Ergonomic ureteroscope with disposable and reusable portions

Abstract

A ureteroscope in which a reusable portion is inserted into a pistol-type handle of a disposable portion, and an elastic cover can cover the reusable portion and the hollow end of the handle. The hub assembly and cannula of the disposable portion can be rotated or manually driven by power, and in a deflection plane, the tip portion of the cannula can be deflected manually or under the action of power. The hub assembly may be provided with one or more ports in communication with one or more lumens within the cannula. The ports are aligned in a Luer plane, which may be in line with the deflection plane or at an angle relative to the deflection plane. The remote display is connected with the ureteroscope or the endoscope in a wireless mode or through a cable.

Description

[0001] Cross - reference to related patent applications

[0002] This application is a partial continuation of U.S. Patent Application No. 18 / 083,209, filed on December 16, 2022, which is a partial continuation of U.S. Patent Application No. 17 / 941,884, filed on September 9, 2022. These U.S. patent applications claim priority to the following U.S. provisional applications: U.S. Provisional Application No. 63 / 417,340, filed on October 19, 2022; U.S. Provisional Application No. 63 / 256,634, filed on October 18, 2021; U.S. Provisional Application No. 63 / 282,108, filed on November 22, 2021; U.S. Provisional Application No. 63 / 283,367, filed on November 26, 2021; and U.S. Provisional Application No. 63 / 332,233, filed on April 18, 2022.

[0003] This application is a partial continuation of U.S. Patent Application No. 18 / 212,621, filed on June 21, 2023, which is a divisional application of U.S. Patent Application No. 17 / 720,143 (now U.S. Patent No. 11,771,304), filed on April 13, 2022. The U.S. Patent Application No. 17 / 720,143 is a partial continuation of U.S. Patent Application No. 17 / 521,397, filed on November 8, 2021. These U.S. patent applications claim priority to the following U.S. provisional applications: U.S. Provisional Application No. 63 / 176,307, filed on April 4, 2021; U.S. Provisional Application No. 63 / 112,739, filed on November 12, 2020; U.S. Provisional Application No. 63 / 113,960, filed on November 15, 2020; U.S. Provisional Application No. 63 / 118,617, filed on November 25, 2020; U.S. Provisional Application No. 63 / 128,105, filed on December 20, 2020; U.S. Provisional Application No. 63 / 138,528, filed on January 18, 2021; U.S. Provisional Application No. 63 / 295,913, filed on January 2, 2022; U.S. Provisional Application No. 63 / 299,829, filed on January 14, 2022; U.S. Provisional Application No. 63 / 299,960, filed on January 15, 2022; U.S. Provisional Application No. 63 / 302,563, filed on January 25, 2022; U.S. Provisional Application No. 63 / 303,690, filed on January 27, 2022; and U.S. Provisional Application No. 63 / 310,336, filed on February 15, 2022.

[0004] This application also claims priority to the following U.S. Provisional Patent Applications: U.S. Provisional Patent Application No. 63 / 460,728, filed on April 20, 2023; U.S. Provisional Patent Application No. 63 / 461,939, filed on April 26, 2023; U.S. Provisional Patent Application No. 63 / 462,647, filed on April 28, 2023; U.S. Provisional Patent Application No. 63 / 462,985, filed on April 29, 2023; U.S. Provisional Patent Application No. 63 / 464,571, filed on May 6, 2023; U.S. Provisional Patent Application No. 63 / 466,318, filed on May 14, 2023; U.S. Provisional Patent Application No. 63 / 535,077, filed on August 29, 2023; U.S. Provisional Patent Application No. 63 / 544,645, filed on November 13, 2023; U.S. Provisional Patent Application No. 63 / 544,497, filed on October 17, 2023; U.S. Provisional Patent Application No. 63 / 544,789, filed on October 19, 2023; U.S. Provisional Patent Application No. 63 / 544,963, filed on October 20, 2023; U.S. Provisional Patent Application No. 63 / 554,976, filed on February 17, 2024; U.S. Provisional Patent Application No. 63 / 556,151, filed on February 21, 2024; U.S. Provisional Patent Application No. 63 / 556,712, filed on February 22, 2024; U.S. Provisional Patent Application No. 63 / 599,991, filed on November 21, 2023; U.S. Provisional Patent Application No. 63 / 602,405, filed on November 23, 2023; U.S. Provisional Patent Application No. 63 / 608,316, filed on December 11, 2023; U.S. Provisional Patent Application No. 63 / 613,772, filed on December 12, 2023; U.S. Provisional Patent Application No. 63 / 620,838, filed on January 14, 2024; U.S. Provisional Patent Application No. 63 / 623,236, filed on January 20, 2024; U.S. Provisional Patent Application No. 63 / 623,410, filed on January 22, 2024; U.S. Provisional Patent Application No. 63 / 623,418, filed on January 22, 2024; U.S. Provisional Patent Application No. 63 / 624,086, filed on January 23, 2024; U.S. Provisional Patent Application No. 63 / 555,552, filed on February 20, 2024; U.S. Provisional Patent Application No. 63 / 562,687, filed on March 7, 2024; U.S. Provisional Patent Application No. 63 / 454,640, filed on March 25, 2023; U.S. Provisional Patent Application No. 63 / 454,640, filed on March 25, 2023; U.S. Provisional Patent Application No. 63 / 454,953, filed on March 27, 2023;and U.S. Provisional Patent Application No. 63 / 548,178, filed on November 11, 2023.

[0005] The entire contents of the foregoing non - provisional and provisional patent applications are hereby incorporated by reference into this application, and this application claims the benefit of the filing date of each such application, as well as the benefit of the applications that are incorporated directly or indirectly by reference therein, and the benefits that they claim, including U.S. provisional applications, U.S. non - provisional applications, and international applications.

[0006] The following U.S. patents and U.S. and international (PCT) patent applications are hereby incorporated by reference into this patent application:

[0007] Patent Application No. 16 / 972,989, filed on December 7, 2020;

[0008] Patent Application No. PCT / US21 / 50095, filed on September 13, 2021;

[0009] Patent Application No. PCT / US2017 / 053171, filed on September 25, 2017;

[0010] Patent Application No. 17 / 835,624, filed on June 8, 2022;

[0011] Patent Application No. 16 / 363,209, filed on September 25, 2017, now Patent No. 11,832,797;

[0012] Patent Application No. 17 / 843,217, filed on June 17, 2022;

[0013] Patent Application No. PCT / US16 / 18670, filed on February 19, 2016;

[0014] Patent Application No. 14 / 913,867, filed on February 23, 2016, now Patent No. 10,874,287;

[0015] Patent Application No. PCT / US16 / 65396, filed on December 7, 2016;

[0016] Patent Application No. 15 / 371,858, filed on February 20, 2018, now Patent No. 9,895,048;

[0017] Patent Application No. 15 / 462,331, filed on March 17, 2017, now Patent No. 10,524,636;

[0018] Patent Application No. 15 / 651,526, filed on July 17, 2017, now Patent No. 10,278,563;

[0019] U.S. Patent Application No. 15 / 855,532, filed on December 27, 2017, now Patent No. 10,292,571;

[0020] PCT / US18 / 14880, filed on January 23, 2018;

[0021] U.S. Patent Application No. 16 / 407,028, filed on May 8, 2019, now Patent No. 11,253,141;

[0022] U.S. Patent Application No. 16 / 413,160, filed on May 15, 2019, now Patent No. 10,869,592;

[0023] U.S. Patent Application No. 16 / 447,251, filed on June 20, 2019, now Patent No. 11,013,141;

[0024] PCT / US20 / 38349, filed on June 18, 2020;

[0025] PCT / US20 / 46018, filed on August 12, 2020;

[0026] U.S. Patent Application No. 17 / 122,282, filed on December 15, 2020;

[0027] U.S. Patent Application No. 17 / 145,466, filed on January 11, 2021, now Patent No. 11,395,579;

[0028] U.S. Patent Application No. 17 / 370,575, filed on July 8, 2021;

[0029] U.S. Patent Application No. 17 / 349,674, filed on June 16, 2021;

[0030] U.S. Patent Application No. 17 / 573,095, filed on January 24, 2022;

[0031] PCT / US2017 / 053171, filed on September 25, 2017;

[0032] U.S. Patent Application No. 17 / 835,624, filed on June 8, 2022;

[0033] U.S. Patent Application No. 16 / 363,209, filed on September 25, 2017, now Patent No. 11,832,797;

[0034] U.S. Patent Application No. 17 / 843,217, filed on June 17, 2022;

[0035] U.S. Patent Application No. 17 / 362,043, filed on June 29, 2021, now U.S. Patent No. 11,350,816;

[0036] U.S. Patent Application No. 17 / 473,587, filed on September 13, 2021, now U.S. Patent No. 11,330,973;

[0037] U.S. Patent Application No. 17 / 745,526, filed on May 16, 2022;

[0038] U.S. Patent Application No. 17 / 521,397, filed on November 8, 2021;

[0039] U.S. Patent Application No. 17 / 720,143, filed on April 13, 2022;

[0040] U.S. Patent Application No. 18 / 212,621, filed on June 21, 2023;

[0041] U.S. Patent Application No. 17 / 941,884, filed on September 9, 2022;

[0042] U.S. Patent Application No. 17 / 835,624, filed on June 8, 2022, now U.S. Patent No. 11,684,248;

[0043] U.S. Patent Application No. 18 / 083,209, filed on December 16, 2022;

[0044] U.S. Patent Application No. 18 / 113,395, filed on February 23, 2023;

[0045] U.S. Patent Application No. 18 / 211,486, filed on June 19, 2023;

[0046] U.S. Patent Application No. 18 / 233,282, filed on August 11, 2023;

[0047] U.S. Patent Application No. 18 / 374,740, filed on September 29, 2023;

[0048] U.S. Patent Application No. 14 / 913,867, filed on February 23, 2016, now U.S. Patent No. 10,874,287;

[0049] U.S. Patent Application No. 16 / 407,028, filed on May 18, 2019, now U.S. Patent No. 11,253,141;

[0050] U.S. Patent Application No. 16 / 413,160, filed on May 15, 2019, now Patent No. 10,869,592;

[0051] U.S. Patent Application No. 17 / 122,282, filed on December 15, 2020, now Patent No. 11,844,498;

[0052] U.S. Patent Application No. 15 / 371,858, filed on December 7, 2016, now Patent No. 9,895,048;

[0053] U.S. Patent Application No. 13 / 094,415, filed on April 26, 2011, now Patent No. 9,649,014;

[0054] U.S. Patent Application No. 15 / 462,331, filed on March 17, 2017, now Patent No. 10,524,636;

[0055] U.S. Patent Application No. 15 / 651,526, filed on July 17, 2017, now Patent No. 10,278,563;

[0056] U.S. Patent Application No. 15 / 855,532, filed on December 27, 2017, now Patent No. 10,292,571;

[0057] U.S. Patent Application No. 15 / 484,953, filed on April 11, 2017, now Patent No. 10,426,320;

[0058] PCT / US2020 / 038349, filed on June 18, 2020, now Patent No. 11,013,396;

[0059] U.S. Patent Application No. 17 / 370,575, filed on July 8, 2021;

[0060] U.S. Patent Application No. 18 / 209,947, filed on June 14, 2023;

[0061] U.S. Patent Application No. 17 / 145,466, filed on January 11, 2021, now Patent No. 11,395,579;

[0062] U.S. Patent Application No. 16 / 664,082, filed on October 25, 2019, now Patent No. 11,071,442;

[0063] U.S. Patent Application No. 17 / 349,674, filed on June 16, 2021;

[0064] Patent Application No. PCT / US2020 / 046018, filed on August 12, 2020;

[0065] Patent Application No. 17 / 583,095, filed on January 24, 2022;

[0066] Patent Application No. 13 / 276,839, filed on October 19, 2011, now Patent No. 8,702,594;

[0067] Patent Application No. 13 / 094,415, filed on April 26, 2011, now Patent No. 9,649,014. Technical Field

[0068] This patent specification relates to endoscopes, and more particularly, to endoscopes for medical procedures that have a lower manufacturing cost and can be partially disposable, partially reusable, or fully disposable. Background Art

[0069] Clinicians use ureteroscopes for upper urinary tract examinations. Such examinations typically involve inserting a ureteroscope through the urethra into the bladder and then from the bladder into the ureter, and possibly into the kidney. This procedure is applicable for the diagnosis and treatment of disorders (such as kidney stones) and upper urinary tract urothelial carcinomas. Smaller stones in the bladder or lower ureter can be removed intact, while larger stones are typically fragmented and then removed during ureteroscopy. Usually, when the patient is under anesthesia, flexible, semi-rigid, or rigid instruments can be used for the examination. In pyeloscopy, the ureteroscope is designed to reach directly into the renal pelvis, enabling visualization of the entire drainage system of the kidney. The ureteroscope may include instrument ports to direct a laser fiber towards a stone and to insert a miniature stone retrieval basket to retrieve stone fragments. A ureteroscope is a form of endoscope that is particularly suitable or adapted for ureteroscopy and, in some cases, for pyeloscopy. One example is the ureteroscope system provided by Boston Scientific - see https: / / www.bostonscientific.com / content / dam / bostonscientific / uro / lithovue-elite / URO-1328704-AA-LithoVue_Elite_Brochure_US_510k-cleared_DIGITAL.pdf. It is believed that known commercially available ureteroscopes and their ancillary devices are costly to manufacture and challenging to use, in part because they are not particularly ergonomic in their operation during medical procedures. For example, during a medical procedure, there may be situations where the ureteroscope needs to be held in unnatural and fatiguing ways, with excessive hand movements and excessive wrist and elbow rotations, in order to direct the distal tip of the ureteroscope to the target area in the patient, and there may be a lack of convenient and clear indications of the position of the distal tip of the ureteroscope relative to the target area and how the distal tip of the ureteroscope is oriented relative to the target area.

[0070] Conventional endoscopic or direct vision methods are used to examine the interior of body cavity organs or body cavities, which utilize complex lens systems to transmit images from the distal tip of the endoscope to the observer. For rigid endoscopes, the lens system is typically an objective lens plus a relay lens system, and for flexible endoscopes, the lens system is typically an optical fiber bundle. For both rigid and flexible conventional endoscopes, the lens or fiber optic system is relatively expensive and requires multiple reuses. Therefore, strict decontamination and disinfection procedures are required after each use.

[0071] A single-use endoscope is a relatively new type of endoscope instrument. In some cases, the manufacturing cost of the endoscope can be low enough to be used for only a single patient. The single-use or disposable endoscope reduces the risk of cross-contamination and hospital-acquired diseases, making it possible to perform procedures in doctor's offices as well as clinics and hospitals, and reducing the overall cost of the medical procedure by avoiding the costs associated with the disinfection and maintenance of traditional endoscopes and the personnel required for maintenance.

[0072] The subject matter described or claimed in this patent specification is not limited to embodiments that solve any specific disadvantages or operate only in the above-described environment. Instead, the above background is provided only to illustrate an exemplary technical field in which certain embodiments of the present utility model can be implemented. Summary of the Invention

[0073] In minimally invasive endoscopic surgery, clinicians typically cannot directly see the insertion portion of a ureteroscope or endoscope inserted into a patient, such as the tip and shaft. In addition, the clinician must also control the catheters and instruments inserted inside the ureteroscope or endoscope. The ability to track and control the operation of the insertion portion of a ureteroscope or endoscope that is only partially visible is very useful for the operator. Having an ergonomic proximal design of the ureteroscope or endoscope also helps to control the complex movements of the ureteroscope or endoscope and surgical instruments. The ureteroscope or endoscope can track and control the operation of the insertion portion of the ureteroscope or endoscope, and includes a disposable portion and a reusable portion, greatly reducing the manufacturing cost of such endoscopes. In addition, on the hub assembly of the ureteroscope or endoscope, a simple and ergonomic proximal housing assembly and port (such as a Luer port) design is adopted, facilitating the control of the ureteroscope or endoscope and the surgical instruments inserted through the port into the lumen or channel of the endoscope catheter. This is particularly important for ureteroscopes, as the distal tip of the ureteroscope needs to pass through the urethra, bladder, ureter, and may enter the interior of the kidney, making the medical procedure particularly difficult. Therefore, the ergonomic design of the ureteroscope and the ease of use and controllability of its functions are particularly important for ureteroscopy and pyeloscopy.

[0074] The present disclosure provides embodiments of ureteroscopes or endoscopes having some or all of such features. For example, the present disclosure provides embodiments of disposable portions of ureteroscopes or endoscopes having a manual deflection control system for deflecting the tip of the insertion portion and a motorized or manual rotation drive system for rotating the tip of the insertion portion, enabling a clinician to more efficiently control the rotation and deflection of the tip portion of the insertion portion. In some embodiments, the ureteroscope or endoscope includes a manual deflection control system and a motorized rotation drive system to assist the clinician in performing a particular procedure. In some embodiments, the ureteroscope or endoscope includes a manual deflection control system and a motorized rotation drive system to assist the clinician in performing a particular procedure. In some embodiments, the ureteroscope or endoscope includes a manual deflection control system, and during a particular procedure, the clinician manually rotates the outer housing assembly, thereby rotating the tip portion of the ureteroscope or endoscope. For a particular ureteroscope or endoscope procedure, such as ureteroscopy, the rotation of the ureteroscope or endoscope can be further divided into "large rotation", which refers to the axial rotation of the cannula when the clinician activates the motorized or manual rotation drive system built into the endoscope or when the hand of the clinician holding the handle of the outer housing assembly rotates. "Small rotation" refers to the clinician manually rotating the proximal end of the cannula, thereby causing a slight rotation of the tip portion of the cannula.

[0075] In an exemplary embodiment, an endoscope according to the present disclosure is a ureteroscope having a disposable portion and a reusable portion. During a surgical procedure, the reusable portion is inserted into and encapsulated within the disposable portion. The disposable portion includes a pistol-grip housing assembly, a hub assembly, and an introducer tube having one or more channels or lumens extending from its proximal end to its distal end. A tip portion located at the distal end of the introducer tube includes an imaging module. Inside the housing assembly is a motorized rotation drive system and a manual deflection control system. The motorized rotation drive system includes a micro motor for driving the rotation of the introducer tube and / or the hub assembly and the introducer tube. The manual deflection control system includes a lever and a push-pull mechanism or system responsive to the lever. The lever is fixed to the exterior of the housing assembly such that the lever is movable relative to the housing assembly. For example, when the lever moves in a first direction, such as rotates, it pushes the tip portion of the introducer tube in a first deflection direction, and when the lever moves in a second direction, such as rotates, it pulls the tip portion of the introducer tube in a second deflection direction. The second direction may be opposite to the first direction. The imaging module may include image optics (such as a camera capable of taking still pictures or generating video images) and a lighting source (such as one or more LEDs). The hub assembly may include one or more ports, for example two ports, for introducing fluid into a target site within a patient's body and / or for introducing surgical instruments into the target site. Generally, the reusable portion is capable of wirelessly transmitting images from the imaging module to a stand-alone monitor, a monitor within an operating room, and / or a processing / display unit. However, the reusable portion may be wired to a stand-alone monitor, a monitor within an operating room, and / or a processing / display unit. The reusable portion is located within the housing assembly (such as a handle) of the disposable portion. The reusable portion may include a rechargeable battery and one or more printed circuit boards with electronic components facilitating video capture, camera control, and wireless transmission functions (such as Wi-Fi transmission).

[0076] During a surgical procedure, the ureteroscope or endoscope may interact with an external processing and display unit to exchange image data and control signals between the ureteroscope or endoscope and the external processing and display unit. Wireless transmission is performed using a point-to-point (PtP) Wi-Fi protocol, and image data and control signals can be exchanged through the wireless transmission to provide a secure communication link between the connections of the ureteroscope or endoscope and the external processing and display unit. The external processing and display unit may include an external connector, such as an HDMI connector, so that image data can be projected onto a larger display in the operating room that is remote from the external processing and display unit.

[0077] In some embodiments, the deflection plane of the tip of the cannula overlaps with the plane formed by one or more Luer ports on the hub assembly. This feature allows a clinician or user to infer the deflection plane of the insertion portion or distal end of the cannula, which portions are directly visible within the patient.

[0078] In some embodiments, an image flip control switch may allow the displayed image to reflect the orientation of the camera relative to the target within the surgical site. For example, the image flip control switch may be used to cause the displayed image to reflect the orientation of the camera rotated -90° or +90° relative to the tip of the cannula.

[0079] In another exemplary embodiment, an endoscope according to the present disclosure is a ureteroscope having a disposable portion, a reusable portion, and a cover. The disposable portion includes a housing assembly, a hub assembly, an insertion tube, an internal channel, a rotation drive system, and a deflection control system. The housing assembly has a body and a pistol-grip handle extending from the body. The pistol-grip handle has a proximal end integrally formed with the housing and an open distal end. The hub assembly extends distally from the body along the insertion tube axis. The hub assembly includes a body and two proximal ports extending in different directions transverse to the insertion tube axis such that, when viewed from a selected proximal distance from the housing assembly, at least one port is within the line of sight along the insertion tube axis. The insertion tube extends axially distally from the hub assembly along the insertion tube axis and has an imaging module at its distal end. The hub assembly and the insertion tube are mounted to be rotatable relative to the housing assembly body about the insertion tube axis, and the insertion tube is long and flexible enough to reach the kidney of an adult patient when inserted through the urethra, bladder, and ureter. The internal channel has a proximal end at the proximal port and extends therefrom to a distal port located at the distal end of the insertion tube and provides a path for one or more surgical instruments to enter the distal end through one of the two proximal ports and extend distally from the distal end. The rotation drive system is located at the housing assembly and is operably coupled to the hub assembly to rotate the hub assembly and the insertion tube relative to the housing assembly about the insertion tube axis. The rotation drive system includes a manually operable controller that is movable relative to the handle to provide visual and tactile indications of the rotational position of the insertion tube relative to the handle. The deflection control system is located at the housing assembly and interacts with the distal end of the insertion tube such that, when the deflection control system is activated, the distal end of the insertion tube deflects positively between a first position and a second position and negatively between the first position and a third position in a deflection plane. The position of the proximal port relative to the handle provides an immediate visual and tactile indication of the deflection plane in which the distal end of the insertion tube is oriented relative to the handle. The reusable portion of the ureteroscope includes a housing and at least one electrical contact. The housing has a proximal end and a distal end and is insertable into the open distal end of the handle. The at least one electrical contact is located at the proximal end of the housing and is accessible from the outside of the reusable portion housing. When the proximal end of the housing is inserted into the handle, the at least one electrical contact mates with one or more electrical contacts within the handle. The cover of the ureteroscope is releasably coupled to the open distal end of the handle and, when the reusable portion is inserted into the open distal end of the handle, the cover covers the open distal end of the handle and encloses the distal end of the reusable portion housing.

[0080] In another exemplary embodiment, an endoscope according to the present disclosure is a ureteroscope having a disposable portion, a reusable portion, and a cover. The disposable portion includes a housing, a hub assembly, an insertion tube, a rotation drive system, and a deflection control system. The housing assembly has a body and a handle extending from the housing body. The handle has a proximal end integrally formed with the housing and an open distal end. The hub assembly extends distally from the body along the insertion tube axis. The hub assembly has a body and at least one port extending from the body at a predefined angle relative to the hub assembly body. The insertion tube extends axially distally from the hub assembly along the insertion tube axis and has an imaging module at the distal end. The hub assembly and the insertion tube are mounted to be rotatable relative to the housing assembly body about the insertion tube axis. The insertion tube has at least one channel extending from the proximal end of the insertion tube to the distal end of the insertion tube. The rotation drive system is located inside the housing assembly and is operatively coupled to the hub assembly to rotate the hub assembly and the insertion tube about the insertion tube axis. The deflection control system is located inside the housing assembly and interacts with the distal end of the insertion tube such that when the deflection control system is activated, the distal end of the insertion tube can be deflected positively along a deflection plane between a first position and a second position, or the distal end of the insertion tube can be deflected negatively along the deflection plane between a first position and a third position. The reusable portion of the ureteroscope includes a housing and at least one electrical contact. The housing has a proximal end and a distal end and is insertable into the open distal end of the handle. The at least one electrical contact is located at the proximal end of the housing and is accessible from the outside of the reusable portion housing. When the proximal end of the housing is inserted into the handle, the at least one electrical contact can be mated with one or more electrical contacts inside the handle. The cover is releasably mated to the open distal end of the handle and can cover the open distal end of the handle and enclose the distal end of the reusable portion housing when the reusable portion is inserted into the open distal end of the handle.

[0081] In some embodiments, the rotation drive system includes an electric rotation drive system for rotating the hub assembly and the insertion tube about the insertion tube axis. In some embodiments, the electric rotation drive system includes at least one selectively actuated motor for rotating the hub assembly and the insertion tube about the insertion tube axis.

[0082] In some embodiments, the rotation drive system includes a manual rotation drive system for rotating the hub assembly and the insertion tube about the insertion tube axis. The manual rotation drive system includes at least one finger wheel for rotating the hub assembly and the insertion tube about the insertion tube axis.

[0083] In some embodiments, the deflection control system includes a manually operated deflection control system that interacts with the distal end of the cannula. In some embodiments, the manually operated deflection control system includes an operating lever located outside the housing assembly and at least one push-pull cable that is operably connected to the operating lever and the cannula such that movement of the operating lever in a first direction causes the distal end of the cannula to deflect positively between a first position and a second position, and movement of the operating lever in a second direction causes the distal end of the cannula to deflect negatively between the first position and a third position. In some embodiments, the manually operated deflection control system includes at least one deflection wheel lever located outside the housing assembly and at least one push-pull cable that is operably connected to the deflection wheel lever and the cannula such that movement of the deflection wheel lever in a first direction causes the distal end of the cannula to deflect positively between a first position and a second position, and movement of the deflection wheel lever in a second direction causes the distal end of the cannula to deflect negatively between the first position and a third position.

[0084] In some embodiments, the reusable portion includes a battery and control and processing electronics that can control the imaging module to capture images in the field of view and receive image data from the imaging module. In some embodiments, the reusable portion includes facilities for transmitting image data from the endoscope to an external processing / display unit. In some embodiments, the facilities can transmit image data via wireless transmission using a peer-to-peer Wi-Fi protocol. In some embodiments, the facilities in the reusable portion can convert the received image data into a display image and transmit the display image to an external unit for display.

[0085] In some embodiments, the ureteroscope according to the present disclosure can include a manual switch located at the distal end of the reusable portion, and a cover portion located at least above the switch has sufficient flexibility to manually operate the switch through the cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] To further clarify the above and other advantages and features of the subject matter of this patent specification, specific examples of embodiments of this patent specification are shown in the drawings. It should be understood that these drawings only depict illustrative embodiments and should not be considered as limiting the scope of this patent specification or the appended claims. The subject matter of this patent specification will be introduced and explained in additional specific and detailed manner through the drawings, wherein:

[0087] Figure 1is a first side perspective view of an exemplary embodiment of an endoscope according to the present disclosure, showing a disposable portion that includes a power rotary drive system within a housing assembly, a hub assembly operably coupled to the housing assembly, an insertion tube operably coupled to the hub assembly, an imaging module located at a distal end of the insertion tube, and an exemplary embodiment of a cover in a closed position that encloses a wireless reusable portion reusable portion inserted into a bottom end of a handle opening of the housing assembly;

[0088] Figure 2 is Figure 1 a second side perspective view of the assembled endoscope, showing an exemplary embodiment of the cover in an open position and the reusable portion of the endoscope according to the present disclosure, with the reusable portion inserted into the bottom end of the handle opening;

[0089] Figure 3 is Figure 1 a side elevation view of a first side of the endoscope, showing a port plane of a hub assembly port in line with a deflection plane of the insertion tube and showing a hub assembly body with markings indicating the location of the insertion tube lumen;

[0090] Figure 4 is Figure 1 a top plan view of the endoscope, showing an exemplary embodiment of an image control switch for adjusting an image generated by the imaging module based on an orientation of the camera relative to a target region within a patient's body;

[0091] Figure 5 is Figure 1 an exploded perspective view of the endoscope, showing a housing assembly having a hollow housing and a hollow handle extending from the housing to form a pistol-grip handle, and also showing a motor of the power rotary drive system;

[0092] Figure 6 is an exploded perspective view of an exemplary embodiment of a reusable portion of the endoscope according to the present disclosure;

[0093] Figure 7 is a first side perspective view of another exemplary embodiment of an endoscope according to the present disclosure, showing a disposable portion that includes a manual rotary drive system within a housing assembly, a hub assembly operably coupled to the housing assembly, an insertion tube operably coupled to the hub assembly, an imaging module located at a distal end of the insertion tube, and an exemplary embodiment of a cover in a closed position that encloses a wireless reusable portion reusable portion inserted into a bottom end of a handle opening of the housing assembly;

[0094] Figure 8 is Figure 7Side elevation view of the first side of the endoscope, showing the port plane of the hub assembly port in line with the cannula deflection plane;

[0095] Figure 9 Is Figure 7 Exploded perspective view of the endoscope, showing the housing assembly having a hollow housing and a hollow handle extending from the housing to form a pistol-grip handle, and also showing the finger wheel of the manual rotation drive system;

[0096] Figure 10 Is Figure 7 Perspective view of the endoscope, showing an exemplary embodiment of the cover and the reusable portion of the endoscope according to the present disclosure in an open position, the reusable portion being segmented and inserted into the open bottom end of the housing assembly handle;

[0097] Figure 11 Is a perspective view of an external processing / display unit capable of interacting with an embodiment of the endoscope according to the present disclosure;

[0098] Figure 12 Is a side perspective view of another exemplary embodiment of the endoscope according to the present disclosure, showing a disposable portion including a power rotation drive system within the housing assembly, a hub assembly operably coupled to the housing assembly, a cannula operably coupled to the hub assembly, an imaging module located at the distal end of the cannula, and an exemplary embodiment of a cover in a closed position, the cover enclosing a wired reusable portion inserted into the open bottom end of the housing assembly handle;

[0099] Figure 13 Is Figure 12 First side perspective view of the assembled endoscope, showing the cover and the wired reusable portion in an open position, the reusable portion being segmented and inserted into the open bottom end of the handle;

[0100] Figure 14 Is a perspective view of an external processing / display unit capable of interacting with an embodiment of the endoscope according to the present disclosure;

[0101] Figure 15 Is a perspective view of another exemplary embodiment of the endoscope according to the present disclosure, showing a disposable portion including a power rotation drive system within the housing assembly, a hub assembly operably coupled to the housing assembly, a cannula operably coupled to the hub assembly, an imaging module located at the distal end of the cannula, and an exemplary embodiment of a cover in a closed position, the cover enclosing a wireless reusable portion inserted into the open bottom end of the housing assembly handle;

[0102] Figure 16 Is Figure 15Side elevation view of the first side of the endoscope, showing the port located near the proximal end of the main body of the housing assembly and a part of the deflection control system after the second part of the housing assembly is removed;

[0103] Figure 17 Is Figure 15 Top plan view of the endoscope, showing an exemplary embodiment of an image control switch for adjusting the image generated by the imaging module;

[0104] Figure 18 Is Figure 15 Exploded perspective view of the endoscope, showing the housing assembly having a hollow main body and a hollow handle extending from the housing to form a pistol-grip handle, and also showing the motor of the power rotary drive system;

[0105] Figure 19 Is a perspective view of another exemplary embodiment of the endoscope according to the present disclosure, showing a disposable unit including a power rotary drive system within the housing assembly, a hub assembly operatively coupled to the housing assembly, a cannula operatively coupled to the hub assembly, an imaging module located at the distal end of the cannula, and an exemplary embodiment of a cover in a closed position that encloses a wired reusable unit inserted into the bottom end of the handle opening of the housing assembly;

[0106] Figure 20 Is Figure 19 Exploded perspective view of the endoscope, showing the housing assembly having a hollow main body and a hollow handle extending from the main body to form a pistol-grip handle, and also showing the motor of the power rotary drive system;

[0107] Figure 21 Is a top perspective view of another exemplary embodiment of the endoscope according to the present disclosure, showing a disposable unit including the housing assembly and a port extending from the housing assembly, a hub assembly operatively coupled to the housing assembly, a cannula operatively coupled to the hub assembly, an imaging module located at the distal end of the cannula, and a cover in a closed position that encloses a wireless reusable unit inserted into the bottom end of the handle opening of the housing assembly;

[0108] Figure 22 Is Figure 21 Side elevation view of the first side of the endoscope, showing an observation member extending from the hub assembly and aligned with the deflection plane of the cannula;

[0109] Figure 23 Is Figure 21 Top plan view of the endoscope, showing an exemplary embodiment of a port extending from the top of the housing assembly;

[0110] Figure 24 IsFigure 21 Exploded perspective view of an endoscope, showing a housing assembly having a hollow body and a hollow handle extending from the body, thereby forming a pistol-grip handle;

[0111] Figure 25 Is a top perspective view of another exemplary embodiment of an endoscope according to the present disclosure, showing a disposable unit including a housing assembly and ports extending from the housing assembly, a hub assembly operably coupled to the housing assembly, an intubation tube operably coupled to the hub assembly, an imaging module located at the distal end of the intubation tube, and a cover in a closed position that encloses a wired reusable unit inserted into the bottom end of the handle opening of the housing assembly;

[0112] Figure 26 Is Figure 25 Exploded perspective view of an endoscope, showing a housing assembly having a hollow body and a hollow handle extending from the body, thereby forming a pistol-grip handle;

[0113] Figure 27 Is a side perspective view of another exemplary embodiment of an endoscope according to the present disclosure, showing a disposable unit including a housing assembly and a pair of ports extending from the housing assembly, a hub assembly operably coupled to the housing assembly, an intubation tube operably coupled to the hub assembly, an imaging module located at the distal end of the intubation tube, and a cover in a closed position that encloses a wireless reusable unit inserted into the bottom end of the handle opening of the housing assembly;

[0114] Figure 28 Is Figure 27 Top perspective view of the first side of the endoscope;

[0115] Figure 29 Is Figure 27 Side elevation view of the first side of the endoscope, showing an observation member extending from the hub assembly and aligned with the deflection plane of the intubation tube, and a rocker switch for activating the motor of the rotation drive system;

[0116] Figure 30 Is Figure 27 Side elevation view of the second side of the endoscope, showing an observation member extending from the hub assembly and aligned with the deflection plane of the intubation tube, and a rocker switch for activating the motor of the rotation drive system;

[0117] Figure 31 Is Figure 27 Top plan view of the endoscope, showing an exemplary embodiment of a pair of ports extending from the top of the housing assembly;

[0118] Figure 32 Is Figure 27 Bottom plan view of the endoscope;

[0119] Figure 33 is Figure 27 Elevation view of the proximal end of the endoscope;

[0120] Figure 34 is Figure 27 Elevation view of the distal end of the endoscope;

[0121] Figure 35 is Figure 29 Side elevation view of the endoscope, with the right housing cover of the housing assembly removed, showing the reusable portion of the endoscope, the deflection control system, and a pair of ports extending from the top of the housing assembly;

[0122] Figure 36 is Figure 27 Exploded perspective view of the endoscope, showing the housing assembly having a hollow body and a hollow handle extending from the body to form a pistol-grip handle;

[0123] Figure 37 Is a side perspective view of another exemplary embodiment of the endoscope according to the present disclosure, showing the disposable portion including a housing assembly and a pair of ports extending from the housing assembly, a hub assembly operably coupled to the housing assembly, a cannula operably coupled to the hub assembly, an imaging module located at the distal end of the cannula, and a cover in a closed position that encloses a wired reusable portion inserted into the bottom end of the handle opening of the housing assembly;

[0124] Figure 38 is Figure 37 Exploded perspective view of the endoscope, showing the housing assembly having a hollow body and a hollow handle extending from the body to form a pistol-grip handle;

[0125] Figure 39 is Figure 1 Perspective view of the endoscope showing the endoscope in its starting position before insertion into a patient, where the hub assembly is positioned to align the Luer plane with the deflection plane;

[0126] Figure 40 is Figure 39 Perspective view of the endoscope showing the endoscope rotated 90 degrees counterclockwise from the starting position;

[0127] Figure 41 is Figure 39 Perspective view of the endoscope showing the endoscope rotated 90 degrees clockwise from the starting position;

[0128] Figure 42a is Figure 40 Schematic diagram of the endoscope inserted into the patient's right kidney;

[0129] Figure 42b isFigure 41 Schematic diagram of an endoscope inserted into a patient's left kidney;

[0130] Figure 43 is Figure 1 Perspective view of the endoscope, showing the endoscope in its starting position before insertion into the patient, where the hub assembly is positioned such that the Luer plane is orthogonal to the deflection plane;

[0131] Figure 44 is Figure 43 Perspective view of the endoscope, showing the endoscope rotated 90 degrees counterclockwise from the starting position;

[0132] Figure 45 is Figure 43 Perspective view of the endoscope, showing the endoscope rotated 90 degrees clockwise from the starting position;

[0133] Figure 46a is Figure 44 Schematic diagram of the endoscope, where the hub assembly is positioned such that the deflection plane is aligned with the patient's right kidney, and the display screen of the external processing / display unit shows an image of the patient's right kidney in the vertical direction and shows an icon of the cannula tip, showing the real-time orientation of the imaging module and the cannula lumen;

[0134] Figure 46b is Figure 45 Schematic diagram of the endoscope, where the hub assembly is positioned such that the deflection plane is aligned with the patient's left kidney, and the display screen of the external processing / display unit shows an image of the patient's left kidney in the vertical direction and shows an icon of the cannula tip, showing the real-time positioning of the imaging module and the cannula lumen;

[0135] Figure 47 Schematic diagram of an exemplary angle of deflection of the cannula tip according to the present disclosure;

[0136] Figure 48 Front elevation view of an exemplary embodiment of the cannula tip according to the present disclosure, showing an exemplary embodiment of the imaging module according to the present disclosure, and a channel extending from the distal end to the proximal end through the cannula;

[0137] Figure 49 Tip deflection and cannula axial rotation diagram, showing the orientation of the imaging module at various rotation angles of the cannula;

[0138] Figure 50a is Figure 44 Schematic diagram of an endoscope inserted into a patient's right kidney, showing the orientation of the imaging module;

[0139] Figure 50b is Figure 45 Schematic diagram of an endoscope inserted into a patient's left kidney, showing the orientation of the imaging module. Detailed implementation manners

[0140] Examples of preferred embodiments are described in detail below. Although only a few embodiments are described in this patent specification, the novel subject matter described in this patent specification is not limited to any one embodiment or combination of embodiments described in this patent specification, but includes a large number of alternatives, modifications, and equivalents. In addition, although a large number of specific details are set forth in the following description to provide a thorough understanding, some embodiments may be implemented without some or all of such details. In addition, for the sake of clarity, some technical materials known in the related art are not described in detail in this patent specification to avoid unnecessary confusion about the novel subject matter described in this patent specification. It should be clear that the individual features of one or more specific embodiments described in this patent specification may be used in combination with the features of other described embodiments or with other features. In addition, in the various drawings, the same reference numerals and labels denote the same components.

[0141] As detailed below, the ureteroscope or endoscope according to a preferred embodiment is basically a stand-alone ureteroscope or endoscope and can communicate wirelessly with a processing / display unit, such as via Wi-Fi or a near-field link. However, if a wireless connection is not provided or not required at the medical site, the ureteroscope or endoscope may also have a port for wired connection to the processing / display unit. The ureteroscope or endoscope may include a power source, such as a battery, and sufficient electronic components to control the imaging module at the distal end of the cannula and process the image data from the imaging module into an image for display, so that the image can be displayed with a minimum of control and / or processing on an external display. In other preferred examples, the processing / display unit may include facilities for controlling some or all of the functions of the imaging module and facilities for processing some or all of the image data of the imaging module for display.

[0142] Figures 1-4 are various views of an exemplary embodiment of the ureteroscope or endoscope 100 according to the present disclosure, Figure 5 is an exploded view of the ureteroscope or endoscope 100. The ureteroscope 100 includes a disposable part 102 and a reusable part 104, and these two parts are assembled to form the ureteroscope 100. The disposable part 102 includes a housing assembly 106, a hub assembly 110, a cannula 112, and an imaging module 114. In the illustrated exemplary embodiment, the housing assembly 106 includes a main body 120, a handle 122, and a cover 128. The main body 120, the handle 122, and the cover 128 are preferably made of a plastic material, such as a thermoplastic material. Non-limiting examples of such thermoplastic materials include polycarbonate (PC), and a combination of polycarbonate (PC) and acrylonitrile-butadiene-styrene terpolymer (ABS). The main body 120 is a hollow member extending along the cannula axis "Z", such as Figure 4As shown. The handle 122 is a hollow pistol grip handle, preferably extending from the body 120 along a handle axis "H", the handle axis being at an angle relative to the longitudinal axis of the body 120. The handle 122 has a proximal end 123 and an open distal end 125, the proximal end 123 being integrally or monolithically formed with the body 120, as Figure 2 shown. The hollow portion of the handle 122 is configured and sized to receive the reusable portion 104, which will be described in more detail below. The cover 128 is removably fixed to the distal end 125 of the handle 122 to enclose the open distal end 125 of the handle 122. In Figures 1-5 the exemplary embodiment shown, the cover 128 is fixed to the distal end 125 of the handle 122 by a hinge (such as a living hinge or a mechanical hinge), enabling the cover 128 to pivot between an open position allowing access to the open distal end 125 of the handle 122 and a closed position preventing access to the open distal end 125 of the handle 122. In Figures 7-10 the exemplary embodiment shown, the cover 128 is removably fixed to the distal end 125 of the handle 122 by a snap-fit connection. It should be noted that when the reusable portion 104 is correctly inserted into the ureteroscope 100, a part of the reusable portion 104 may project distally from the handle 122. When the cover 128 is in the closed position, the cover 128 not only covers the part of the reusable portion 104 that projects distally from the handle 122, but also covers an adjacent portion of the distal end 125 of the handle 122, thereby sealing the interface between the open end of the handle 122 and the reusable portion 104. It should also be noted that for ease of manufacturing, the body 120 and the handle 122 of the housing assembly 106 can be a two-piece structure, i.e., having a left housing cover 106a and a right housing cover 106b, as Figure 5 shown, the left housing cover 106a and the right housing cover 106b are connected together by ultrasonic welding, adhesives or mechanical connections (such as snap-fit connections). In this configuration, the left housing cover 106a and the right housing cover 106b are substantially the same except for the orientation, so that the left housing cover 106a can be fixed to the top of the right housing cover 106b to form the housing assembly 106.

[0143] Inside the housing assembly 106, there is a deflection control system 130 and a rotation drive system 150. The deflection control system 130 is provided to deflect or bend the distal end of the cannula 112 within a deflection plane between a first full deflection position and a second full deflection position, as Figures 35-37As shown. Non-limiting examples of the deflection range of the distal end of the cannula are -270 degrees and +270 degrees. In the illustrated exemplary embodiment, the deflection control system 130 includes one or more cables or wires 132, a cable wheel 134, one or more lever wheels 136, and a level 138. As is well known, one or more cables or wires 132 pass through a cable housing 140 and through the hub assembly 110 to the distal end of the cannula 112. The free ends of one or more cables 132 are fixed to the cable wheel 134. The cable wheel 134 is an arcuate member 134a having an arm 134b transverse to the arcuate member. One end of the arm 134b associated with the left housing cover 106a ("left arm end") passes through a hole 124 in the left housing cover 106a, and one end of the arm 134b associated with the right housing cover 106b ("right arm end") passes through a hole 124 in the right housing cover 106b. The left lever wheel 136 is fixed to the left arm end and is located within a recess 126 outside the left housing cover 106a. The right lever wheel 136 is fixed to the right arm end and is located within a recess 126 outside the right housing cover 106b. As Figure 1 , Figure 2 and Figure 4 shown, the lever 138 is fixed to the left and right lever wheels 136 such that the lever 138 is rotatable relative to the housing assembly 106.

[0144] Continuing to refer to Figure 5 , the rotation drive system 150 includes a motor 152 mounted on a motor base plate 154, and a gear assembly 156 fixed to the proximal end of the motor drive shaft and a motor adapter 158. The gear assembly 156 reduces the rotational speed of the motor drive shaft. For example, the motor 152 is configured to rotate the motor drive shaft at a rate within the range of about 17 rpm. In this configuration, the battery voltage can be within the range of about 3.7 VDC. As needed, the gear assembly 156 can reduce the rotational speed of the motor drive shaft to below 17 rpm. In the illustrated exemplary embodiment, the gear assembly includes a first gear 160 fixed to the motor drive shaft, and the first gear 160 meshes with a second gear 162 such that rotation of the first gear 160 causes the second gear 162 to rotate at a slower rate. The motor adapter 158 can be a separate component, or the motor adapter 158 can be part of the hub assembly 110. In Figure 5In the exemplary embodiment shown, the motor adapter 158 is a separate component. For ease of manufacture, the motor adapter 158 may be a two-piece structure, i.e., having a left adapter cover 158a and a right adapter cover 158b, which are connected together by ultrasonic welding, adhesives, or mechanical connections (such as snap-fit connections). The motor adapter 158 has a gear shaft 158c at its proximal end, which is configured and sized to accommodate the second gear 160, thereby transferring the rotation of the second gear to the rotation of the motor adapter 158. The hub interface 158d of the motor adapter 158 is operably connected to the hub assembly 110, thereby converting the rotation of the motor adapter 158 into the rotational movement of the hub assembly 110. To activate the motor 154 and limit the rotation of the motor adapter 158, the rotational drive system 150 further includes a pair of motor switches 164 and a limit switch 166. One of the pair of motor switches 164 is fixed within the left main body 120a of the left housing cover 106a, such that the activation arm 164a of the motor switch 164 passes through an opening 142 in the left main body 120a. Similarly, the other motor switch 164 is fixed within the right main body 120b of the right housing cover 106b, such that the activation arm 164a of the motor switch 164 passes through an opening 142 in the right main body 120b, as Figure 1 and Figure 2As shown. A pair of motor switches 164 are electrically connected to the motor base plate 154 through one or more electrical contacts 164b, and the motor base plate 154 is electrically connected to a printed circuit board (PCB) 168 within the handle 122 through internal wires (not shown). The electrical contacts 168a of the printed circuit board 168 are electrically connected to the electrical contacts 208 within the reusable portion 104. The control and processing electronic components 210 within the reusable portion 104 can respond to the activation of the left or right motor switch 164 by the clinician and control the operation of the motor 152. When the axial rotation of the motor adapter 158 or the hub assembly 110 reaches a predefined axial rotation range, the limit switch 166 shuts off the motor 150. As a non-limiting example, the predefined range of the axial rotation of the motor adapter 158 or the hub assembly 110 can be between approximately -150 degrees and approximately +150 degrees, such that if the motor adapter 158 or the hub assembly 110 rotates to approximately -150 degrees, the limit switch 166 shuts off the motor 150, and if the motor adapter 158 or the hub assembly 110 rotates to approximately +150 degrees, the limit switch 166 shuts off the motor 150. However, other ranges are also contemplated by the present disclosure. For example, in the case where the cannula 112 and / or the semi-rigid tube 189 employ a specific type of material, it may be important to maintain the integrity of the channel 115 of the semi-rigid tube 189 and / or the cannula 112 so that surgical instruments and fluids can pass through easily without affecting the disposition and / or operation of the ureteroscope 100. In such a case, it may be important to limit the axial rotation range of the motor adapter 158 or the hub assembly 110 to between approximately -135 degrees and approximately +135 degrees, such that when the motor adapter 158 or the hub assembly 110 rotates, the semi-rigid tube 189 and / or the channel 115 within the cannula 112 do not become overly twisted. It should be noted that the semi-rigid tube 189 can be a Teflon tube with an inner diameter of approximately 1.2 mm and a wall thickness of 0.1 mm.

[0145] Continuing to refer Figures 1-5 , the hub assembly 110 extends distally from the body 120 of the housing assembly 110 along the cannula axis "Z". The hub assembly 110 includes a hollow body 180 that has a housing adapter 182 at the proximal end and a cannula adapter 184 at the distal end. For ease of manufacture, the body 180 can be a two-piece structure, i.e., having a left body cover 180a and a right body cover 180b, as Figure 18As shown, the left main body cover 180a and the right main body cover 180b are connected together by ultrasonic welding, adhesives, or mechanical connections (such as snap-fit connections). The housing adapter 182 is fixed to the main body 120 of the housing assembly 106 by a threaded nut that is rotatably fixed to the proximal end portion of the main body 180. The cannula adapter 184 can fix the cannula 112 to the hub assembly 110. The hub assembly 110 may also include one or more ports or connectors 186. One or more ports or connectors 186 can be Luer ports or connectors. For the sake of convenience in description, one or more ports or connectors 186 in the present utility model may also be referred to as Luer ports. In Figures 1-5 the exemplary embodiment shown, there are two Luer ports 186 that extend from the main body 180, preferably at an angle of "β" with respect to the longitudinal axis of the main body 180. This angle can be within a range of about 30 degrees. One or more Luer ports 186 communicate with the channel 115 in the cannula 112, as Figure 44 shown, so that the surgical instruments or fluids introduced into the Luer ports 186 can enter the channel 115 towards the distal end portion of the cannula 112.

[0146] The cannula 112 is a flexible member that is detachably coupled to the hub assembly 110 through the cannula adapter 184 and extends distally from the hub assembly 110 along the cannula axis "Z". The imaging module 114 is fixed to the distal end portion of the cannula 112, formed as the distal end portion of the cannula 112, or integrally formed with the distal end portion of the cannula 112. The imaging module 114 may have a housing 190 that includes a camera 114a and one or more illumination light sources 114b, such as LEDs, which cooperate with respective openings on the housing 190. The housing 190 is formed as or fixed to the distal end portion of the cannula 112 such that the camera 114a and the LEDs 114b face the distal direction. The camera 114a and the LEDs 114b may have a field of view and an illumination direction, and the central axis forms an angle, such as a 30-degree angle, with respect to the cannula axis "Z". A more detailed description of the imaging module is made in the co-owned U.S. Patent No. 11,771,304, which is incorporated herein by reference in its entirety and becomes a part of the present utility model.

[0147] Referring to Figure 2 、 5 and 6, the reusable portion 104 extends along the longitudinal axis "A" and can be inserted into the open distal end portion 125 of the handle 122. At the proximal end portion, the reusable portion 104 has one or more electrical contacts 208, as Figure 6 shown, and when the reusable portion 104 is fully inserted into the handle 122, the electrical contacts 208 are mated with one or more electrical contacts 168a of the PCB 168 within the handle 122, as Figure 5As shown. Internal wires or cables (not shown) connect the camera 114a and the LED 114b of the imaging module 114 to the PCB 168. For example, the internal wires can power the imaging module 114 and transfer image data from the imaging module 114 to the PCB 168.

[0148] It is noted that to ensure easy assembly of the ureteroscope 100 and proper insertion of the reusable portion 104 into the handle 122, the handle and the reusable portion should be configured or shaped such that the reusable portion 104 can only be inserted into the handle 122 in one orientation. For example, as Figure 2 、 5 and FIG. 6 show, the handle 122 may include one or more alignment clips 146, and the housing 200 of the reusable portion 104 may include one or more grooves or channels 202 such that when one or more grooves or channels 202 are aligned with one or more alignment clips 146, the insertion orientation of the reusable portion 104 is correct. With the correct insertion orientation, the reusable portion 104 can be inserted all the way into the handle 122, causing one or more electrical contacts 168a of the PCB 168 to be inserted into one or more electrical contacts 208 of the PCB 206. If one or more alignment clips 146 are not correctly aligned with one or more grooves or channels 202, the reusable portion 104 will be prevented from being inserted all the way into the handle 122.

[0149] Refer to Figure 6 and 11, the reusable portion 104 includes a housing 200 defined by a first housing portion 200a and a second housing portion 200b, which form the housing 200 when connected. The first housing portion 200a and the second housing portion 200b can be connected by ultrasonic welding, adhesives, or mechanical fasteners. Non-limiting examples of mechanical fasteners include snap-fit connections. The outer surfaces of the first housing portion 200a and the second housing portion 200b may include the above-mentioned grooves or channels 202. The reusable portion 104 may include a rechargeable battery 204 within the housing 200, and the rechargeable battery 204 is electrically connected to a printed circuit board ("PCB") 206 within the housing 200 through internal wires (not shown). The PCB 206 includes one or more electrical contacts 208, and the electrical contacts 208 mate with one or more electrical contacts 168a of the PCB 168 within the handle 122 of the housing assembly 106. Preferably, the electrical contacts 208 include power contacts and data contacts, so as to supply power to the PCB 168 and provide a data communication line for the PCB 168. Then the power supply at the PCB 168 can be provided to the power imaging module 114. In the case where it is necessary to take a photo of the target area within the patient's body, a switch 144 within the housing assembly 106 of the disposable portion 102 can be used, and the switch 144 can be accessed from the outside of the housing assembly 106. More specifically, the photo switch 144 is electrically connected to the imaging module 114 through internal wires (not shown) within the disposable portion 102, so that when the clinician activates the photo switch 144, the camera 114a of the imaging module 114 can take a photo of the target area. The power supply at the PCB 168 can also be provided to the motor 152 through a motor switch 164 within the housing assembly 106 of the disposable portion 102. Image data from the imaging module 114, such as video and photo data, can be sent to the PCB 168 through internal wires (not shown) and sent to the PCB 206 through the above-mentioned data communication line. The reusable portion 104 may also include a printed circuit board, and the control and processing electronic components 210 of the printed circuit board are configured to communicate with the imaging module 114 and the motor 152 of the rotation drive system 150 through the electrical contacts 208. The control and processing electronic components 210 may include a processor and related circuits for controlling the operation of the imaging module 114, processing the image data received from the imaging module 114, and controlling the operation of the motor 152 in response to the activation of the motor switch 164. According to certain embodiments, the control and processing electronic components 210 may include Wi-Fi, near field, or other wireless facilities for communicating with an external processing / display unit 1000, such as Figure 11As shown, it also includes a facility that fully or almost fully controls the operation of the imaging module 114 through a suitable switch and fully or almost fully processes the image data received from the imaging module 114 into an image for display, so that the external processing / display unit 1000 only needs to perform a minimal amount of processing on the image data or the displayed image. Wi-Fi, near-field, or other wireless facilities can also communicate with the external processing / display unit 1000 to fully or almost fully control the operation of the motor 152 of the rotary drive system 150 through a suitable switch. According to some embodiments, partial or all control of the imaging module 114, partial or all processing of the image data from the imaging module 114, and / or partial or all control of the motor 152 can be completed by or at the external processing / display unit 1000.

[0150] Continuing to refer Figure 6 and 11 , the reusable portion 104 may also include a printed circuit board, and the electronic components 212 of the printed circuit board provide a power on / off switch 214 and a battery charging connector 216. The switch 214 turns on or off the power of the reusable portion 104, thereby turning on or off the power of the disposable portion 102. The charging connector 216 is electrically connected to the rechargeable battery 204, so that the battery 204 can be connected to the external processing / display unit 1000 for charging, as Figure 11 shown. Non-limiting examples of the charging connector 216 include a Type-C connector and a Thunderbolt connector.

[0151] For ease of description, in the present utility model, the external processing / display unit 1000 may also be referred to as the PD unit 1000. In an exemplary embodiment, the PD unit 1000 includes a display 1002, one or more switches or buttons 1004, and / or an adapter or connector 1006. The display 1002 can display the image data received from the camera 114a in the imaging module 114 and / or other data and images. For example, when displaying the image data received from the camera 114a, the PD unit 1000 can superimpose an image of the tip of the cannula 112, and the image shows a real-time view of the orientation of the camera 114a and the channel 115 during the surgical procedure, as Figure 42a and 42bAs shown. One or more switches or buttons 1004 can control functions, for example, the operation of the imaging module 114 and the motor 152 of the ureteroscope 100 and the PD unit 1000. An adapter or connector 1006 can be provided, for example, to connect the reusable part 104 to the PD unit 1000 and charge the battery 204 in the reusable part 104. The adapter or connector 1006 of the PD unit 1000 may also include one or more cable connectors, for example, an HDMI connector or other high-speed connectors, to obtain a data link to an external display (not shown), and the external display can be a large and / or high-definition monitor or workstation. The ureteroscope 100 and / or the PD unit 1000 can also be connected to another device (such as a smartphone, a tablet computer, or a workstation) using a wireless link. The wireless link can be a Wi-Fi link or a point-to-point (PtP) Wi-Fi link, or use the near field communication protocol (NFC) or another protocol. According to certain embodiments, the wireless link can be configured to automatically establish a transmission between the ureteroscope 100 and the PD unit 1000. The PD unit 1000 can be configured to, after being turned on, search for the wireless endoscope 100 within the range of the PD unit 1000. Once the PD unit 1000 finds the endoscope 100 within this range, the PD unit 1000 can be configured to automatically connect to one or more endoscopes 100 within the range to receive and transmit wireless data. This transmission can include images and / or other data from one or more endoscopes 100 within the range of the PD unit, and / or commands and / or other information from the PD unit 1000.

[0152] Now refer to Figures 7-10 , which shows another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, which are the same as or similar to such like components and provide the same or similar functions as such like components. However, in this exemplary embodiment, the rotation drive system 150 is somewhat different. More specifically, the rotation drive system 150 is not a motor-driven system. Instead, the rotation drive system 150 is a manual system, including a finger wheel 230 that is fixed to the proximal end of the main body 180 of the hub assembly 110, and the rotation of the finger wheel 230 causes the hub assembly 110 to rotate, thereby causing the cannula 112 to rotate. To rotate the finger wheel 230, a part of the finger wheel 230 passes through the openings 142 on the left main body 120a and the right main body 120b of the housing assembly 106. To rotate the cannula 112, the clinician rotates the finger wheel 230 clockwise or counterclockwise. It should be noted that in this exemplary embodiment, the Luer plane (LP) described below is orthogonal to the deflection plane (DP) described below.

[0153] Refer to Figures 12-14, the figure shows another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, which are the same as or similar to such like components and provide the same or similar functions as such like components. However, in this exemplary embodiment, the reusable portion 104 is somewhat different. More specifically, the reusable portion 104 communicates with the Figure 11 external processing / display unit 1400 shown via a cable connection. In this exemplary embodiment, the cable 232 has a proximal end portion that includes one or more electrical contacts 236 that pass through an opening in the cover 128 and are inserted into a charging connector 216 at the bottom end of the reusable portion 104. The distal end portion of the cable 232 includes a connector 234 that can be inserted into a suitable connector 1006 on the PD unit 1000. In addition to exchanging data with the PD unit 1000 via the cable 232, Figures 12-14 the operation of the ureteroscope 100 in

[0154] is substantially the same as the embodiment of the endoscope described in the present invention. The battery 204 can also be charged via the cable 232. Figures 15-18 , the figure shows another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, which are the same as or similar to such like components and provide the same or similar functions as such like components. However, in this exemplary embodiment, the lever 138 of the deflection control system 130 is somewhat different. A distal Luer port 188 is included at the proximal end of the main body 120 of the housing assembly 106, and an observation member 192 is provided on the main body 180 of the hub assembly 110. In this exemplary embodiment, the deflection control system 130 includes a pair of deflection wheel levers 240 or 242 (shown in dashed lines), and the deflection wheel levers 240 or 242 are fixed to the arm 134b of the cable wheel 134. More specifically, the left deflection wheel lever 240a or 242a (shown in dashed lines) is fixed to one end of the arm 134b that passes through the hole 124 in the left housing cover 106a, and the right deflection wheel lever 240b or 242b (shown in dashed lines) is fixed to the other end of the arm 134b that passes through the hole 124 in the right housing cover 106b. The left and right deflection wheel levers 240 or 242 can rotate relative to the housing assembly 106, so that the clockwise and counterclockwise rotation of the left and / or right deflection wheel levers 240 or 242 causes the hub assembly 110 and the cannula 112 and thus the imaging module 114 to deflect between the above-mentioned first full deflection position and the second full deflection position in the deflection plane (DP), as Figure 39 shown. It should be noted that the deflection wheel lever 240 has two ribbed portions 240c that extend from the deflection wheel lever 240, as Figure 18As shown, the deflection wheel lever 242 (shown in dashed lines) also has five rib portions 242c that extend from the deflection wheel lever 240, as Figure 18 shown. However, the deflection wheel lever may have a single rib portion or any other number of rib portions. These rib portions facilitate rotation of the deflection wheel lever 240 or 242 by a clinician.

[0155] Continuing to refer Figures 15-18 to, the distal luer port 188 is fixed to the proximal end of the body 120 of the housing assembly 106 such that a portion of the luer port 188 extends substantially along the cannula axis "Z" from the body 120, as Figure 16 shown. The luer port 188 is in communication with the channel 115 in the cannula 112 such that a surgical instrument or fluid can pass from the luer port 188 through the channel 115 and exit from the distal end of the cannula 112. As a non-limiting example, the luer port 188 may be connected to the cannula channel 115 by a semi-rigid tube 189, as Figure 16 and 18 shown. In the present exemplary embodiment, the luer port 188 remains fixed relative to the body 120 of the housing assembly 106.

[0156] Continuing to refer Figures 15-18 to, in order to provide a clinician with the position of the deflection plane (DP) of the cannula 112, the hub assembly 110 includes an observation member 192 positioned on the body 180 of the hub assembly 110 such that the observation member 192 is aligned with the deflection plane (DP) of the cannula 112, as Figure 35 shown. When the hub assembly 110 is rotated by the rotary drive system 150, the observation member 192 rotates to provide a visual indication of the deflection plane (DP) of the cannula 112 to the clinician.

[0157] Now referring Figure 19 and 20 to, another exemplary embodiment of the ureteroscope 100 according to the present disclosure is shown in the figures. In this exemplary embodiment, many components are designated by the reference numerals discussed above, are the same as or similar to such like components, and provide the same or similar functions as such like components. However, in this exemplary embodiment, the reusable portion 104 is somewhat different. More specifically, the reusable portion 104 communicates with an external processing / display unit 1400 shown in Figure 11 through a cable connection. In this exemplary embodiment, the cable 232 has a proximal end that includes one or more electrical contacts 236 that pass through an opening in the cover 128 and are inserted into a charging connector 216 at the bottom end of the reusable portion 104. The distal end of the cable 232 includes a connector 234 that can be inserted into a suitable connector 1006 on the PD unit 1000. In addition to exchanging data with the PD unit 1000 through the cable 232,Figures 19-22 The operation of the mid-ureteroscope 100 is substantially the same as or similar to the embodiments of the endoscope described in the present invention. The battery 204 can also be charged through the cable 232.

[0158] Now referring to Figures 21-24 , the figures show another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, which are the same as or similar to such like components and provide the same or similar functions as such like components. However, in this exemplary embodiment, the hub assembly 110 does not include one or more luer ports 186, and since the hub assembly 110 generally remains in a fixed position relative to the housing assembly 106 and the cannula 112, except for the above-mentioned small rotation, there is no rotational drive system 150. In this configuration, in order to change the orientation of the deflection plane "DP" of the cannula 112, the clinician rotates the handle 122 of the housing assembly 106. In order to provide the clinician with the position of the deflection plane (DP) of the cannula 112, the hub assembly 110 includes an observation member 192 positioned on the body 180 of the hub assembly 110, aligning the observation member 192 with the deflection plane (DP) of the cannula 112, as Figure 35 shown. When the hub assembly 110 rotates through the rotational drive system 150, the observation member 192 rotates, providing the clinician with a visual indication of the deflection plane (DP) of the cannula 112. In this exemplary embodiment, one or more luer ports 194 are fixed to the top of the body 120 of the housing assembly 106, such that a portion of the one or more luer ports 194 extends from the body 120 at an angle "α" relative to the cannula axis "Z", as Figure 22 shown. The one or more luer ports 194 communicate with the channel 115 in the cannula 112, such that surgical instruments or fluids can pass through the one or more luer ports 194, through the channel 115 and exit from the distal end of the cannula 112. As a non-limiting example, the one or more luer ports 194 can be connected to the channel 115 through a semi-rigid tube 189, as Figure 24 shown. In this exemplary embodiment, the one or more luer ports 194 remain fixed relative to the body 120 of the housing assembly 106.

[0159] Now referring to Figure 25 and 26 , the figures show another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, which are the same as or similar to such like components and provide the same or similar functions as such like components. However, in this exemplary embodiment, the reusable portion 104 is somewhat different. More specifically, the reusable portion 104 is connected by a cable to Figure 11communicates with the external processing / display unit 1400 shown. In the present exemplary embodiment, the cable 232 has a proximal end portion that includes one or more electrical contacts 236 that pass through an opening in the cover 128 and are inserted into a charging connector 216 at the bottom end of the reusable portion 104. The distal end portion of the cable 232 includes a connector 234 that can be inserted into a suitable connector 1006 on the PD unit 1000. In addition to exchanging data with the PD unit 1000 via the cable 232, Figure 25 and 26 the operation of the ureteroscope 100 in 26 is substantially the same as or similar to the embodiments of the endoscope described in the present utility model. The battery 204 of the reusable portion 104 can also be charged via the cable 232.

[0160] Now referring to Figures 27-36 , FIG. shows another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, are the same as or similar to such like components, and provide the same or similar functions as such like components. However, in the present exemplary embodiment, the hub assembly 110 includes the viewing member 192 described above. In addition, in the present exemplary embodiment, the body 120 of the housing assembly 106 includes a port extension 121 defined by a first extension portion 121a and a second housing portion 200b, and the port extension 121 is formed when the two housing portions are connected. The port extension 121 moves one or more Luer ports 194 proximally and lifts one or more Luer ports 194 away from the lever 138 of the deflection control system 130, reducing the possible interference with the operation of the lever 138 when a surgical instrument is inserted into the Luer port 194 or when fluid is introduced into or aspirated from the Luer port 194. In the illustrated embodiment, the port extension 121 is configured such that at least one Luer port 194 is at a predefined angle "θ" with respect to the cannula axis "Z", as Figure 35 shown. As a non-limiting example, the predefined angle can be in the range of about 10 degrees to about 80 degrees. One or more Luer ports 194 communicate with a channel 115 in the cannula 112 such that a surgical instrument or fluid can pass through the one or more Luer ports 194 through the channel 115 and exit from the distal end portion of the cannula 112. As a non-limiting example, one or more Luer ports 194 can be connected to the channel 115 via a semi-rigid tube 189, as Figure 32 and 35 shown. In the present exemplary embodiment, one or more Luer ports 194 remain fixed relative to the port extension 121 of the housing assembly 106.

[0161] In Figures 27-36In an exemplary embodiment, the rotary drive system 150 further includes a rocker switch 170 for controlling the operation of the motor 152 instead of the motor switch 164. The rocker switch 170 is electrically connected to the PCB 168 by internal wires (not shown). The rocker switch 170 has a rocker arm 172 pivotally mounted on the body 120 of the housing assembly 106. When the rocker arm 172 pivots in the first direction, the motor 152 rotates in the first direction, and when the rocker arm 172 pivots in the second direction, the motor 152 rotates in the second direction. For example, if the upper part 172a of the rocker arm 172 is pressed down, the motor 152 can rotate counterclockwise, and if the lower part 172b of the rocker arm 172 is pressed down, the motor 152 can rotate clockwise.

[0162] Now refer to Figure 37 and 38 , which shows another exemplary embodiment of the ureteroscope 100 according to the present disclosure. In this exemplary embodiment, many components are denoted by the reference numerals discussed above, which are the same as or similar to such like components and provide the same or similar functions as such like components. However, in this exemplary embodiment, the reusable portion 104 is somewhat different. More specifically, the reusable portion 104 communicates with the Figure 11 external processing / display unit 1400 shown via a cable connection. In this exemplary embodiment, the cable 232 has a proximal end that includes one or more electrical contacts 236 that pass through an opening in the cover 128 and are inserted into a charging connector 216 at the bottom end of the reusable portion 104. The distal end of the cable 232 includes a connector 234 that can be inserted into a suitable connector 1006 on the PD unit 1000. In addition to exchanging data with the PD unit 1000 via the cable 232, Figures 33-36 the operation of the ureteroscope 100 in

[0163] Now turn to Figures 39-50b, various operating features of various embodiments of the ureteroscope 100 according to the present disclosure are shown and described in the figure. The ureteroscope 100 in this example is specifically designed and has good use effect as a ureteroscope, but some of its embodiments can be used in other medical procedures, such as male and female cystoscopy, and examination and treatment of the female reproductive system. At the same time, the working characteristics of the ureteroscope 100 in kidney surgery are described. According to some embodiments, the ureteroscope 100 can achieve the rotation of the cannula relative to the handle without rotating the wrist or elbow, and compared with known ureteroscopes, the operation is more accurate and efficient. When the cannula rotates relative to the handle in two ways, some embodiments achieve particularly precise and efficient positioning of the distal tip of the cannula tip relative to the target area or tissue - a small rotation of the cannula relative to the handle and a large rotation of the handle, and then the cannula is rotated through hand movements. In some embodiments, the ureteroscope has a pistol-grip handle, which enables the ureteroscope to be held and its functions to be controlled in a more natural and convenient manner. In some embodiments, the ureteroscope provides a simple and clear immediate indication for the clinician, and can indicate the plane where the curved distal end of the cannula is currently located in both visual and tactile ways. For the illustrated exemplary embodiment, there are two ports 186, and the ports 186 are aligned in a plane (the "Luer plane" or "LP") defined by the central axis of the Luer port. These two ports 186 are Luer ports, and for ease of description, the ports 186 are denoted by the identifiers 186a and 186b. In addition, at least the tip of the distal end of the cannula 112 deflects in a plane (the "deflection plane" or "DP"), which is perpendicular to the longitudinal axis "Z" of the cannula 112. The cannula 112 can also be referred to as the cannula axis "Z" in the present invention. It should also be noted that in some of the drawings, the cannula axis "Z" is aligned with the Z-axis of the three-dimensional rectangular coordinate system.

[0164] In Figures 39-41 embodiments, the LP and DP are fixed relative to each other, and the plane formed thereby is referred to as the DP-LP plane in the present invention. The cannula 112 can deflect along the positive or negative direction relative to the cannula axis "Z" in the DP-LP plane. For ease of description, the cannula axis "Z" is identified as the zero degree (0 degree) angle in Figure 39 and 47 . Figure 39 shows the ureteroscope 100 in the starting position, where the cannula 112 deflects in the negative direction, for example, deflects upward to an angle of about 270 degrees (-270 degrees) in the X-Z plane. It should be noted that the deflection of the cannula 112 is achieved by activating the deflection control system 130. For example, using Figure 39 the lever 138 shown, the deflection control system 130 can be manually activated, or using Figure 18At least one of the deflection wheel levers 240 or 242 shown can manually activate the deflection control system 130. However, with the motorized deflection control system 130, intubation deflection can be initiated. The motorized deflection control system 130 can include a motor similar to the motor 152 coupled to the cable wheel 134 of the fixed cable 132.

[0165] During a right renal surgery on a patient, the patient is in the lithotomy position and the ureteroscope 100 is in the Figure 39 starting position. By moving the activation arm 164a of the motor switch 164, the hub assembly 110 and the intubation 112 can be rotated counterclockwise (left). In this example, the hub assembly 110 and the intubation 112 rotate approximately 90 degrees about the intubation axis "Z" to align the DP with the patient's right kidney, as shown in Figure 40 and 42a shown. When the DP is aligned with the patient's right kidney, the top Luer port 186a, relative to the outer housing assembly 106, for example at the 12:00 position when viewed from the distal end, has rotated to the left side of the endoscope 100, for example at the 9:00 position when viewed from the distal end, as shown in Figure 40 shown. When the DP is aligned with the patient's right kidney, the deflection control system 130 can be activated to deflect the tip of the intubation 112 to the desired position within the patient, as shown in Figure 42a shown. As previously described, the tip of the intubation 112 can be deflected between +270 degrees and -270 degrees, as shown in Figure 47 shown. When the DP is aligned with the patient's right kidney, surgical instruments can be introduced into the Luer port 186 and thus into the target area within the patient's right kidney, and / or fluid can be introduced into or aspirated from the Luer port 186 and thus into or out of the target area within the patient's right kidney.

[0166] During a left renal surgery on a patient, the patient is in the lithotomy position and the ureteroscope 100 is in the Figure 39 starting position. By moving the activation arm 164a of the motor switch 164, the hub assembly 110 and the intubation 112 can be rotated clockwise (right). In this example, the hub assembly 110 and the intubation 112 rotate approximately 90 degrees about the intubation axis "Z" to align the DP with the patient's left kidney, as shown in Figure 41 and 42b shown. When the DP is aligned with the patient's left kidney, the top Luer port 186a, relative to the outer housing assembly 106, for example at the 12:00 position when viewed from the distal end, has rotated to the right side, for example at the 3:00 position when viewed from the distal end, as shown in Figure 41 shown. When the DP is aligned with the patient's left kidney, the deflection control system 130 can be activated using the lever 138 to deflect the tip of the intubation 112 to the desired position within the patient, as shown in Figure 42bAs shown. As described above, the tip of the cannula 112 can be deflected between +270 degrees and -270 degrees, as Figure 47 shown. With the DP aligned with the patient's left kidney, surgical instruments can be introduced into the luer port 186 to enter the target area within the patient's right kidney, and / or fluid can be introduced into or aspirated from the luer port 186 to enter or exit the target area within the patient's left kidney.

[0167] It should be noted that the rotation related to the hub assembly 110 and the cannula 112 is divided into two types. As described above, the first type of rotation is the large rotation (MAR), where the rotation angle of the cannula 112 is relatively large, such as a rotation angle of 22 degrees, 45 degrees, 90 degrees, or 120 degrees. As described above, the rotation drive system 150 can be a power system, such as a system using a motor 152 to achieve large rotation, or the rotation drive system 150 can be a manual system, such as a system using Figure 9 the finger wheel 230 shown to achieve large rotation. As described above, the second type of rotation is the small rotation (MIR), where the rotation angle of the cannula 112 is relatively small (fine rotation), such as a rotation angle less than 22 degrees. To achieve large rotation of the tip of the cannula, the clinician manually rotates the hub assembly 110 or the proximal end of the cannula 110. The preferred method is to use MAR to align the DP with the renal space in the Y-Z horizontal plane, and then use MIR to gently move the distal tip along the X direction inside the renal space.

[0168] In Figures 43-45 the embodiment, the LP and the DP are orthogonal to each other. The cannula 112 can be deflected in the positive or negative direction relative to the cannula axis "Z" in the DP plane. For ease of description, the cannula axis "Z" is identified as the zero degree (0 degree) angle, as Figure 39 and 47 shown. Figure 43 The ureteroscope 100 at the starting position is shown, where the cannula 112 is deflected in the negative direction, such as deflected upward to about 270 degrees (-270 degrees) in the X-Z plane. It should be noted that the deflection of the cannula 112 is achieved by activating the deflection control system 130. For example, using Figure 43 the lever 138 shown, the deflection control system 130 can be manually activated, or using Figure 18 at least one of the deflection wheel levers 240 or 242 shown, the deflection control system 130 can be manually activated. However, by using the motorized deflection control system 130, the cannula deflection can be initiated. The motorized deflection control system 130 can be a motor, which is similar to the motor 152 coupled to the cable wheel 134 of the fixed cable 132.

[0169] During the operation on the patient's right kidney, the patient is in the lithotomy position, and the ureteroscope 100 is in Figure 43Starting position, by moving the starting arm 164a of the motor switch 164, the hub assembly 110 and the cannula 112 can be rotated counterclockwise (left). In this example, the hub assembly 110 and the cannula 112 rotate about the cannula axis "Z" by approximately 90 degrees to align the DP with the patient's right kidney, as Figure 44 and 46a shown. When the DP is aligned with the patient's right kidney, the Luer port 186b on the right side, relative to the outer shell assembly 106, for example, at the 3:00 position when viewed from the distal end, has rotated to the top of the endoscope 100, for example, at the 12:00 position when viewed from the distal end, as Figure 44 shown. In addition, the Luer port 186a on the left side, relative to the outer shell assembly 106, for example, at the 9:00 position when viewed from the distal end, has rotated to the bottom of the endoscope 100, for example, at the 6:00 position when viewed from the distal end, as Figure 44 shown. When the DP is aligned with the patient's right kidney, the deflection control system 130 can be activated to deflect the tip of the cannula 112 to the desired position within the patient's body, as Figure 46a shown. As previously described, the tip of the cannula 112 can be deflected between +270 degrees and -270 degrees, as Figure 47 shown. When the DP is aligned with the patient's right kidney and the Luer ports 186 are in the above-mentioned top and bottom positions, preferably, surgical instruments can be introduced into the Luer port 186b to enter the target area within the patient's right kidney, and fluids can be introduced into or aspirated from the Luer port 186a to enter or exit the target area within the patient's right kidney.

[0170] During the operation on the patient's left kidney, the patient is in the lithotomy position, and the ureteroscope 100 is in the Figure 43 starting position shown. By moving the starting arm 164a of the motor switch 164, the hub assembly 110 and the cannula 112 can be rotated clockwise (right). In this example, the hub assembly 110 and the cannula 112 rotate about the cannula axis "Z" by approximately 90 degrees to align the DP with the patient's left kidney, as Figure 45 and 46b shown. When the DP is aligned with the patient's left kidney, the Luer port 186a on the left side, relative to the outer shell assembly 106, for example, at the 9:00 position when viewed from the distal end, has rotated to the top of the endoscope 100, for example, at the 12:00 position when viewed from the distal end, as Figure 45 shown. In addition, the Luer port 186b on the right side, relative to the outer shell assembly 106, for example, at the 3:00 position when viewed from the distal end, has rotated to the bottom of the endoscope 100, for example, at the 6:00 position when viewed from the distal end, as Figure 45 shown. When the DP is aligned with the patient's left kidney, the deflection control system 130 can be activated to deflect the tip of the cannula 112 to the desired position within the patient's body, as Figure 45 and 46bAs shown. As described above, the tip of the cannula 112 can be deflected between +270 degrees and -270 degrees, as Figure 47 shown. When the DP is aligned with the patient's left kidney and the Luer port 186 is in the above-mentioned top and bottom positions, preferably, the surgical instrument can be introduced into the Luer port 186a, so as to enter the target area in the patient's left kidney, and the fluid can be introduced into or aspirated from the Luer port 186b, so as to enter the target area in the patient's left kidney or exit from this area.

[0171] Now refer to Figures 50a-50b Regarding Figures 43-45 the case where the cannula 112 of the ureteroscope 100 is inserted into the patient's ureter, an exemplary embodiment of the image orientation adjustment process is shown and described. When the cannula 112 is inserted in segments, the ureteroscope 100 is located at the Figure 43 starting position shown. At this starting position, looking proximally, the tip of the cannula 112 is as Figure 48 shown, where the channel 115 in the cannula is on the right side of the tip, and the imaging module 114 is on the left side of the tip. As described above, the imaging module 114 includes a camera 114a and one or more light sources, here the LED 114b. When the cannula 112 rotates, as described in the present utility model, one or more channels 115 and the imaging module 114 rotate with the cannula 112. Figure 49 shows the tip deflection and cannula axial rotation diagram, showing the orientation of the imaging module 114 at various rotation angles of the cannula 112.

[0172] In the operation of the patient's right kidney, the patient is in the lithotomy position, and the cannula 112 in the starting position is inserted into the patient's right ureter, as Figure 50a shown. When the tip of the cannula 112 enters the kidney, by moving the starting arm 164a of the motor switch 164, the hub assembly 110 and the cannula 112 can be rotated counterclockwise by 90 degrees to align the DP with the right kidney. The hub assembly 110 and the cannula 112 rotate 90 degrees (-90 degrees), and the channel 115 and the imaging module 114 rotate 90 degrees (-90 degrees), as Figure 50a shown. When the imaging module 114 rotates 90 degrees (-90 degrees), the image displayed on the display 1002 of the PD unit 1000 also rotates 90 degrees (-90 degrees). In order to present the clinician with an image in the non-rotated state of the cannula 112, for example, presenting a vertically oriented kidney, an image control switch 196 is provided in the housing assembly 106. The image control switch 196 is electrically connected to the PCB 168, and the electrical contacts 168a of the PCB 168 are electrically connected to one or more electrical contacts 208 in the reusable part 104. Image adjustment can be performed through the control and processing electronic components 210 in the reusable part 104 or through the processing / display unit 1000. Along Figure 50aActivate the image control switch 196 in the "L" direction in, and notify the control and processing electronic component 210 or the processing / display unit 1000 that the ureteroscope 100 is pre-rotated axially by 90 degrees (-90 degrees). Then, the control and processing electronic component 210 or the processing / display unit 1000 executes an automatic correction function to display the right kidney image vertically, as Figure 46a and 50a shown. Similarly, activate the image control switch 196 in the "R" direction in Figure 50b , and notify the control and processing electronic component 210 or the processing / display unit 1000 that the ureteroscope 100 is pre-rotated axially by 90 degrees (+90 degrees). Then, the control and processing electronic component 210 or the processing / display unit 1000 executes an automatic correction function to display the left kidney image vertically, as Figure 46b and 50b shown.

[0173] Although the above description has been made in some details for clarity, it is obvious that certain changes and modifications can be made without departing from the principles of this patent specification. It should be noted that there are many alternative ways to simultaneously implement the processes and devices described in this patent specification. Therefore, these embodiments can be regarded as illustrative embodiments rather than restrictive embodiments, and the subject matter of work described in this patent specification is not limited to the details provided in this patent specification, but can be modified within the scope and equivalents of the appended claims.

Claims

1. An ergonomic ureteroscope having a disposable portion and a reusable portion, comprising: Disposable parts, including: A housing assembly (106) having a body (120) and a pistol grip handle (122), the pistol grip handle (122) extending away from the body and having a proximal end (123) integrally formed with the housing and an open distal end; a hub assembly (110) extending distally from the body along the cannula axis, the hub assembly having a body and two proximal ports (186), the proximal ports (186) extending in different directions transverse to the cannula axis so that at least one of the ports is within a line of sight along the cannula axis when viewed at a selected proximal distance from the housing assembly; A cannula (112) extending distally from the hub assembly along a cannula axis, with an imaging module (114) at the distal end of the cannula (112), wherein the hub assembly and the cannula are rotatable about the cannula axis relative to the housing assembly body after installation, and the cannula is long and flexible enough to reach the kidney of an adult patient when inserted through the urethra, bladder and ureter; an internal passageway having a proximal end at the proximal port, extending therefrom to a distal port at the distal end of the cannula, and providing a path for one or more surgical instruments to enter the distal end through one of the two proximal ports and extend distally out of the distal end; a rotational drive system (150) located at the housing assembly and operably coupled to the hub assembly to rotate the hub assembly and the cannula relative to the housing assembly about the cannula axis, the rotational drive system including a manually operable controller (138) movable relative to the handle to provide a visual and tactile indication of the rotational position of the cannula relative to the handle; a deflection control system (130) located at the housing assembly and interacting with the distal end of the cannula such that when the deflection control system is activated, the distal end of the cannula deflects positively along a deflection plane between a first position and a second position, and deflects negatively along the deflection plane between the first position and a third position; wherein the position of the proximal port relative to the handle provides an immediate visual and tactile indication of the deflection plane in which the distal end of the cannula is located relative to the orientation of the handle; Reusable parts, including: a housing having a proximal end and a distal end and insertable into the open distal end of the handle; at least one electrical contact located at the proximal end of the housing and accessible from the exterior of the reusable portion housing, the at least one electrical contact being mateable with one or more electrical contacts within the handle when the proximal end of the housing is inserted into the handle; The cover is releasably engaged with the open distal end of the handle, and when the reusable part is inserted into the open distal end of the handle, the cover can cover the open distal end of the handle and close the distal end of the reusable part housing.

2. An ergonomic ureteroscope having a disposable portion and a reusable portion, comprising: Disposable parts, including: a housing assembly having a body and a handle extending away from the housing body, the handle having a proximal end portion integrally formed with the housing and an open distal end portion; a hub assembly extending distally from the body along the cannula axis, the hub assembly having a body and at least one port extending from the body at a predefined angle relative to the hub assembly body; a cannula extending from the hub assembly to the distal end along the cannula axis, and having an imaging module at the distal end of the cannula, wherein the hub assembly and the cannula can be rotated about the cannula axis relative to the housing assembly body after installation, and the cannula has at least one channel extending from the proximal end of the cannula to the distal end of the cannula; a rotational drive system located within the housing assembly and operably coupled to the hub assembly to rotate the hub assembly and the cannula about the cannula axis; a deflection control system disposed within the housing assembly and interacting with the distal end portion of the cannula such that when the deflection control system is activated, the distal end portion of the cannula can be deflected in a positive direction along a deflection plane between a first position and a second position, or the distal end portion of the cannula can be deflected in a negative direction along the deflection plane between the first position and a third position; Reusable parts, including: a housing having a proximal end and a distal end and insertable into the open distal end of the handle; at least one electrical contact located at the proximal end of the housing and accessible from the exterior of the reusable portion housing, the at least one electrical contact being mateable with one or more electrical contacts within the handle when the proximal end of the housing is inserted into the handle; The cover is releasably engaged with the open distal end of the handle, and when the reusable part is inserted into the open distal end of the handle, the cover can cover the open distal end of the handle and close the distal end of the reusable part housing.

3. The ureteroscope according to claim 2, wherein: The rotational drive system includes an electric rotational drive system for rotating the hub assembly and the cannula about the cannula axis.

4. The ureteroscope according to claim 3, wherein: The electric rotary drive system includes at least one selectively activatable motor for rotating the hub assembly and the cannula about the cannula axis.

5. The ureteroscope according to claim 2, wherein: The rotational drive system includes a manual rotational drive system for rotating the hub assembly and the cannula about the cannula axis.

6. The ureteroscope according to claim 5, wherein: The manual rotational drive system includes at least one thumbwheel for rotating the hub assembly and cannula about the cannula axis.

7. The ureteroscope according to claim 2, wherein: The deflection control system includes a manually-operated deflection control system that interacts with a distal portion of the cannula.

8. The ureteroscope according to claim 7, wherein: The manually operated deflection control system includes a lever located outside the housing assembly and at least one push-pull cable, wherein the push-pull cable is operably connected to the lever and the cannula, so that movement of the lever in a first direction causes the distal end of the cannula to be positively deflected between a first position and a second position, while movement of the lever in a second direction causes the distal end of the cannula to be negatively deflected between the first position and a third position.

9. The ureteroscope according to claim 7, wherein: The manually operated deflection control system includes at least one deflection wheel lever located outside the housing assembly, and at least one push-pull cable, which is operably connected to the deflection wheel lever and the cannula, so that the deflection wheel lever moves in a first direction to cause the distal end of the cannula to be positively deflected between a first position and a second position, while the deflection wheel lever moves in a second direction to cause the distal end of the cannula to be negatively deflected between the first position and a third position.

10. The ureteroscope according to claim 2, wherein: The reusable portion includes a battery and control and processing electronics that can control the imaging module to capture an image in a field of view and receive image data from the imaging module.

11. The ureteroscope according to claim 2, wherein: The reusable portion includes a facility for transmitting image data from the endoscope to an external processing / display unit.

12. The ureteroscope according to claim 11, wherein: The facility may transmit the image data via wireless transmission using a peer-to-peer Wi-Fi protocol.

13. The ureteroscope according to claim 11, wherein: The facility in the reusable portion may convert the received image data into a display image and transmit the display image to an external unit for display.

14. The ureteroscope according to claim 2, characterized in that: It further includes a manual switch located at the distal end of the reusable portion, wherein at least the cover portion located above the switch is sufficiently flexible to allow the switch to be manually operated through the cover.

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