEMs mirror) configured to reflect the light along two axes. The mirror is positioned proximate to the light source on the medical device. The processor is configured to generate a visual identifier along an image captured by the imaging device, the visual identifier indicating the position of the target site.

[0007] According to another example, a medical system includes a medical device including an imaging device configured to capture images of a target site, and a light source configured to direct light onto the target site. The medical system includes a medical instrument movable relative to the medical device. The medical instrument includes a sensor configured to detect the light on the target site. The medical instrument is movable toward the target site in response to the sensor detecting the light on the target site.

[0008] Any of the medical systems described herein can have any of the following features. The medical system can include a processor configured to detect movement of the medical device relative to the target site in accordance with images captured by the imaging device. The light source is configured to redirect the light in accordance with the detected movement of the medical device. The medical device is an endoscope or a duodenoscope, and the medical instrument is a catheter.

[0009] According to another example, a method of moving a medical instrument toward a target site includes capturing an image of the target site with an imaging device. A first position of the target site is determined from the image. The method includes emitting light from a light source toward the first position, detecting, by a sensor of the medical instrument, light incident at the first position, and moving the medical instrument toward the target site in response to the sensor detecting light incident at the first position.

[0010] Any of the methods of using a medical system described herein can have any of the steps and / or features described below. In response to detecting movement of the medical device within the target site, the method includes capturing an image of the target site with an imaging device, determining a second position of the target site, redirecting light from the light source to the second position, and moving the medical instrument toward the target site in response to the sensor detecting light at the second position.

[0011] 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 application as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary aspects of the disclosure and together with the description, serve to explain the principles of the disclosure.

[0013] Figure 1 is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure;

[0014] Figure 2 is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure, Figure 1 is a partial perspective view of a medical device of the medical system of

[0015] Figure 3 is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure, Figure 1 is a partial perspective view of a medical instrument of the medical system of

[0016] Figure 4 is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure, Figure 1 is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure;

[0017] Figure 5A is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure,

[0018] Figure 5B is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure, Figure 5A is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure;

[0019] Figure 5C is a schematic view of an exemplary medical system in accordance with aspects of the present disclosure,

[0020] Figure 6 is an example method of positioning a target site with a medical system in accordance with aspects of the present disclosure. Figure 1 a block diagram of an example method of positioning a target site with a medical system in accordance with aspects of the present disclosure. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure include systems, devices, and methods for positioning, tracking, and / or steering one or more tools or other medical devices at a target site in vivo. Reference will now be made in detail to various aspects of the present disclosure, examples of which are illustrated in the accompanying drawings. Wherever possible, the same or like reference numbers will be used in the drawings to refer to the same or like parts. The term "distal" refers to the portion that is farthest from the user when the device is introduced into the patient's body. Conversely, the term "proximal" refers to the portion that is closest to the user when the device is placed into the patient's body. As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not necessarily include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "exemplary" is used in the sense of "example," not "ideal." As used herein, the terms "about," "substantially," and "approximately" mean a numerical range of + / - 10% of the value recited.

[0022] Embodiments of the present disclosure can be used to position a target site with a medical system, such as, for example, a medical system having target identification logic. For example, some embodiments combine an imaging device and a light source with a medical device to position a target site. The imaging device can capture an image of the target site, and the light source can direct light onto the target site in response to a location of the target site identified from the image. The target identification logic of the medical system can detect movement of the medical device and responsively determine an adjusted location of the target site relative to the medical device, thereby redirecting the light from the light source to the location of the target site.

[0023] Embodiments of the present disclosure can be directed to devices and methods for performing various medical procedures and / or treatments on a large intestine (colon), small intestine, cecum, esophagus, any other portion of the gastrointestinal tract, and / or any other suitable portion of patient anatomy (collectively referred to herein as "target treatment sites"). Various embodiments described herein include single-use or disposable medical devices. Reference will now be made in detail to the present disclosure described above and illustrated in the accompanying drawings. Wherever possible, the same or like reference numbers will be used in the drawings to refer to the same or like parts.

[0024] Figure 1A schematic depiction of an exemplary medical system 100 is shown in accordance with embodiments of the present disclosure. The medical system 100 can include an image processing device 102, a medical device 110, and a medical instrument 140. The image processing device 102 can be communicatively coupled with the medical device 110 via a cable 118. It should be understood that in other embodiments, the image processing device 102 can be in wireless communication with the medical device 110. In embodiments, the image processing device 102 is a computer system that includes a plurality of hardware components that enable the image processing device 102 to receive and monitor data, accurately display images of one or more features (e.g., a target site), and / or process other information described herein. Illustrative hardware components of the image processing device 102 can include at least one processor 104 and at least one memory 106.

[0025] The processor 104 of the image processing device 102 can include any computing device capable of executing machine-readable instructions that can be stored on a non-transitory computer-readable medium, such as, for example, the memory 106 of the image processing device 102. By way of example, the processor 104 can include a controller, an integrated circuit, a microchip, a computer, and / or any other computer processing unit that can perform the computations and logical operations required to execute a program. As described in greater detail herein, the processor 104 is configured to perform one or more operations in accordance with instructions stored on the memory 106, such as, for example, target identification logic 108.

[0026] The memory 106 of the image processing device 102 is a non-transitory computer-readable medium on which machine-readable instructions are stored, such as, for example, the target identification logic 108. As described in further detail below, the target identification logic 108 can include executable instructions that allow the medical device 110 to track the location of a target site so that the medical instrument 140 locks on and steers to perform one or more procedures on or near the target site. It should be understood that various programming algorithms and data supporting the operation of the medical system 100 can be present, in whole or in part, in the memory 106. The memory 106 can include any type of computer-readable medium suitable for storing data and algorithms, such as, for example, random access memory (RAM), read only memory (ROM), flash memory, hard drives, and / or any device capable of storing machine-readable instructions. The memory 106 can include one or more data sets, including but not limited to image data 109 from one or more components of the medical system 100 (e.g., the medical device 110, the medical instrument 140, etc.).

[0027] Still referring to Figure 1, the medical device 110 can be configured to facilitate placement of one or more components of the medical system 100 relative to a patient, such as, for example, the medical instrument 140. In embodiments, the medical device 110 can be any type of endoscope and can include a handle 112, an actuation mechanism 114, at least one port 116, and a shaft 120. The handle 112 of the medical device 110 can have one or more lumens (not shown) that communicate with lumens of one or more other components of the medical system 100. The handle 112 further includes at least one port 116 that opens into one or more lumens of the handle 112. As described in further detail herein, the at least one port 116 is sized and shaped to receive one or more instruments therethrough, such as, for example, the medical instrument 140 of the medical system 100.

[0028] The shaft 120 of the medical device 110 can include a tube that is sufficiently flexible such that the shaft 120 is configured to selectively bend, rotate, and / or twist as it is inserted and / or navigated through the tortuous anatomy of a patient to a target treatment site. The shaft 120 can have one or more lumens (not shown) therethrough, including, for example, a working lumen for receiving an instrument (e.g., the medical instrument 140). In other embodiments, the shaft 120 can include additional lumens, such as control wire lumens for receiving one or more control wires to actuate one or more distal components / tools (e.g., including articulating joints and elevators), fluid lumens for delivering fluid, illumination lumens for receiving at least a portion of an illumination assembly (not shown), and / or imaging lumens for receiving at least a portion of an imaging assembly (not shown).

[0029] Still referring to Figure 1 The medical device 110 can further include a tip 122 at a distal end of the shaft 120. In some embodiments, the tip 122 can be attached to the distal end of the shaft 120, while in other embodiments, the tip 122 can be integral with the shaft 120. For example, the tip 122 can include a cap configured to receive the distal end of the shaft 120 therein. The tip 122 can include one or more openings that communicate with one or more lumens of the shaft 120. For example, the tip 122 can include a working opening 124 through which the medical instrument 140 can exit from a working lumen of the shaft 120. In other embodiments, the tip 122 of the shaft 120 can include additional and / or fewer openings thereon, such as, for example, fluid openings or nozzles through which fluid can be expelled from a fluid lumen of the shaft 120, illumination openings / windows through which light can be emitted, and / or imaging openings / windows for receiving light used by an imaging device to generate images.

[0030] The actuation mechanism 114 of the medical device 110 is positioned on the handle 112 and can include one or more knobs, buttons, levers, switches, and / or other suitable actuators. The actuation mechanism 114 is configured to control at least one of deflection of the shaft 120 (e.g., by controlling actuation of the control wires), delivery of fluid, emission of illumination, and / or various imaging functions. As described in greater detail herein, in some embodiments, the medical device 110 includes one or more control wires for driving an elevator 126 (see Figures 2-3 ) of the medical device 110 at the tip 122. Accordingly, a user of the medical device 110 can manipulate the actuation mechanism 114 to selectively exert at least one of a pulling force and a pushing force on the one or more control wires to control a position of the elevator 126, and thereby control a position of an instrument (e.g., the medical instrument 140) in proximity to the elevator 126.

[0031] Still referring to Figure 1 , the medical instrument 140 of the medical system 100 can include a catheter having a longitudinal body 142 between a proximal end and a distal end 144 of the longitudinal body 142. A handle 141 is positioned at the proximal end of the longitudinal body 142. The longitudinal body 142 of the medical instrument is flexible such that the medical instrument 140 is configured to bend, rotate, and / or twist when inserted into the working lumen of the medical device 110. The handle 141 of the medical instrument 140 can be configured to move, rotate, and bend the longitudinal body 142. Further, the handle 141 can define one or more ports (not shown) sized to receive one or more tools through the longitudinal body 142 of the medical instrument 140. The medical device 110 is configured to receive the medical instrument 140 via the at least one port 116 and through the working lumen of the shaft 120 to the working opening 124 at the tip 122. In this case, the medical instrument 140 can extend distally out of the working opening 124 into an environment surrounding the tip 122, such as, for example, at a target treatment site of a patient as described in further detail below. The distal end 144 of the medical instrument 140 can extend distally out of the working opening 124 in response to translation of the longitudinal body 142 through the working lumen of the shaft 120. It should be appreciated that in other embodiments, the medical instrument 140 can include various other devices in addition to those shown and described herein, including but not limited to a guidewire, a cutting or grasping forceps, a biopsy device, a collar, an injection needle, a cutting blade, scissors, a retractable basket, a retrieval device, an ablation and / or electrophysiology catheter, a stent placement device, a surgical suturing device, a balloon catheter, a laser emitting device, an imaging device, and / or any other suitable instrument.

[0032] Referring now to Figure 2, the tip 122 of the shaft 120 is depicted as omitting a medical instrument 140 from the working opening 124. The tip 122 includes an elevator 126 that is adjacent to the working opening 124 and is partially disposed within the working lumen of the shaft 120. It should be appreciated that the elevator 126 shown and described herein is in an unactuated position, and actuation of the actuation mechanism 114 on the handle 112 can cause the elevator 126 to extend to an actuated position (see Figure 3 ) as described in further detail below. The elevator 126 is configured to position an instrument (e.g., the medical instrument 140) received through the working lumen of the shaft 120 outward from the working opening 124 when in the actuated position, as described in further detail below.

[0033] The tip 122 of the medical device 110 further includes a light source 128, an imaging device 130, and a laser 132 disposed adjacent to the working opening 124 of the shaft 120. In embodiments, the light source 128 of the medical device 110 is configured and operable to direct light outward from the tip 122 of the shaft 120 to thereby illuminate the environment surrounding the tip 122, such as, for example, a target treatment site of a patient in which the medical device 110 can be positioned (see Figures 5A-5C ). The light source 128 can include a light emitter, such as, for example, a light emitting diode (LED), among others. The imaging device 130 of the medical device 110 is configured and operable to capture images of the environment surrounding the tip 122, such as, for example, a target treatment site of a patient (see Figures 5A-5C ). In some embodiments, the imaging device 130 can include a camera capable of high resolution imaging. It should be appreciated that in other embodiments, the medical device 110 can omit the imaging device 130 on the tip 122 altogether, such that a separate imaging device can be received by the medical device 110 through the shaft 120.

[0034] Still referring to Figure 2 , the laser 132 of the medical device 110 is configured and operable to generate a light / laser beam outward from the tip 122 of the shaft 120. In some embodiments, the laser 132 is further configured to selectively direct the light / laser beam to a predetermined location to thereby mark the predetermined location with the light / laser beam. It should be appreciated that the light / laser beam generated by the laser 132 can be independently steerable relative to the light emitted by the light source 128 and / or any other component of the medical system 100. As described further below, a target site within a patient can be marked with the light / laser beam from the laser 132 in order to track the location of the target site during use of the medical system 100 (see Figures 5A-5C ).

[0035] In some embodiments, the medical device 110 may further include a mirror positioned along and / or adjacent to the tip 122 of axis 120. The mirror of the medical device 110 may be positioned adjacent to the laser 132 to form an integral structure such that the mirror coincides with the beam emitted by the laser 132. In embodiments, the mirror of the medical device 110 is configured and operable to selectively reflect the light / laser beam generated by the laser 132 to a predetermined location on a target site. The mirror of the medical device 110 is configured to move, pivot, translate, and / or rotate relative to the laser 132 and / or the tip 122 of axis 120, thereby redirecting the light / laser beam to the predetermined location on the target site. In embodiments, the mirror includes a micromirror (MEMS mirror) configured to reflect the light / laser beam along two axes (e.g., the XY directions of a coordinate axis) and / or reflect the light / laser beam to an optical scanning angle of up to about 32 degrees. As described in further detail below, the predetermined location of the target site can be determined based on the image (e.g., image data 109) captured by the imaging device 128 of the medical device 110.

[0036] like Figure 3 As shown, the medical device 140 is described as extending outward from the tip 122 of the shaft 120, with the lifter 126 abutting against the longitudinal body 142 of the medical device 140. When the lifter 126 is in the actuated position, the forward surface of the lifter 126 engages with the longitudinal body 142 of the medical device 140, thereby causing the distal end 144 to deflect laterally outward from the working opening 124. In some embodiments, the forward surface of the lifter 126 has a curvature that facilitates the deflection and / or bending of the longitudinal body 142 of the medical device 140. It should be understood that the lifter 126 may include many other shapes, sizes, and / or configurations than those shown and described herein without departing from the scope of this disclosure.

[0037] The medical device 140 further includes a sensor 146 positioned along a longitudinal body 142 adjacent to the distal end 144. In embodiments, the sensor 146 may be located on the distally facing surface and / or the most distal surface of the medical device 140. The sensor 146 of the medical device 140 is configured to detect one or more objects, attributes, features, and / or characteristics present and / or proximal to the distal end 144 of the medical device 140. For example, in some embodiments, the sensor 146 may be configured to detect light, such as light generated by a light source 128 of the medical device 110. In other embodiments, the sensor 146 may be configured to detect light / laser beams generated by a laser 132 of the medical device 110, for example, light / laser beam 132 incident on a point on a target site. The sensor 146 may include at least one of a photodetector, a photodiode, a charged-coupled device (CCD), and / or various other suitable detectors.

[0038] In embodiments, the sensor 146 comprises a four-quadrant photodiode configured to convert light into an electrical current. As described in greater detail herein, in embodiments, the sensor 146 is configured and operable to identify a predetermined location of the target site in response to detecting a light / laser beam directed onto the target site by the laser 132 (see Figures 5A-5C ) In some embodiments, the sensor 146 can be placed along a proximal end of a longitudinal body 142 adjacent to a handle 141 of the medical instrument 140 with a fiber that is communicatively coupled to the sensor 146 placed adjacent to a distal end 144. In such cases, the distal end 144 of the medical instrument 140 can have a relatively small profile. It should be appreciated that in other embodiments, the medical instrument 140 can omit the sensor 146 on the distal end 144 altogether, such that a separate sensing device can be received by the medical instrument 140 through the longitudinal body 142, e.g., via one or more guide wires.

[0039] Reference is now made to the flowchart of Figure 6 , which schematically depicts an exemplary method 200 of using the medical system 100 to locate and access a target site. Figures 4-5C The description of the method 200 and the accompanying explanation below are not meant to limit the subject matter described herein to a particular method. Figures 4-6

[0040] At step 202 and as shown in Figure 4 , the medical device 110 of the medical system 100 can be inserted into the patient’s body 10. By inserting the tip 122 into the nose or mouth (or other suitable natural body orifice) of the patient’s body 10, the shaft 120 of the medical device 100 is directed through the patient’s digestive tract. In embodiments, the medical device 110 is inserted through the gastrointestinal tract of the patient’s body 10 including the esophagus 12, stomach 16, and into the small intestine 18 until reaching the target treatment site. It should be appreciated that the length of the shaft 120 can be long enough such that the proximal end of the medical device 110 (including the handle 112) is outside of the patient’s body 10 while the tip 122 of the medical device 110 is inside the patient’s body 10. While the present disclosure relates to the use of the medical system 100 in the digestive tract of the patient’s body 10, it should be appreciated that features of the present disclosure can be used in other various locations within the patient’s body 10 (e.g., other organs, tissues, etc.).

[0041] ​The shaft 120 of the medical device 110 can extend into the patient's body 10 until it reaches a location where a tool disposed within the medical device 110, such as a medical instrument 140 of the medical system 100, can access a target treatment site. In examples where the medical device 110 is used to access and view various aspects of the biliary and pancreatic system, this location can be, for example, the duodenum of the small intestine 18. In such examples, the target site can be the ampulla of Vater / papilla of Vater 22 located at a portion of the duodenum of the small intestine 18. It should be appreciated that the ampulla of Vater / papilla of Vater 22 generally forms an opening in which the pancreatic duct and common bile duct 20 empty into the duodenum of the small intestine 18, and the hepatic duct and gall bladder empty into the common bile duct 20.

[0042] Still referring to FIG. 1, the medical device 110 can include a handle 112 that is coupled to the shaft 120. The handle 112 can include an actuation mechanism 114 that is configured to be actuated to advance the medical instrument 140 into the patient's body 10 through the shaft 120. The handle 112 can also include an imaging device 130 that is configured to be actuated to provide a view of the target site and / or the surrounding environment of the target site. The handle 112 can also include a light source 128 that is configured to be actuated to illuminate the target site and / or the surrounding environment of the target site. Figure 4 In some embodiments, the tip 122 can need to be rotated near the target site in order to facilitate placement of the working opening 124 into position at the target site. For example, the distal end 144 of the medical instrument 140 can need to reach the ampulla of Vater / papilla of Vater 22 when being deflected outward from the working opening 124 by the elevator 126. In such cases, the tip 122 of the shaft 120 can be rotated until the working opening 124 is directly opposite the ampulla of Vater / papilla of Vater 22, and the medical instrument 140 can be withdrawn from the medical device 110. The tip 122 and / or the shaft 120 can be rotated in response to actuating the actuation mechanism 114 on the handle 112, and / or by rotating all of the handle 112, and the relative orientation and / or position of the tip 122 can be identified in response to actuating the imaging device 130 on the tip 122.

[0043] In some embodiments, the tip 122 can need to be rotated near the target site in order to facilitate placement of the working opening 124 into position at the target site. For example, the distal end 144 of the medical instrument 140 can need to reach the ampulla of Vater / papilla of Vater 22 when being deflected outward from the working opening 124 by the elevator 126. In such cases, the tip 122 of the shaft 120 can be rotated until the working opening 124 is directly opposite the ampulla of Vater / papilla of Vater 22, and the medical instrument 140 can be withdrawn from the medical device 110. The tip 122 and / or the shaft 120 can be rotated in response to actuating the actuation mechanism 114 on the handle 112, and / or by rotating all of the handle 112, and the relative orientation and / or position of the tip 122 can be identified in response to actuating the imaging device 130 on the tip 122. Figure 3 In step 204, with the working opening 124 on the tip 122 facing the target site, the surrounding environment of the target site can be illuminated in response to actuating the light source 128. It should be appreciated that in other embodiments, the light source 128 can have been actuated to direct light outward from the tip 122, for example, prior to inserting the medical device 110 into the patient's body 10 and / or while the medical device 110 is inserted into the patient's body 10.

[0044] In step 206, the medical instrument 140 can be advanced into the patient's body 10 through the shaft 120 and the working opening 124 in response to actuating the actuation mechanism 114 on the handle 112. In some embodiments, the medical instrument 140 can be advanced into the patient's body 10 through the shaft 120 and the working opening 124 in response to actuating the actuation mechanism 114 on the handle 112 and / or by rotating all of the handle 112. In some embodiments, the medical instrument 140 can be advanced into the patient's body 10 through the shaft 120 and the working opening 124 in response to actuating the actuation mechanism 114 on the handle 112 and / or by rotating all of the handle 112, and the relative orientation and / or position of the medical instrument 140 can be identified in response to actuating the imaging device 130 on the tip 122.

[0045] At step 206, with the target site illuminated by the light source 128, the processor 104 of the image processing device 102 executes the target identification logic 108 to actuate the imaging device 130 of the medical device 110. Accordingly, the imaging device 130 captures an image of the target site. With the imaging device 130 facing the target site (e.g., the ampulla 22), an image of the location of the target site can be obtained by the medical device 110 and communicated to the image processing device 102 for storage in the memory 106 as image data 109.

[0046] At step 208 and with reference to Figure 5A , with the image data 109 received from the medical device 110 and stored within the memory 106, the processor 104 of the image processing device 102 executes the target identification logic 108 to determine the first location 52A of the target site (e.g., the ampulla 22 within the small intestine 18) relative to the imaging device 130 on the tip 122. The processor 104 analyzes the image data 109 captured by the imaging device 130 and, in accordance with the machine-readable instructions executing the target identification logic 108, determines the coordinate location of the target site relative to the tip 122. Alternatively, in other embodiments, a user of the medical system 100 can manually identify the first location 52A of the target site from the image data 109, such as, for example, via a touch screen user interface display (not shown) communicatively coupled with the image processing device 102.

[0047] In some embodiments, the processor 104, in executing the target identification logic 108, can generate a visual identifier (e.g., a highlight, a geometric figure, an arrow, etc.) at the first location 52A, thereby visually designating the first location 52A of the target site for reference. As Figure 5A shown, to visually designate the target site in the image data 109, the visual identifier of the first location 52A can include a box and / or an“X” superimposed over the image of the target site. The visual identifier of the first location 52A can be displayed on a user interface display (not shown) communicatively coupled with the image processing device 102. Alternatively, in other embodiments, a user of the medical system 100 can manually mark the first location 52A of the target site with a visual identifier from the image data 109, such as, for example, by a touch screen user interface display (not shown) communicatively coupled with the image processing device 102. In this case, the processor 104 can analyze the image data 109 to determine the first location 52A of the target site from the manual marking and / or identification by a user of the medical system 100 in order to continue tracking the target site in subsequent images of the target site.

[0048] At step 210 and with reference to Figure 5BUpon determining the first location 52A of the target site relative to the tip 122, the processor 104 of the image processing device 102 executes the target identification logic 108 to mark the first location 52A of the target site with the light / laser beam 134 by actuating the laser 132 of the medical device 110. The processor 104, in accordance with the machine-readable instructions that execute the target identification logic 108, actuates the mirror of the medical device 110 to reflect the light / laser beam 134 produced by the laser 132, thereby redirecting the light / laser beam 132 to the first location 52A of the target site.

[0049] At step 212 and still referring to FIG. 2 Figure 5B With the light / laser beam 134 of the laser 132 directed (e.g., via the mirror) to the first location 52A of the target site (e.g., the ampulla 22 of the common bile duct 20), the medical instrument 140 can move toward the target site in response to the sensor 146 detecting the light / laser beam 132. The handle 141 of the medical instrument 140 can be actuated to automatically translate the longitudinal body 142 through the working lumen of the shaft 120 to place the distal end 144 adjacent to the target site. Accordingly, the medical device 110 tracks the first location 52A of the target site to allow the medical instrument 140 to lock onto the first location 52A with the sensor 146 and autonomously steer the distal end 144 to the target site to perform one or more procedures thereon, such as cannulation of the ampullary duct opening 22 of the common bile duct 20.

[0050] With the sensor 146 positioned along the distal end 144, the sensor 146 is configured to generate feedback in response to detecting the light / laser beam 132 incident to the target site relative to the distal end 144. In some embodiments, the sensor 146 includes a photodiode configured to convert the light / laser beam 134 into an electrical current, such that the feedback generated by the sensor 146 includes a photodiode signal transmitted to a user of the medical instrument 140. The strength of the photodiode signal generated by the sensor 146 can be indicative of the spatial (e.g., three-dimensional) proximity of the sensor 146 to the point of incidence of the light / laser beam 134. Thus, with the light / laser beam 134 directed to the first location 52A of the target site, it can be appreciated that the strength of the photodiode signal generated by the sensor 146 can increase as the distance between the distal end 144 of the medical instrument 140 and the target site decreases, as the sensor 146 can detect the light / laser beam 132 at a relatively close proximity.

[0051] It should be further understood that the strength (e.g., strength change) of the photodiode signal generated by the sensor 146 can decrease as the distance between the distal end 144 of the medical instrument 140 and the target site increases, as the sensor 146 can detect the light / laser beam 132 at a relatively further proximity. Although the sensor 146 in the embodiments described herein includes a photodiode or CCD configured to generate feedback in the form of a photodiode signal in response to detecting the light / laser beam 132, it should be understood that various other suitable sensors and / or forms of feedback can be generated by the sensor on the medical instrument 140 without departing from the scope of the present disclosure.

[0052] In some embodiments, the medical instrument 140 can include a processor and memory similar to the processor 104 and memory 106 of the image processing device 102 shown and described above. In such cases, the processor of the medical instrument 140, in executing the target identification logic stored on the memory of the medical instrument 140, can provide autonomous steering of the medical instrument 140 to the first position 52A of the target site by tracking the light / laser beam 134 with the sensor 146. In other embodiments, the medical instrument 140 can be manually navigated to the first position 52A of the target site by a user of the medical system 100 visually tracking the position of the distal end 144 relative to the first position 52A via a user interface display (not shown). In such cases, the user can visually navigate the distal end 144 of the medical instrument 140 toward the visual identifier produced by the light / laser beam 132. By way of illustrative example only, the distal end 144 of the medical instrument 140 can be displayed on the user interface display through the visual identifier, such as, for example, a crosshair superimposed on the user interface display indicating the position of the distal end 144. Further, the feedback generated by the sensor 146 can be utilized to supplement and / or replace the user interface display to manually steer the medical instrument 140 toward the first position 52A of the target site.

[0053] In some cases, at step 212, the medical device 110 of the medical system 100 can intentionally and / or unintentionally move relative to the target site during the procedure as the medical instrument 140 moves towards the target site. Such movement can occur due to difficulty in maintaining stability of the medical device 110 during the procedure. In such cases, the position of the target site (e.g., the ampulla of Vater 22) can be modified and / or changed relative to the initial corresponding position between the target site and the medical device 110 relative to the tip 122 of the shaft 120 and / or the distal end 144 of the medical instrument 140. Accordingly, the image data 109 initially obtained by the medical system 100 at step 206 can include inaccuracies and / or deficiencies in providing a current position of the target site (e.g., the ampulla of Vater 22). As a result, continued movement of the distal end 144 of the medical instrument 140 towards the first position 52A, as initially determined by the processor 104 of the imaging processing device 102 at step 208, can not allow a user of the medical system 100 to adequately access the target site.

[0054] At step 214 and with reference to Figure 5C In response to the processor 104 of the image processing device 102 detecting movement of the medical device 110 relative to the target site (e.g., the ampulla of Vater 22), the processor 104 can execute the target identification logic 108 to actuate the imaging device 130 to obtain updated image data 109 of the target site. In some embodiments, the processor 104 of the image processing device 102, in executing the target identification logic 108, can be configured to determine whether the medical device 110 has moved relative to the target site by periodically capturing images with the imaging device 130 to compare to the image data 109 stored in the memory 106 at step 206. Accordingly, movement of the medical device 110 relative to the target site can be determined from a positional difference between the first position 52A and a detected position of the target site equal to or greater than a pre-set threshold (e.g., millimeters, microns, nanometers, etc.).

[0055] In such cases, upon determining a change in position of the recorded position of the first position 52A relative to the target site detected via the periodically captured images, the processor 104 of the image processing system 102 repeats steps 206, 208, 210, and 212 of the method 200 described above. The processor 104 executes the target identification logic 108 to capture an image (e.g., image data 109) of the target site at step 206, determine a second position 52B of the target site (e.g., the ampulla of Vater 22) at step 208, and mark the second position 52B with the light / laser beam 134 at step 210. It should be appreciated that the method 200 performs these steps substantially similar to those shown and described above in order to position the target site with the medical system 100 in accordance with the new, second position 52B of the target site.

[0056] In other embodiments, to dynamically update the target identification logic 108 stored on the memory 106, the image processing device 102 of the medical system 100 can be communicatively coupled to a remote station (not shown). By way of illustrative example, the image processing device 102 can be operated to receive neural network data from the remote station (e.g., a computer server), such as, for example, over a wired and / or wireless connection. The neural network data received by the imaging processing device 102 can include supplemental image data 109 recorded from a plurality of previous procedures, devices, systems, etc., similar to the image data 109 shown and described above. Such image data can be from a plurality of different patients, over time, obtaining the same or similar patient anatomy. The supplemental image data 109 can be stored in the memory 106 and used by the processor 104 of the image processing device 102 to artificially determine and / or identify common physical attributes and / or features of one or more target sites, such as, for example, the ampulla of Vater 22 within the small intestine 18, the ampulla ductal opening 22 of the common bile duct 20, etc.

[0057] In embodiments, in executing the machine-readable instructions of the target identification logic 108, the processor 104 of the image processing device 102 can reference the supplemental image data 109 in analyzing the image data 109 captured by the imaging device 130 of the medical device 110 to determine the first position 52A of the target site (e.g., the ampulla of Vater 22 within the small intestine 18). Accordingly, it should be appreciated that the supplemental image data 109 can facilitate determining the coordinate position of the target site relative to the medical device 110 during the procedure by providing the image processing device 102 with additional data for artificially learning the size, shape, and / or configuration of similar target sites.

[0058] Each of the devices, components, and methods described above can be used to detect, mark, and track the position of a target site. By providing the medical components, a user can accurately interact with the patient’s tissue during a procedure using the artificial intelligence software in the image processing device, such that the user reduces the overall procedure time, improves the efficiency of the procedure, and avoids unnecessary harm to the patient’s body from a lack of control over the movement and placement of the medical device when accessing the target tissue of the patient.

[0059] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed devices and methods without departing from the scope of the present disclosure. It is to be understood that the disclosed devices can include a variety of suitable computer systems and / or computing units, such as, for example, a processor and a non-transitory computer readable medium, containing a plurality of hardware components that allow the devices to perform one or more operations in accordance with the operations described herein during a surgical procedure. Other aspects of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. This specification and examples are to be considered exemplary only.

Claims

1. A medical system, the medical system comprising: Medical device, the medical device comprising: An imaging device configured to capture an image of a target region, wherein the position of the target region is determined based on the image; as well as A light source configured to direct light to the target portion at the specified location; and A non-transitory computer-readable medium containing processor and stored instructions, wherein the medical device is configured to receive the instructions, wherein the medical device is configured to move toward the target site when the sensor detects light at the target site.

2. The medical system of claim 1, further comprising: A medical device, wherein the medical device is movably disposed within the working channel of the medical equipment, and wherein the medical device is movable relative to the medical equipment.

3. The medical system of claim 2, wherein the medical device includes a sensor configured to detect light at the target site.

4. The medical system of claim 1, wherein the light source is disposed at the distal end of the medical device.

5. The medical system of claim 3 or 4, wherein the light source is a first light source, wherein the first light source includes a source that generates a laser beam, wherein the medical device includes a second light source configured to illuminate the environment surrounding the medical device, wherein the first light source and the second light source emit different types of light.

6. The medical system of any one of claims 2, 3 or 4, wherein the sensor comprises at least one of a photodetector, a photodiode or a charged-coupled device (CCD), wherein the sensor is configured to generate a photodiode signal in response to detecting light at the target site.

7. The medical system of claim 6, wherein the intensity of the photodiode signal generated by the sensor includes a greater intensity when the sensor is located at a first distance from the light, and includes a smaller intensity when the sensor is located at a second distance from the light; wherein the first distance is less than the second distance.

8. The medical system of any one of claims 2, 3, and 4, wherein the processor is configured to detect movement of the medical device relative to the target site based on images periodically captured by the imaging device; wherein the light source is configured to redirect light based on the detected movement of the medical device.

9. The medical system of claim 8, wherein the processor is configured to compare the location of the target site with the original location of the target site to determine a positional difference.

10. The medical system of claim 9, wherein the processor is configured to determine whether the positional difference exceeds a preset threshold, wherein when the positional difference exceeds the preset threshold, the processor at least acquires image data of the target site through the imaging device and analyzes the position of the target site.

11. A medical system, the medical system comprising: Medical device, the medical device comprising: An imaging device configured to capture images of a target area; as well as A light source configured to direct light to the target area at the location; A mirror configured to reflect light generated by the light source toward the target site; and a medical device movably disposed within the working channel of the medical device, wherein the medical device is movable relative to the medical device, the medical device including a sensor configured to detect light at the target site, wherein the medical device is configured to move toward the target site upon detection of light at the target site by the sensor.

12. The medical system of claim 11, wherein the light source is disposed at a distal end of the medical device, wherein the mirror is positioned adjacent to the light source on the medical device, wherein the light source includes a source that generates a laser beam.

13. The medical system of claim 11, further comprising a processor and a non-transitory computer-readable medium storing instructions, wherein the processor is configured to detect movement of the medical device relative to the target site based on images captured by the imaging device, wherein, The mirror is configured to move in response to the processor detecting a change in the position of the imaging device relative to the target region, so as to redirect the light toward the target region.

14. The medical system of claim 13, wherein the instructions stored in a non-transitory computer-readable medium cause the processor to: Detect the change in the position of the imaging device relative to the target region; Determine the position of the target region relative to the imaging device; and The mirror is actuated to redirect the light to the location of the target part.

15. The medical system of claim 13 or 14, wherein the mirror is configured to move in response to the processor detecting a positional change of the imaging device relative to the target site, to redirect the light toward the target site.

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