Endoscopic magnetic anastomosis system

Abstract

The present application relates to an endoscopic magnetic anastomosis system. The endoscopic magnetic anastomosis system includes an endoscope assembly, a video processor console, a magnet probe, and a magnetic navigation console. The endoscope assembly includes an endoscope, an adjustable lasso mechanism, an overtube, and a magnetic implant assembly. The adjustable lasso mechanism includes a lasso assembly. The lasso assembly passes through a lasso channel in the endoscope and includes a lasso tube and a lasso passing through the lasso tube, the lasso for selectively securing and releasing the magnetic implant assembly disposed at one end of the endoscope.

Description

Technical Field

[0001] This disclosure generally relates to robotic systems, apparatus, and methods for forming anastomoses, and more specifically, to endoscopic magnetic anastomosis systems and apparatuses for forming anastomoses. Background Technology

[0002] Diabetes is becoming a leading cause of death, morbidity, disability, and discrimination in healthcare, education, and employment. The International Diabetes Federation (IDF) estimates that nearly 500 million people worldwide currently have diabetes. It is estimated that by 2045, the global prevalence will increase by 48%, surging to approximately 693 million individuals (aged 18-99) with the disease.

[0003] The socioeconomic burden associated with these conditions is enormous, much of it attributable to diabetes. Hyperglycemia (high levels of blood sugar) is a hallmark of diabetes. In type 2 diabetes (T2DM), hyperglycemia results from various combinations of insulin resistance and insufficient insulin production. Chronic hyperglycemia can damage a variety of organs, leading to the development of disabling and life-threatening complications such as cardiovascular disease, neuropathy, kidney disease, and eye diseases that can lead to retinopathy and blindness. These complications contribute to more frequent hospitalizations, increased healthcare costs, and reduced quality of life, and often result in premature death. Utility Model Content

[0004] The exemplary embodiments of this application generally relate to and / or include systems, subsystems, processors, devices, logic, and methods for solving common problems (including those mentioned above).

[0005] In an exemplary embodiment, an endoscopic anastomosis system is described. The endoscopic anastomosis system includes a first body assembly. The first body assembly is an elongated body having a first end and a second end. At least a portion of the second end of the first body assembly is controllably bendable in multiple directions. The endoscopic anastomosis system includes a head assembly. The head assembly includes a first end and a second end. The head assembly includes a head assembly body and a first deployable member. The head assembly body includes a first region and a second region. The first region includes a first end, a second end, and a central segment between the first end and the second end of the first region. The first end of the first region is secured to the second end of the first body assembly. The second end of the first region includes a first segment and a second segment. The first segment is secured to the first end of the second region of the head assembly. The second segment includes a second body assembly opening. The second region includes a first end and a second end. The second end of the second region includes a first pressure port. The first pressure port is configured to apply negative pressure. The first deployable member is secured to at least a portion of the central segment of the first region of the head assembly body. The first deployable member is configured to deploy radially away from the first region of the head assembly body. The endoscopic anastomosis system includes a second body assembly. The second body assembly is an elongated body having a first end and a second end. At least a portion of the second end of the second body assembly is provided in a second body assembly opening of a second segment of a first region of the head assembly body, and is movable through the second body assembly opening of the second segment of the first region of the head assembly body. The second body assembly includes a second deployable member and a second pressure port. The second deployable member is fixed to a portion of the second end of the second body assembly. The second deployable member is configured to deploy radially away from the second body assembly. The second pressure port is configured to apply negative pressure. The endoscopic anastomosis system includes a magnetic implant assembly. The magnetic implant assembly includes a magnet. The magnet is formed as a generally flat body. The magnet includes an anterior wall, a posterior wall opposite to the anterior wall, and an outer circumferential sidewall. The anterior wall has a circular shape having a central axis. The outer circumferential sidewall is formed around the magnet. The outer circumferential sidewall defines the thickness of the magnet. The outer circumferential sidewall is formed at a first radius away from the central axis. The endoscopic anastomosis system includes a fixation assembly. The fixation assembly is fixed to the second end of the second body assembly. The fixing component is actuable between a locked configuration and an unlocked configuration. The locked configuration is in which the magnetically implanted component is fixed to the fixing component. The unlocked configuration is in which the magnetically implanted component is not fixed to the fixing component.

[0006] In another exemplary embodiment, a catheter system for an endoscopic anastomosis system is described. The endoscopic anastomosis system includes a body and a head assembly. The head assembly is secured to the distal end of the body. The head assembly includes a head assembly body, a first deployable member, and a first pressure port. The head assembly body includes a first region and a second region. The first region includes a first end and a second end. The first end of the first region includes a first segment and a second segment. The first segment of the first region is secured to the second region. The second segment of the first region includes a catheter body opening through which at least a portion of the catheter assembly is provided and movable. The first deployable member is secured to a portion of the first region between the first end and the second end of the first region. The first pressure port is provided in the second region. The catheter assembly includes a catheter body, a magnetic implantation assembly, and a fixation assembly. The catheter body is an elongated body. The catheter body includes a first end and a second end. At least a portion of the second end of the catheter body is provided in the catheter body opening of the first region of the head assembly body and movable through the catheter body opening of the first region of the head assembly body. The catheter body includes a second deployable member and a second pressure port. The second deployable member is secured to a portion of the second end of the catheter body. The second deployable member is configured to deploy radially away from the catheter body. The second pressure port is configured to apply negative pressure. The magnetic implant assembly includes a magnet. The magnet is formed as a generally flat body. The magnet includes a front wall, a rear wall opposite the front wall, and an outer circumferential sidewall. The front wall has a circular shape with a central axis. The outer circumferential sidewall is formed around the magnet. The outer circumferential sidewall defines the thickness of the magnet. The outer circumferential sidewall is formed at a first radius away from the central axis. A fixation assembly is fixed to a second end of the catheter body. The fixation assembly is actuable between a locking configuration and an unlocking configuration. The locking configuration is in which the magnetic implant assembly is fixed to the fixation assembly. The unlocking configuration is in which the magnetic implant assembly is not fixed to the fixation assembly.

[0007] In another exemplary embodiment, a magnetic implant assembly for an endoscopic anastomosis system is described. The endoscopic anastomosis system includes a body and one or more protrusions formed on the body. The body includes a first end and a second end. The body includes a fixation assembly fixed to the second end of the body. The fixation assembly is actuable between a locking configuration and an unlocking configuration. The locking configuration is a configuration in which the magnetic implant assembly is fixed to the fixation assembly. The unlocking configuration is a configuration in which the magnetic assembly is not fixed to the fixation assembly. The magnetic implant assembly includes a magnet. The magnet is formed as a generally flat body. The magnet includes a front wall, a rear wall opposite to the front wall, and an outer circumferential sidewall formed around the magnet. The front wall includes a circular shape having a central axis. The outer circumferential sidewall is formed around the magnet. The outer circumferential sidewall defines the thickness of the magnet. The outer circumferential sidewall is formed at a first radius away from the central axis. One or more protrusions are formed on the front wall of the magnet. One or more protrusions include a first annular protrusion formed on the front wall of the magnet. The first annular protrusion is aligned with the central axis at its center. The first annular protrusion includes a first outer diameter and a first inner diameter relative to the central axis. The first outer diameter of the first annular protrusion is smaller than the first radius. Alternatively or additionally, the first outer diameter of the first annular protrusion is equal to the first radius, and the magnetic implant assembly further includes an outer annular body. The outer annular body is formed around and fixedly attached to the outer circumferential sidewall of the magnet. The outer annular body includes a front outer annular portion adjacent to the front wall of the magnet and a rear outer annular portion adjacent to the rear wall of the magnet. At least a portion of the front outer annular body is formed using a material other than ferromagnetic or magnetic materials.

[0008] This disclosure also covers, but is not limited to, the following items.

[0009] Project 1. An endoscopic magnetic anastomosis system, characterized in that the endoscopic magnetic anastomosis system includes at least one endoscopic assembly, the endoscopic assembly comprising: an endoscope having a first end and an opposing second end, the endoscope including a lasso channel extending from the first end to the second end and a magnetic implantation assembly disposed at the second end; and an adjustable lasso mechanism including a lasso assembly passing through the lasso channel, and including a lasso tube and a lasso passing through the lasso tube for selectively fastening and releasing the magnetic implantation assembly.

[0010] Project 2. The endoscopic magnetic anastomosis system according to Project 1, characterized in that the adjustable lasso mechanism further includes a lasso guide assembly, the lasso guide assembly including a base and a motion mechanism movably mounted on the base, wherein the motion mechanism is connected to at least one of the lasso and the lasso tube and is configured to move the at least one of the lasso and the lasso tube such that there is relative movement between the lasso and the lasso tube to allow the lasso to selectively extend and retract relative to the lasso tube.

[0011] Project 3. The endoscopic magnetic anastomosis system according to Project 2, characterized in that the motion mechanism includes a first movable member and a second movable member, wherein the first movable member is connected to the lasso and configured to drive the lasso to move, and the second movable member is connected to the lasso tube and configured to drive the lasso tube to move, such that when at least one of the first movable member and the second movable member moves, there is relative movement between the lasso and the lasso tube.

[0012] Project 4. The endoscopic magnetic anastomosis system according to Project 3, characterized in that the base of the lasso guide assembly is provided with a first slide rail and a second slide rail extending along the length direction of the base, the first movable member is configured to slide along the first slide rail, and the second movable member is configured to slide along the second slide rail.

[0013] Project 5. The endoscopic magnetic anastomosis system according to Project 3, characterized in that the lasso guiding assembly further includes a releasable locking mechanism mounted to the first movable member, the releasable locking mechanism being configured to lock into the base to fix the first movable member to the base, and also being able to disengage from the base to allow the first movable member to move relative to the base; and / or, wherein the lasso guiding assembly further includes an unlockable locking device mounted to the second movable member, the unlockable locking device being configured to lock into the base to fix the second movable member to the base, and also being able to disengage from the base to allow the second movable member to move relative to the base; or, wherein the second movable member frictionally engages with the base, such that the second movable member can remain fixed relative to the base under the action of frictional force between itself and the base, and can also overcome the frictional force to move relative to the base under the action of external force.

[0014] Project 6. The endoscopic magnetic anastomosis system according to Project 5, characterized in that the releasable locking mechanism includes a rotary locking mechanism, the rotary locking mechanism including a knob and a clamping member, wherein the knob is connected to the clamping member, and wherein the knob is configured to rotate in two opposite directions to cause the clamping member to clamp and release the substrate accordingly.

[0015] Item 7. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the endoscopic assembly further includes: an outer tube, including a body tube having a first end and an opposing second end, and a tube locking mechanism mounted at the first end of the body tube, the body tube further having an endoscopic channel extending from the first end of the body tube to the second end of the body tube for the endoscope to pass through, the tube locking mechanism being configured to lock into the endoscope to fix the endoscope to the body tube, and to disengage from the endoscope to allow the endoscope to slide and rotate relative to the body tube.

[0016] Item 8. The endoscopic magnetic anastomosis system according to Item 7, characterized in that the tube locking mechanism comprises: a locking seat, mounted to the first end of the body tube; a rotatable member, rotatably mounted to the locking seat and provided with a helical drive portion, wherein the helical center line of the helical drive portion coincides with the rotation center line of the rotatable member; and a plurality of locking blocks, movably mounted to the locking seat and configured to drive and cooperate with the helical drive portion to translate radially along the helical drive portion as the helical drive portion rotates, wherein the adjacent ends of the plurality of locking blocks together define an opening for the endoscope to pass through; wherein the plurality of locking blocks are configured to translate radially inward toward the helical center line of the helical drive portion when the rotatable member rotates in a first direction, to narrow the opening and clamp the endoscope, and to translate radially outward away from the helical center line of the helical drive portion when the rotatable member rotates in a second direction opposite to the first direction, to widen the opening and release the endoscope.

[0017] Project 9. The endoscopic magnetic anastomosis system according to Project 7, characterized in that the outer sleeve further comprises: a first sealing member disposed at the first end of the body tube to form a seal between the body tube and the outer surface of the endoscope; and a second sealing member disposed at the second end of the body tube to form a seal between the body tube and the outer surface of the endoscope; wherein the gap between the inner surface of the body tube and the outer surface of the endoscope forms a suction channel, the body tube has one or more suction openings disposed at the second end of the body tube along the circumferential direction of the body tube and a suction connector disposed at the first end of the body tube, the suction openings and the suction connector are located between the first sealing member and the second sealing member, the two ends of the suction channel are respectively connected to the suction openings and the suction connector, and the suction connector is configured to be connected to a suction device for providing negative pressure.

[0018] Item 10. The endoscopic magnetic anastomosis system according to Item 9, characterized in that the second sealing member is disposed near the suction opening, and the first sealing member is disposed near the suction connector; and wherein the first sealing member has a first sealing rib that seals with the outer surface of the endoscope; the second sealing member has a tapered portion at one end away from the first sealing member, the tapered end of the tapered portion that seals with the outer surface of the endoscope; and the second sealing member also has a second sealing rib, the second sealing rib being closer to the first sealing member than the tapered portion, the second sealing rib sealing with the outer surface of the endoscope.

[0019] Item 11. The endoscopic magnetic anastomosis system according to Item 7, characterized in that the outer sleeve further includes: a deployable member, the deployable member being sleeved on the outer surface of the body tube at the second end of the body tube, the body tube having a gas channel extending between the inner and outer surfaces of the body tube along the axial direction of the body tube, the gas channel communicating with the deployable member at the second end of the body tube and communicating with an external pressure source at the first end of the body tube, so that the deployable member, in response to the action of the external pressure source, expands outward from the non-deployed state along the radial direction of the body tube to the deployed state or retracts from the deployed state to the non-deployed state.

[0020] Item 12. The endoscopic magnetic anastomosis system according to Item 11, characterized in that the endoscopic assembly further includes: the external pressure source, the external pressure source being configured to provide a fixed volume of gas to the deployable member so that the deployable member deploys outward along the radial direction of the body tube.

[0021] Item 13. The endoscopic magnetic anastomosis system according to Item 12, characterized in that the external pressure source comprises: a housing; a first linear actuator mounted within the housing, the first linear actuator having a drive end configured to move between a first position and a second position; a syringe mounted within the housing, the syringe comprising a syringe barrel and a syringe plunger movably mounted in the syringe barrel, the syringe barrel having an injection port communicating with the gas passage, the drive end of the first linear actuator being connected to the syringe plunger and configured to drive the syringe plunger to reciprocate relative to the syringe barrel to correspondingly supply gas to or draw gas from the deployable member through the injection port; and two position sensors mounted within the housing, configured to detect the position of the drive end of the first linear actuator.

[0022] Item 14. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the endoscope further includes a head assembly disposed at the second end of the endoscope, the head assembly including a head assembly body, one end surface of the head assembly body being provided with a support portion and a limiting portion disposed opposite to each other for clamping the magnetic implantation component between the limiting portion and the support portion, the bottom of the magnetic implantation component being supported on the support portion, and the top of the magnetic implantation component abutting against the limiting portion.

[0023] Item 15. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the endoscopic assembly further includes an image capturing component disposed at the second end of the endoscope, wherein the endoscopic magnetic anastomosis system further includes a video processor electrically connected to the image capturing component via a cable and a main connector disposed at one end of the cable for electrically connecting to the video processor, and wherein the video processor has a main connector socket for plugging into the main connector, and a locking structure is provided between the main connector socket and the main connector to lock the plugged-in main connector socket and the main connector.

[0024] Item 16. The endoscopic magnetic anastomosis system according to Item 15, characterized in that the main connector socket includes a base and a rotatable locking ring, the locking ring being rotatably mounted to the base so that the main connector socket can switch between an initial state and a locked state; and wherein the locking structure includes a positioning key disposed on one of the locking ring and the main connector and a circumferentially extending locking groove disposed on the other of the locking ring and the main connector, one end of the locking groove being an insertion end, and the positioning key being configured to be inserted into the locking groove from the insertion end when the main connector is plugged into the main connector socket in the initial state, and configured to slide relative to the locking groove during rotation of the locking ring, so that the positioning key is misaligned with the insertion end of the locking groove, thereby switching the main connector socket to the locked state.

[0025] Item 17. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the at least one endoscopic component includes two endoscopic components, the magnetic implantation components of the two endoscopic components being respectively a first magnetic implantation component configured to be located in a first lumen tissue region and a second magnetic implantation component configured to be located in a second lumen tissue region; wherein, the first magnetic implantation component includes a first housing and a first magnet disposed within the first housing, the first housing having a first fixing annular groove on its circumferential side surface for receiving the lasso of the lasso component of one of the two endoscopic components, and the first housing having a first engagement surface; wherein, the second magnetic implantation component includes a second housing and a second magnet disposed within the second housing, the second housing having a second fixing annular groove on its circumferential side surface for receiving the lasso of the lasso component of one of the two endoscopic components, and the first housing having a first engagement surface; wherein, the second magnetic implantation component includes a second housing and a second magnet disposed within the second housing, the second housing having a second fixing annular groove on its circumferential side surface for receiving the lasso of the lasso component of one of the two endoscopic components, and the first housing having a first engagement surface; The lasso of the lasso assembly for receiving another of the two endoscope assemblies, and the second housing having a second engagement surface; wherein the first engagement surface and the second engagement surface are configured to face each other and apply a non-uniform compressive force to the first lumen tissue region and the second lumen tissue region when the first magnetic implant assembly and the second magnetic implant assembly are magnetically abutted with the first lumen tissue region and the second lumen tissue region therebetween; and wherein the first magnet and the second magnet are both solid disk-shaped permanent magnets, such that when the first magnetic implant assembly and the second magnetic implant assembly are magnetically abutted, the center lines of the first magnetic implant assembly and the second magnetic implant assembly can automatically adjust to an aligned state if they are deviated by a certain distance.

[0026] Item 18. The endoscopic magnetic anastomosis system according to Item 17, characterized in that the first mating surface is a concave surface with a first radius of curvature, and the second mating surface is a convex surface with a second radius of curvature, wherein the radius of curvature of the convex surface is smaller than the radius of curvature of the concave surface; and wherein the convex surface and the concave surface are configured such that when the first magnetic implant assembly and the second magnetic implant assembly are magnetically anastomosed, the convex surface protrudes toward the concave surface, and the axial distance between the convex surface and the concave surface along the centerline direction of the first magnetic implant assembly increases with the increase of the radial distance from the centerline of the first magnetic implant assembly, so as to apply a non-uniform compressive force to the first lumen tissue region and the second lumen tissue region.

[0027] Item 19. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the endoscopic magnetic anastomosis system further includes: a magnet detector configured to detect the position of the magnetic implantation component of the endoscope in the human body.

[0028] Item 20. The endoscopic magnetic anastomosis system according to Item 19, characterized in that the magnetic detector comprises: a detector body; a first circuit board disposed at a first end of the detector body and provided with a first set of magnetometers; a second circuit board disposed at a second end of the detector body opposite to the first end of the detector body and provided with a second set of magnetometers; and a processing unit configured to receive measurement data from the first set of magnetometers and the second set of magnetometers, and determine the position of the magnetic implantation component of the endoscope in the human body based on the received data.

[0029] Item 21. The endoscopic magnetic anastomosis system according to Item 20, characterized in that the first set of magnetometers includes four magnetometers distributed in a square array, and the center of the square array coincides with the center of the first circuit board; the second set of magnetometers includes four magnetometers distributed in a square array, and the center of the square array coincides with the center of the second circuit board.

[0030] Item 22. The endoscopic magnetic anastomosis system according to Item 19, characterized in that an IMU is embedded in the magnetic implantation component of the endoscope, and wherein the magnetic detector comprises: a mounting base; at least one sensor module, each sensor module comprising eight magnetic sensors, the eight magnetic sensors being regularly distributed in four rows with two magnetic sensors in each row, the two magnetic sensors being a first magnetic sensor and a second magnetic sensor respectively, and the two magnetic sensors in each row being staggered from the two magnetic sensors in the adjacent row; and a processing module, the processing module being configured to receive data from the sensor modules and data from the IMU embedded in the magnetic implantation component, and to determine the position of the magnetic implantation component of the endoscope in the human body based on the received data.

[0031] Item 23. The endoscopic magnetic anastomosis system according to Item 22, characterized in that the number of the at least one sensor module is between 1 and 32.

[0032] Item 24. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the endoscopic magnetic anastomosis system further includes: a magnetic navigation control console, configured to move the magnetic implantation component of the endoscope to a set position in the human body through the action of a magnetic field.

[0033] Item 25. The endoscopic magnetic anastomosis system according to Item 24, characterized in that the at least one endoscope assembly includes two endoscope assemblies, the magnetic navigation console includes: a mounting bracket including a movable first mounting arm and a movable second mounting arm; a first magnetic actuator, mounted to the first mounting arm and configured to move the magnetic implanted component of one of the two endoscope assemblies within the human body through the action of a magnetic field; and a second magnetic actuator, mounted to the second mounting arm and configured to move the magnetic implanted component of the other of the two endoscope assemblies within the human body through the action of a magnetic field, wherein the first magnetic actuator and the second magnetic actuator are configured to move to a state of vertical overlap, so that the magnetic implanted components of the two endoscopes move within the human body to a state of vertical overlap.

[0034] Item 26. The endoscopic magnetic anastomosis system according to Item 25, characterized in that the first magnetic actuator includes a permanent magnet, and the permanent magnet of the first magnetic actuator includes a conical segment, wherein the lower end cross-sectional dimension of the conical segment is smaller than the upper end cross-sectional dimension of the conical segment.

[0035] Item 27. The endoscopic magnetic anastomosis system according to Item 26, characterized in that the permanent magnet of the first magnetic actuator further includes a cylindrical section extending upward from the upper end of the conical section, and the cross-sectional dimension of the cylindrical section is equal to the cross-sectional dimension of the upper end of the conical section.

[0036] Item 28. The endoscopic magnetic anastomosis system according to Item 25, characterized in that the second magnetic actuator comprises a permanent magnet; or, the second magnetic actuator comprises an electromagnetic coil; or, the second magnetic actuator comprises a permanent magnet and an electromagnetic coil disposed above or below the permanent magnet.

[0037] Item 29. The endoscopic magnetic anastomosis system according to Item 25, characterized in that: the first mounting arm is longitudinally slidably mounted to the mounting bracket and hinged to the mounting bracket, the first mounting arm comprising a plurality of connecting arms hinged sequentially; and / or: the second mounting arm is longitudinally slidably mounted to the mounting bracket and hinged to the mounting bracket, the second mounting arm comprising a plurality of connecting arms hinged sequentially; and / or: the second magnetic actuator is configured such that the magnetic field strength it generates is greater than the magnetic field strength generated by the first magnetic actuator, and when the first magnetic actuator and the second magnetic actuator coincide in the vertical direction, the first magnetic actuator is located below the second magnetic actuator; and wherein at least one of the upper end of the first magnetic actuator and the lower end of the second magnetic actuator is provided with a friction-reducing coating.

[0038] Item 30. The endoscopic magnetic anastomosis system according to Item 25, characterized in that the magnetic navigation console further includes: a push rod mechanism configured to be telescopic and capable of pushing one of the first magnetic actuator and the second magnetic actuator to move away from each other.

[0039] Item 31. The endoscopic magnetic anastomosis system according to Item 1, characterized in that the at least one endoscopic component comprises two endoscopic components, the two endoscopic components having the same or different structures.

[0040] Item 32. An outer tube, characterized in that the outer tube comprises: a body tube having a first end and an opposing second end; and a tube locking mechanism mounted at the first end of the body tube, wherein the body tube further has an endoscope channel extending from the first end of the body tube to the second end of the body tube for the passage of an endoscope, the tube locking mechanism being configured to engage with the endoscope passing through the endoscope channel to secure the endoscope to the body tube, and to disengage from the endoscope passing through the endoscope channel to allow the endoscope to slide and rotate relative to the body tube.

[0041] Item 33. A magnet detector for detecting the position of a magnet, characterized in that the magnet detector comprises: a detector body; a first circuit board disposed at a first end of the detector body and having a first set of magnetometers; a second circuit board disposed at a second end of the detector body opposite to the first end and having a second set of magnetometers; and a processing unit configured to receive measurement data from the first set of magnetometers and the second set of magnetometers, and determine the position of the magnet based on the data.

[0042] Item 34. A magnetic navigation console for moving a magnet by means of a magnetic field, characterized in that the magnetic navigation console comprises: a mounting bracket including a movable first mounting arm and a movable second mounting arm; a first magnetic actuator mounted to the first mounting arm; and a second magnetic actuator mounted to the second mounting arm, wherein the first magnetic actuator and the second magnetic actuator are configured to move to coincide in the vertical direction.

[0043] Other features and advantages of this application will be set forth in the following description. Attached Figure Description

[0044] To gain a more complete understanding of this disclosure, exemplary embodiments, and their advantages, reference is now made to the following description taken in conjunction with the accompanying drawings, in which similar reference numerals indicate similar features, and: Figure 1A This is a perspective view of an example implementation of an endoscopic anastomosis system; Figure 1B This is a side view of an example implementation of an endoscopic anastomosis system; Figure 1C This is another side view of an example implementation of an endoscopic anastomosis system; Figure 2 This is a perspective view of some of the separate components of an endoscopic anastomosis system; Figure 3A This is a side view of an example implementation of the first main component; Figure 3B This is a side view of an example embodiment of the first main body component and the first bendable segment configured to bend; Figure 3C This is another side view of an example embodiment of the first main body component and the first flexible segment configured to bend. Figure 4A This is a perspective view of an example implementation of a head assembly with magnetic implant components; Figure 4B This is a perspective view of an example implementation of a head assembly without magnetic implant components; Figure 4CThis is a side view of an example embodiment of the head assembly in which the first deployable component is not deployed; Figure 4D This is a side view of an example embodiment of the head assembly in which the first deployable component is deployed; Figure 4E This is a side view of an example implementation of a second main body component extending outward from the head component; Figure 4F It is a side view of an example embodiment of a second main body component extending outward from the head component and a first deployable member configured to unfold; Figure 4G It is a side view of an example embodiment of a second main body component extending outward from the head component and a second flexible segment configured to bend; Figure 4H A side view of an example embodiment of a second main body component extending outward from the head component, a second bendable segment configured to bend, and a second deployable member configured to unfold; Figure 4I A side view of an example embodiment of a second main body component that extends outward from the head component and is rotated to change the orientation of the magnetic implant component; Figure 5A This is a perspective view of an example embodiment of a magnetically implanted component that is fixed to a second main component via a fixing component; Figure 5B This is a cross-sectional view of an example embodiment of the magnetic implantation component, the fixation component, and the second main component; Figure 5C This is a perspective view of another example embodiment of a magnetically implanted component that is fixed to a second main component via a fixing component; Figure 5D This is a cross-sectional view of another example embodiment of the magnetic implantation component, the fixation component, and the second main component; Figure 5E This is a perspective view of another example embodiment of a magnetically implanted component that is fixed to a second main component via a fixing component; Figure 5F This is a cross-sectional view of another example embodiment of the magnetic implantation component, the fixation component, and the second main component; Figure 5G This is a perspective view of another example embodiment of a magnetically implanted component that is fixed to a second main component via a fixing component; Figure 5H This is a cross-sectional view of another example embodiment of the magnetic implantation component, the fixation component, and the second main component; Figure 6A This is a cross-sectional view of an example implementation of the magnetic implant component and the second magnetic implant component; Figure 6B This is a cross-sectional view of an example embodiment of a magnetic implantation component that is magnetically coupled to a second magnetic implantation component; Figure 6C This is a top view of an example implementation of the front wall of the magnetic implant component; Figure 6D This is a top view of another example implementation of the front wall of the magnetic implant component; Figure 7A A cross-sectional view of another example embodiment of the magnetic implant component and the second magnetic implant component. Figure 7B This is a cross-sectional view of another example embodiment of a magnetic implantation component that is magnetically coupled to a second magnetic implantation component; Figure 7C This is a top view of an example implementation of the front wall of the magnetic implant component; Figure 7D This is a top view of another example implementation of the front wall of the magnetic implant component; Figures 8A-8S A diagram illustrating an example implementation of a method for rectal delivery of a magnetic implant component; and Figures 9A-9I This is an illustration of an example implementation of a method for orally delivering a magnetic implant component.

[0045] Figure 10 This is a structural schematic diagram of the endoscopic magnetic anastomosis system in use according to one embodiment of this application; Figure 11 This is a schematic diagram of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 12A This is a structural schematic diagram illustrating the usage process of the adjustable lasso mechanism of the endoscopic magnetic anastomosis system according to one embodiment of this application. Figures 12B-12D This is a cross-sectional schematic diagram illustrating the use of the adjustable lasso mechanism of the endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 13A This is a schematic diagram of the outer tube and endoscope of an endoscopic magnetic anastomosis system according to one embodiment of this application, wherein the tube locking mechanism is in the locked state; Figure 13B This is a schematic diagram of the outer tube and endoscope of an endoscopic magnetic anastomosis system according to one embodiment of this application, wherein the tube locking mechanism is in the disengaged locking state; Figure 13C This is a schematic diagram of the outer sleeve of an endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 13D This is a partial structural diagram of the body tube of the outer sleeve of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 13E This is a schematic diagram of the tube locking mechanism of the outer tube of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 13F This is a partial cross-sectional view of the distal end of the assembly structure of the outer sleeve and endoscope of the endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 13G This is a partial cross-sectional view of the proximal end of the assembly structure of the outer sleeve and endoscope of the endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 13H This is a cross-sectional schematic diagram showing the different working states of the external pressure source of the outer sleeve of the endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 13I This is a cross-sectional structural schematic diagram of the body tube of the outer sleeve of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 14A This is a three-dimensional structural diagram of the head assembly of the endoscope in an embodiment of the endoscopic magnetic anastomosis system of this application. Figure 14B This is a front view schematic diagram of the head assembly of the endoscope in an embodiment of the endoscopic magnetic anastomosis system of this application; Figure 14C This is a schematic diagram of the left view of the head assembly of the endoscope in an embodiment of the endoscopic magnetic anastomosis system of this application. Figure 14D This is a schematic diagram of the assembly structure of the endoscope head assembly and the magnetic implantation assembly of the endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 14E This is a schematic diagram of the endoscope head assembly in some cases of endoscopic magnetic anastomosis systems. Figure 14F This is a schematic diagram of the assembly structure of the endoscope head assembly and the magnetic implantation assembly in some cases of endoscopic magnetic anastomosis systems. Figure 15A This is a schematic diagram of the assembly structure of the video processor and cables of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 15B This is a schematic diagram of the assembly process of the video processor and cables of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 15C This is a three-dimensional structural schematic diagram of the main connector socket of the video processor of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 15D This is a cross-sectional schematic diagram of the main connector socket of the video processor of the endoscopic magnetic anastomosis system according to one embodiment of this application, wherein the main connector socket is in the initial state; Figure 15EThis is a cross-sectional schematic diagram of the main connector socket of the video processor of the endoscopic magnetic anastomosis system according to one embodiment of this application, wherein the main connector socket is in a locked state. Figure 15F This is a cross-sectional schematic diagram of the main connector socket of the video processor in an endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 15G This is a schematic diagram of the main connector of the cable of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 15H This is a cross-sectional view of the main connector socket of the video processor and the main connector of the cable of the endoscopic magnetic anastomosis system according to one embodiment of this application before insertion and connection. Figure 15I This is a cross-sectional view of the main connector socket of the video processor and the main connector of the cable of the endoscopic magnetic anastomosis system according to one embodiment of this application during the insertion process. Figure 16A This is a three-dimensional structural schematic diagram of the magnetic implantation component of the endoscope in an embodiment of the endoscopic magnetic anastomosis system of this application; Figure 16B Another three-dimensional structural schematic diagram of the magnetic implantation component of the endoscope in an embodiment of the endoscopic magnetic anastomosis system of this application; Figure 16C This is a cross-sectional schematic diagram of the magnetic implantation component of the endoscope in an embodiment of the endoscopic magnetic anastomosis system of this application. Figure 16D This is a schematic diagram illustrating the cooperative use of the magnetic implantation components of two endoscopes in an endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 16E This is a cross-sectional schematic diagram of the magnetic implantation component of an endoscope in an endoscopic magnetic anastomosis system for certain situations. Figure 16F This is a schematic diagram illustrating the magnetic field interaction between two magnetic implant components according to one embodiment of this application; Figure 16G This is a schematic diagram illustrating the magnetic field interaction between two magnetic implant components in some cases. Figure 16H This is a schematic diagram illustrating the relationship between the magnetic field force and distance between two magnetic implanted components in one embodiment of this application. Figure 16I This diagram illustrates the relationship between the magnetic force and distance between two magnetic implanted components in some cases. Figure 17A This is a schematic diagram of the structure of the magnet detector of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 17BThis is an exploded structural diagram of the magnet detector of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 17C This is a top view of the first circuit board of the magnet detector in an endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 17D This is a bottom view of the first circuit board of the magnet detector in an endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 17E This is a top view of the second circuit board of the magnet detector in an endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 17F This is a bottom view of the second circuit board of the magnet detector in an endoscopic magnetic anastomosis system according to one embodiment of this application. Figure 18A This is a schematic diagram of the structure of the magnet detector of an endoscopic magnetic anastomosis system according to another embodiment of this application; Figure 18B This is a schematic diagram illustrating the working principle of the magnet detector in an endoscopic magnetic anastomosis system according to another embodiment of this application. Figure 19A This is a three-dimensional structural diagram of the magnetic navigation control console of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 19B This is a top view of the magnetic navigation control console of an endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 19C This is a structural schematic diagram of the working process of the push rod mechanism of the magnetic navigation console of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 19D This is a schematic diagram of the push rod mechanism of the magnetic navigation console of the endoscopic magnetic anastomosis system according to one embodiment of this application, showing different usage states. Figure 19E This is a schematic diagram of the structure of the first magnetic actuator of the magnetic navigation console of the endoscopic magnetic anastomosis system according to one embodiment of this application; Figure 19F This is a schematic diagram of the magnetic field effect of the first magnetic actuator of the magnetic navigation console of the endoscopic magnetic anastomosis system according to one embodiment of this application on the magnetic implantation component.

[0046] Although similar reference numerals may be used to refer to similar elements in the figures for convenience, it is understood that each of the various example embodiments can be considered a different variation.

[0047] Example embodiments will now be described with reference to the accompanying drawings, which form part of this disclosure and illustrate example embodiments that can be implemented. As used in this disclosure and the appended claims, the terms “implementation,” “example embodiment,” “exemplary embodiment,” and “implementation of this application” do not necessarily refer to a single embodiment, but they may refer to a single embodiment, and various example embodiments can be readily combined and / or interchanged without departing from the scope or spirit of the example embodiments. Furthermore, the terminology used in this disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limiting. In this respect, as used in this disclosure and the appended claims, the term “in” may include “in” and “on”, and the terms “a (a, an)” and “described” may include singular and plural references. Furthermore, as used in this disclosure and the appended claims, the term “by” may, depending on the context, mean “from.” Furthermore, as used in this disclosure and the appended claims, the term “if” may, depending on the context, mean “when” or “when…”. Furthermore, as used in this disclosure and the appended claims, the word “and / or” may refer to and include any one or more of the associated listed items or all possible combinations thereof. Detailed Implementation

[0048] Along with obesity, diabetes is becoming a leading cause of death, morbidity, disability, and discrimination in healthcare, education, and employment. The International Diabetes Federation (IDF) estimates that nearly 500 million people worldwide currently have diabetes, with low- and middle-income countries accounting for nearly 80% of the burden. Moreover, the global prevalence is projected to worsen in the coming years. It is estimated that by 2045, the global prevalence will increase by 48%, surging to approximately 693 million individuals (aged 18-99). Similarly, obesity has been experiencing a near-parallel but significant increase. The World Health Organization (WHO) estimates that in 2016, more than 1.9 billion adults (aged 18 and older) were overweight. Of these, more than 650 million were obese.

[0049] The socioeconomic burden associated with these conditions is enormous, much of it attributable to diabetes. Hyperglycemia (high levels of blood sugar) is a hallmark of diabetes. In type 2 diabetes (or “T2DM”), hyperglycemia results from various combinations of insulin resistance and insufficient insulin production. Chronic hyperglycemia can damage a variety of organs, leading to the development of disabling and life-threatening complications such as cardiovascular disease, neuropathy, kidney disease, and eye diseases that can lead to retinopathy and blindness. These complications contribute to more frequent hospitalizations, increased healthcare costs, and reduced quality of life, and often result in premature death. In fact, the IDF estimates that in 2017, approximately four million people aged 20 to 79 died from diabetes, which equates to approximately one death every eight seconds. Diabetes accounts for 10.7% of all-cause mortality in this age group globally, more than the combined number of deaths from infectious diseases (HIV / AIDS, tuberculosis, and malaria). Moreover, approximately 46.1% of diabetes-related deaths in this age group occur in individuals under 60 years of age. Beyond the burden of diabetes as manifested by premature mortality and low quality of life, there is a significant economic burden imposed by the disease and its complications. This burden weighs heavily on nations, healthcare systems, and, more importantly, directly and tragically on affected individuals and their families. Global annual healthcare spending on diabetes in 2017 was projected at USD 727 billion, corresponding to one dollar out of every eight spent on healthcare for diabetes. These economic costs are steadily increasing, and their trends are best documented and analyzed in the United States (US). The American Diabetes Association has estimated that, after adjusting for inflation, the economic cost of diabetes in the US increased by 26% between 2012 and 2017 (from USD 188 billion to USD 237.3 billion), attributable to both increased diabetes prevalence and increased costs per person with diabetes. Furthermore, after adjusting for both inflation and increased diabetes prevalence, the excessively high healthcare costs per person with diabetes increased by 14% over the same five-year timeframe (from USD 8,417 to USD 9,601).

[0050] Despite lifestyle and behavioral modifications that are largely ineffective in treating type 2 diabetes mellitus (T2DM), substantial treatment gaps remain unresolved in conventional approaches to T2DM treatment (surgery and medication). For surgery, this gap refers to several distinct populations, including large subgroups of individuals who are overweight and have diabetes but are not considered severely obese and therefore ineligible for traditional surgery. The gap also includes individuals eligible for these surgeries but unwilling or unable to undergo invasive, anatomically altering, and irreversible procedures. Furthermore, the gap includes individuals eligible for surgery but unable to access treatment due to barriers associated with high costs, lack of insurance coverage, and / or unavailable surgical skills. For medication, commonly cited barriers to access include high costs, low utility, and a high incidence of side effects. All these factors contribute to the fact that existing surgical procedures, interventions, and medications are used by less than 1% of eligible individuals worldwide.

[0051] Systems, apparatus, and methods for use in delivery and magnetically coupled magnetic implantation components to create anastomoses at adjacent points in the digestive tract (between the duodenum and ileum, or between the jejunum and ileum) are described herein. It is recognized in this disclosure that such alternative “pathways” or “shortcuts” (i.e., anastomoses) can provide alternative pathways for more rapid distal entry of nutrient-rich chyme into the ileum, which can result in avoidance of absorption in the foregut, triggering of early satiety, and / or improved glucose metabolism (e.g., by modulating the so-called “incretin effect,” which is characterized by increased secretion of glucagon-like peptide-1 (GLP-1), gastrointestinal hormones stimulating insulin secretion, gene expression, and β-cell growth characterization). In this respect, diabetes control can result from such intended delivery of nutrient-rich chyme to the distal intestine and the dissemination of physiological signals leading to improved glucose metabolism. It will be understood that the principles described in this disclosure can be applied outside the context of endoscopic anastomosis surgery, such as performing diagnostic, surgical or therapeutic procedures, scientific experiments, and / or other procedures in the same and / or other settings, cavities and / or organs not described in this disclosure, without departing from the teachings of this disclosure.

[0052] Example embodiments will now be described below with reference to the accompanying drawings, which form part of this disclosure.

[0053] Example implementation of an endoscopic anastomosis system (e.g., endoscopic anastomosis system 100) Figure 1A , Figure 1B and Figure 1CThe illustrations show different views of an example embodiment of an endoscopic anastomosis system (e.g., system 100). System 100 may be configured, or can be configured to be inserted through a patient's natural cavity (e.g., rectum) to deliver a first magnetic implant (or magnet) 430 into a patient's cavity (e.g., colon or ileocecal valve). A complementary, corresponding, or associated second system 100, adapted to be inserted through another natural cavity of the patient (e.g., oral cavity), delivers a second magnetic implant 430 into an adjacent cavity of the patient (e.g., duodenum or jejunum), the second magnetic implant 430 then being magnetically coupled to the first magnetic implant 430 through one or more cavity walls. The first and second magnetic implants 430 are collectively configured to form an anastomosis through said one or more cavity walls.

[0054] Each system 100 includes one or more elements. For example, as will be further described in this disclosure, each system 100 includes a first body assembly 200 (or a first body 200). Each system 100 also includes a head assembly 300. The head assembly 300 is attached to an end of the first body assembly 200 (e.g., referred to herein as a second end 203 of the first body assembly 200, a distal end of the first body assembly 200, or an end inserted into a cavity in a patient). Although the head assembly 300 may be referred to herein as a separate element from (and attached to) the first body assembly 200, it will be understood that the head assembly 300 may also be considered as an element or part of the first body assembly 200 without departing from the teachings of this disclosure. Each system 100 also includes a second body assembly 400. At least a portion of the second body assembly 400 is housed within the head assembly 300, and at least a portion of the second body assembly 400 is provided / inserted through an opening 318 of the head assembly 300 (referred herein to as the "second body assembly opening" 318, the "catheter opening" 318, etc.). Furthermore, at least a portion of the second body assembly 400 is housed within the first body assembly 200. In the example embodiment, the first body 200 and the second body 400 are slidable relative to each other. Each system 100 also includes a magnetic implant 430. Each system 100 also includes a fixation assembly 440. Although the magnetic implant assembly 430 and / or the fixation assembly 440 may be referred to herein as separate elements (one or more) from (and fixed to) the second body assembly 400, it will be understood that the magnetic implant assembly 430 and / or the fixation assembly 440 may also be considered as elements or portions of the second body assembly 400 without departing from the teachings of this disclosure. For ease of reference, Figure 2 The diagram illustrates a view of these components that are separated from each other.

[0055] As used in this disclosure, where applicable, one or more elements of each system 100 may be controlled, in part or in whole, directly or indirectly, by one or more processors, controllers, computing devices, processors, servers, systems, cloud-based computing, artificial intelligence (AI), etc. (referred to herein as “controllers,” “processors,” etc.) (not shown) and / or one or more surgical consoles (not shown, which may be any console, etc., that enables one or more surgeons to perform one or more actions described in this disclosure). Such controllers and / or surgical consoles may communicate with and / or control one or more external systems / devices (e.g., external pressure sources for providing negative and / or positive pressure, etc.) (not shown). Such a controller can be any processor, server, system, device, computing device, controller, microprocessor, microcontroller, microchip, semiconductor device, etc., configurable or configured, among other things, to perform information processing and / or management, information search, information identification, data communication, information processing and / or make one or more decisions via artificial intelligence, machine learning, deep learning, etc., and / or any or more other actions described in this disclosure. Alternatively or additionally, such a controller (and / or elements thereof) may comprise a virtual machine, processor, computer, node, instance, host, or machine (including those in networked computing environments) and / or be part of a virtual machine, processor, computer, node, instance, host, or machine (including those in networked computing environments). As used in this disclosure, communication channels, etc., may be or may comprise a collection of devices and / or virtual machines connected via communication channels that facilitate communication between devices and allow devices to share resources. Such resources can include any type of resources used to run instances, including hardware (such as servers, clients, mainframes, networks, network storage, data sources, memory, central processing unit time, scientific instruments, and other computing devices), as well as software, software licenses, available network services, and other non-hardware resources, or combinations thereof. Communication channels can include, but are not limited to, the Internet, intranets, Wi-Fi systems, GPS systems, positioning systems, location-based service systems, computing network systems, peer-to-peer systems, mesh systems, distributed computing environments, cloud computing environments, telephone systems, Voice over IP (VoIP) systems, etc. Such communication channels can include hardware and software infrastructure configured to form virtual organizations consisting of multiple resources that may be geographically dispersed. A communication channel can also refer to a communication medium between processes on the same device or system.

[0056] These and other components of system 100 will now be described with reference to the accompanying drawings.

[0057] First main component (e.g., first main component 200) As in Figure 3A , Figure 3B and Figure 3C As illustrated in the figure, each system 200 includes a first body assembly 200. The first body assembly 200 may include an elongated tubular structure having a first end 201 (or "proximal" 201) and a second end 203 (or "distal" 203). The first body assembly 200 may include a flexible body or tube having one or more internal channels (not shown). For example, one or more internal channels may be provided for allowing multiple actuation control components (e.g., cables, wires, tendons, etc.) to extend from the controller and / or surgeon's console (at or near the first end 201) to a portion of the second end 203 (e.g., to the first flexible segment 210). As another example, one or more internal channels may be provided to accommodate a second body assembly 400, which may extend from the controller and / or surgeon's console (at or near the first end 201) and through a second body assembly opening 318 of the head assembly 300. In this respect, the second body assembly 400 and the first body assembly 200 may be configured to slide relative to each other. As another example, one or more internal channels may be provided to allow negative and / or positive pressure to be supplied from one or more external pressure sources (not shown) to one or more pressure openings 332, 334, 422. As another example, one or more internal channels may be provided to allow positive and / or negative pressure to be supplied from one or more external pressure sources (not shown) to the first deployable member 320 and the second deployable member 420. As another example, one or more internal channels may be provided to allow flushing flow... Body pressure, positive pressure, and / or negative pressure are supplied to the first cleaning assembly 338 from one or more external pressure sources (not shown). As another example, one or more internal channels may be provided for extending electrical cables and / or data cables to the first image capture assembly 336. As another example, one or more internal channels may be provided for extending cables to one or more sensors (e.g., for haptic feedback, temperature sensors, pressure sensors, etc., not shown). Other internal channels for other purposes are also contemplated in this disclosure. It will be understood that the internal channels of the first body assembly 200 can be any channels (including those wholly or partially within the first body assembly) and can include smaller tubes provided in larger channels or tubes. It will also be understood that the internal channels of the first body assembly 200 can extend beyond the first end 201 and / or the second end 203 of the first body assembly 200.

[0058] As in at least Figure 1A and Figure 1BAs illustrated in the figure, the second end 203 of the first main body component 200 may be fixed to or be fixed to the connector portion 302 of the head component 300 (and in the example embodiment, it may be detached from the connector portion 302 of the head component 300).

[0059] The first body assembly 200 includes a first flexible segment (e.g., a first flexible segment 210) at its second end 203. Although not illustrated in the figures, the second end 203 of the first body assembly 200 may also include one or more deployable members (e.g., similar to the first deployable member 320 and / or the second deployable member 420) and / or one or more pressure openings (e.g., similar to the first pressure opening 332 and / or the second pressure opening 422). Such one or more pressure openings may be provided in front of and / or behind such one or more deployable members, and such one or more pressure openings and / or one or more deployable members may be provided in front of and / or behind the first flexible segment 210. In some example embodiments, such deployable members (one or more) and / or pressure openings (one or more) of the first body assembly 200 may supplement or replace the first deployable member 320 and / or the first pressure opening 332 of the head assembly 300.

[0060] In an example implementation, the first flexible segment 210 may be configured, or is configured to guide, rotate, bend, and / or turn (referred to herein as “bend”, etc.) the system 100 in any one or more of a plurality of available directions and / or along one or more sites of the first flexible segment 210. This may be desirable when the system 100 is being pushed forward into a body cavity (such as the colon or small intestine), and when the system 100 reaches bends, turns, etc., within the body cavity. Alternatively or additionally, such bending may be desirable when a particular area of ​​the inner wall of the body cavity needs to be viewed and / or acted upon (e.g., delivery of the magnetic implant 430). Such bending of the first flexible segment 210 may be achievable or can be implemented by selectively configuring it to bend (e.g., away from the central axis formed by the first flexible segment 210) along one or more sites of the first flexible segment 210. Such a selective configuration may involve selecting one or more bendable sites along the first bendable segment 210 from a plurality of bendable sites along the first bendable segment 210. Figure 3B The illustration shows an example of bending the first flexible segment 210. Selective configuration may also include selecting one or more directions for bending at each point along the first flexible segment 210 from a plurality of available directions, etc.

[0061] The bending of the first flexible segment 210 can be selectively controllable by controlling the amount of force (e.g., tension via pull or push) applied to one or more actuation control members (not shown) (increased, decreased, maintained, or not applied) and / or selectively controlling one or more actuation control members (i.e., the actuation control member will receive an increase in the applied force, a decrease in the applied force, no change in the applied force, and / or no force applied). In an example embodiment, the first flexible segment 210 may comprise an arrangement of multiple flexible sub-segments (not shown) connected in series (or in a straight line). Each flexible sub-segment may include one or more distal termination points for receiving, securing, terminating, and / or connecting one or more actuation control members.

[0062] Each of the flexible sub-segments may include one or more internal cavities or channels, which are used, among other things, to allow one or more actuation control members to extend through, to allow negative and / or positive pressure to be provided to one or more pressure openings 332, 422, to allow positive and / or negative pressure to be provided to a first deployable member 320, to allow positive and / or negative pressure to be provided to a second deployable member 420, to allow fluid and / or positive (and / or negative) pressure to be provided to a first cleaning assembly 338, to allow electrical cables and / or data cables to extend to a first image capture assembly 336, and so on.

[0063] The distal termination can be provided in any shape or form, as long as it enables the reception, connection, termination, and / or fixation of the distal ends of one or more actuation control elements. For example, the distal termination can be an opening, connector, termination portion, hook, etc. The degree of bending of one or more of the bendable points of the first bendable segment 210 can be between approximately 0 degrees and 210 degrees with respect to the central axis in the example embodiment.

[0064] In an example embodiment, the first body component 200 may have a length between approximately 1600 mm and approximately 2200 mm, and a diameter between approximately 12 mm and approximately 18 mm. The first body component 200 may be formed having one or more of a plurality of cross-sectional shapes, including circular cross-sections, elliptical cross-sections, etc. Other dimensions and shapes are also contemplated without departing from the teachings of this disclosure. In an example embodiment, the length of the first flexible segment 210 may be between approximately 70 mm and approximately 130 mm, and the diameter of the first flexible segment 210 may be between approximately 12 mm and approximately 18 mm. Other dimensions are also contemplated without departing from the teachings of this disclosure.

[0065] Header component (e.g., header component 300) As in at least Figure 2 , Figure 4A and Figure 4B As illustrated in the diagram, each system 200 includes a head assembly 300. The head assembly 300 includes a head assembly body 300. The head assembly body 300 also includes one or more first deployable members 320. The head assembly 300 also includes one or more first pressure ports 332. The head assembly 300 also includes a second body opening 318. The head assembly 300 also includes one or more air blowing ports 334. The head assembly 300 also includes one or more first image capturing components 336. The head assembly 300 also includes one or more first cleaning components 338.

[0066] These and other elements of the head assembly 300 will now be described with reference to the accompanying drawings.

[0067] Header component body (e.g., header component body 300) As in at least Figure 2 and Figures 4A-4B As illustrated in the figure, the head assembly 300 includes a head assembly body 300. The head assembly body 300 includes a connector portion 302 at a first end for attachment to a second end 203 of a second body assembly 200. The head assembly body 300 also includes a first region, portion, etc. (referred to herein as "first region" 310) and a second region, portion, etc. (referred to herein as "second region" 330). A first end 311 of the first region 310 is attached to the second end 203 of the second body assembly 200 via the connector portion 302, and at least a portion of the second end 313 of the first region 310 is attached to the first end 331 of the second region 330.

[0068] In an example implementation, the second end 313 of the first region 310 of the head component body 300 includes a first segment 316 (as in at least...). Figure 4B(Illustrated in the diagram) and a second segment (not shown) adjacent to the first segment 316. The second segment of the first region 310 is secured to the first end 331 of the second region 330 of the head assembly body 300. The first segment 316 of the first region 310 includes a second body assembly opening 318 (or a second body opening 318 or a catheter opening 318 or a conduit opening 318). The second body assembly opening 318 is configured to receive at least a portion of the second body assembly 400. That is, at least a portion of the second body assembly 400 is provided / inserted through the second body assembly opening 318. In this respect, the second body 402 is movable / slidable relative to the head assembly body 300. The first region 310 also includes one or more additional pressure openings (not shown) for providing positive and / or negative pressure to the internal portion of the first deployable member 320 (e.g., to expand, hold, or contract the volume of the first deployable member 320). The first region 310 also includes one or more internal cavities or channels. For example, one or more internal cavities or channels may accommodate at least a portion of the second end of the second body 402 of the second body assembly 400. One or more internal cavities or channels may also accommodate a plurality of actuation control members (e.g., cables, wires, tendons, etc., as described in this disclosure) for controlling the second flexible segment 410 of the second body assembly 400. As another example, one or more internal cavities or channels may be provided to allow negative and / or positive pressure to be supplied from one or more external pressure sources (not shown) to one or more pressure openings 332, 334, 422. As another example, one or more internal cavities or channels may be provided to allow positive and / or negative pressure to be supplied from one or more external pressure sources (not shown) to the first deployable member 320 and the second deployable member 420. As another example, one or more internal cavities or channels may be provided to allow flushing fluid, positive and / or negative pressure to be supplied from one or more external pressure sources (not shown) to the first cleaning assembly 338. As another example, one or more internal cavities or channels may be provided for extending electrical cables and / or data cables to the first image capture assembly 336. As another example, one or more internal cavities or channels may be provided for extending cables to one or more sensors (e.g., for haptic feedback, temperature sensors, pressure sensors, etc., not shown). Other internal cavities or channels for other purposes are also contemplated in this disclosure. It will be understood that the internal cavities or channels of the first region 310 of the head assembly body 300 can be any cavity or channel (including those wholly or partially within the head assembly body 300) and can include smaller tubes provided within larger channels or tubes. It will also be understood that the internal cavities or channels of the first region 310 of the head assembly body 300 can extend beyond the first region 310 of the head assembly body 300.The first region 310 of the head assembly body 300 may have a length between approximately 12 mm and approximately 20 mm, and a diameter between approximately 12 mm and approximately 20 mm. The first region 310 of the head assembly body 300 may be cylindrical and / or formed having one or more of a plurality of cross-sectional shapes, including circular cross-sections, elliptical cross-sections, etc. Other dimensions and shapes are also contemplated without departing from the teachings of this disclosure.

[0069] In an example embodiment, a first end 331 of a second region 330 of the head assembly body 300 is secured to a second segment of the first region 310 of the head assembly body 300. As will be further described in this disclosure, the second region 330 includes one or more first pressure ports 332. The second region 330 also includes one or more first air ports 334. The second region 330 also includes one or more first image capture components 336. The second region 330 also includes one or more first cleaning components 338. The second region 330 also includes one or more internal cavities or channels. For example, one or more internal cavities or channels may accommodate at least a portion of a second end of a second body 402 of the second body assembly 400. One or more internal cavities or channels may also accommodate a plurality of actuation control members (e.g., cables, wires, tendons, etc., as described in this disclosure) for controlling the second flexible segment 410 of the second body assembly 400. As another example, one or more internal cavities or channels may be provided to allow negative and / or positive pressure to be supplied from one or more external pressure sources (not shown) to one or more pressure openings 332, 334, 422. As another example, one or more internal cavities or channels may be provided to allow positive and / or negative pressure to be supplied from one or more external pressure sources (not shown) to the second deployable member 420. As another example, one or more internal cavities or channels may be provided to allow flushing fluid, positive and / or negative pressure to be supplied from one or more external pressure sources (not shown) to the first cleaning assembly 338. As another example, one or more internal cavities or channels may be provided to allow electrical cables and / or data cables to extend to the first image capture assembly 336. As another example, one or more internal cavities or channels may be provided to allow cables to extend to one or more sensors (e.g., for haptic feedback, temperature sensors, pressure sensors, etc., not shown). Other internal cavities or channels for other purposes are also contemplated in this disclosure. It will be understood that the internal cavity or channel of the second region 330 of the head assembly body 300 can be any cavity or channel (including those wholly or partially within the head assembly body 300), and can include smaller tubes, etc., provided within larger channels or tubes. It will also be understood that the internal cavity or channel of the second region 330 of the head assembly body 300 can extend beyond the second region 330 of the head assembly body 300. The second region 330 of the head assembly body 300 can have a length between approximately 14 mm and approximately 25 mm. The second region 330 of the head assembly body 300 can be a semi-cylindrical shape and / or formed having one or more of a plurality of cross-sectional shapes, including a semi-circular cross-section, a semi-elliptical cross-section, etc. Other dimensions and shapes are also contemplated without departing from the teachings of this disclosure.

[0070] First deployable member (e.g., first deployable member 320) As in at least Figure 2 and Figures 4A-4D As illustrated in the diagram, the head assembly 300 includes one or more first deployable members (e.g., first deployable member 320). As in at least Figure 4C As illustrated in the diagram, a first deployable member 320 is secured to at least a portion of a first region 310 of the head assembly 300. More specifically, the first deployable member 320 is secured to an external portion of the head assembly body 300 between a first end 311 and a second end 313 of the first region 310. The first deployable member 320 is configured in a normal or non-deployed configuration (e.g., as shown in...). Figure 4C (See diagram below) and expand configuration (e.g., as shown in...) Figure 4D (as illustrated in the diagram) In the unfolded configuration, the first unfoldable member 320 unfolds radially outward or away from the head assembly body 300.

[0071] When the first deployable member 320 is controlled to be in a deployed configuration within the patient's cavity, the controller (not shown) is configured to control the first deployable member 320 to deploy radially outward or away from the head assembly body 300 toward and / or radially deploy to the patient's cavity wall. When deployed, the first deployable member 320 may or may not reach the patient's cavity wall. If the first deployable member 320 (when deployed) reaches the patient's cavity wall, the first deployable member 320 may bulge or push the patient's cavity wall outward. However, in an example embodiment, the first deployable member (when deployed) may briefly stop (may not reach), or may not push outward (if it reaches) the patient's cavity wall. In any of these cases, it is recognized that one or more of the first deployable member 320 and the first pressure port 332 (as further described in this disclosure, the first pressure port 332 is configured to agitate, introduce, inwardly aspirate and / or fold part of the patient's cavity wall) cooperate or combine to enable the system 100 to anchor, grip and / or otherwise secure to the patient's cavity wall.

[0072] The first deployable member 320 may be formed to completely or partially surround a first region 310 of the head assembly body 300. The first deployable member 320 may resemble a balloon or the like and may include one or more openings (not shown) to allow positive pressure (e.g., the passage of gas and / or fluid, and / or the manipulation of pressure within the first deployable member 320) to be introduced, controlled, and / or reduced within the first deployable member 320. Each such opening may be connected to one or more pressure chambers, which in turn are connected to one or more external pressure sources (not shown). Alternatively, the first deployable member 320 may be formed from one or more films of deployable material (e.g., rectangular sheets), and the opposing long sides of such films may be fixed (e.g., via a secondary molding process) to a first end 311 and a second end 313 of the first region 310 of the head assembly body 300.

[0073] When in a deployed configuration (which may be a state in which an external pressure source provides positive pressure to the first deployable member 320), the first deployable member 320 may be configured to deploy radially outward (e.g., similar to a balloon, tire, etc.), wherein the overall diameter of the first deployable member 320 in the deployed configuration is between approximately 25 mm and 40 mm. Other dimensions are also contemplated without departing from the teachings of this disclosure.

[0074] First pressure port (e.g., first pressure port 332). As in at least Figure 2 and Figures 4A-4B As illustrated in the diagram, the head assembly 300 includes one or more first pressure ports (e.g., first pressure ports 332, also referred to herein as "first pressure openings" 332). One or more first pressure ports 332 may be provided at a second end 333 of the second region 330 and configured to provide negative pressure (and / or positive pressure) to the exterior of the head assembly body 300 (e.g., to a patient's cavity). For example, as in at least Figure 4AAs illustrated in the figure, one or more first pressure ports 332 may be provided on (or through) the head assembly body 300 at the farthest wall or surface of the head assembly body 300 in such a way that the negative pressure applied through one or more first pressure ports 332 is directed in the direction in which the head assembly body 300 is pointed (or pushed forward) (e.g., parallel to the central axis formed through the head assembly body 300). Alternatively or additionally, in example embodiments where one or more first pressure ports 332 are provided on (or through) the farthest wall or surface of the head assembly body 300, one or more of the first pressure ports 332 may be oriented, configured, guided, or directed in such a way that the negative pressure applied through such one or more first pressure ports 332 is directed in a direction not parallel to the central axis formed through the head assembly body 300 (e.g., at 10-80 degrees to the central axis formed through the head assembly body 300). Alternatively or additionally, in example embodiments where more than one first pressure port 332 is provided on (or through) the head assembly body 300, such first pressure ports 332 may be provided around the circumference of the head assembly body 300 (e.g., if a portion of the head assembly body 300 has a circular circumference, such as a first region 310, or otherwise distributed around the head assembly body 300). Alternatively or additionally, in example embodiments where more than one first pressure port 332 is provided on (or through) the head assembly body 300, such first pressure ports 330 may be provided at one or more different locations along the head assembly body 300 (e.g., in the first region 310 and / or the second region 330). One or more first pressure ports 332 may be configured to provide negative pressure to agitate, introduce, aspirate inward, and / or fold a portion of the patient's cavity wall toward the head assembly body 300. Recognized in this disclosure, such agitation, introduction, aspirate inward, and / or folding of a portion of the patient's cavity wall, combined with the radially outward deployment of the first deployable member 320 toward and / or radially outward deployment into a portion of the patient's cavity wall, enables the system 100 to anchor, grip, and / or otherwise secure to the patient's cavity wall.

[0075] Although the accompanying drawings illustrate that the first pressure port 332 is provided at the second end 333 of the second region 330 of the head assembly body 300, it will be understood that other configurations are also contemplated in this disclosure. For example, in addition to or instead of the one or more pressure ports 332 provided at the second end 333 of the second region 330, one or more first pressure ports 332 may be provided on the side portion of the second region 330 of the head assembly body 300 (e.g., between the first end 331 and the second end 333). Alternatively or additionally, one or more first pressure ports 332 may be provided at the second end 313 of the first region 310 of the head assembly body 300. Alternatively or additionally, one or more first pressure ports 332 may be provided at the first end 331 of the first region 310 of the head assembly body 300.

[0076] First air blowing port (e.g., first air blowing port 334). As in at least Figure 2 and Figures 4A-4B As illustrated in the figure, the head assembly 300 includes one or more first air ports (e.g., first air ports 334, also referred to herein as "first air openings" 334). One or more first air ports 334 may be provided at a second end 333 of the second region 330 and configured to provide positive pressure to the exterior of the head assembly body 300 (e.g., to provide positive pressure to a patient's cavity to blow air into the patient's cavity). For example, one or more first air openings 334 may be configured to provide positive pressure to agitate, push outward, and / or expand a portion of the patient's cavity wall away from the head assembly body 300.

[0077] Although the accompanying drawings illustrate that the first air inlet 334 is provided at the second end 333 of the second region 330 of the head assembly body 300, it will be understood that other configurations are also contemplated in this disclosure. For example, in addition to or instead of the one or more first air inlet ports 334 provided at the second end 333 of the second region 330, one or more first air inlet ports 334 may be provided on the side portion of the second region 330 of the head assembly body 300 (e.g., between the first end 331 and the second end 333). Alternatively or additionally, one or more first air inlet ports 334 may be provided at the second end 313 of the first region 310 of the head assembly body 300. Alternatively or additionally, one or more first air inlet ports 334 may be provided at the first end 331 of the first region 310 of the head assembly body 300.

[0078] First image capture component (e.g., first image capture component 336) As in at least Figure 2 and Figures 4A-4B As illustrated in the figure, the head assembly 300 includes one or more first image capture components (e.g., first image capture component 336). The first image capture component 336 can be any image and / or video capture device, including, but not limited to, 2-D cameras and / or 3-D stereoscopic or autostereoscopic cameras. The first image capture component 336 may also include one or more illumination sources (not shown), such as one or more LED lights.

[0079] Although the accompanying drawings illustrate that the first image capturing component 336 is provided at the second end 333 of the second region 330 of the head assembly body 300, it will be understood that other configurations are also contemplated in this disclosure. For example, in addition to or instead of the one or more first image capturing components 336 provided at the second end 333 of the second region 330, one or more first image capturing components 336 may be provided on the side portion of the second region 330 of the head assembly body 300 (e.g., between the first end 331 and the second end 333). Alternatively or additionally, one or more first image capturing components 336 may be provided at the second end 313 of the first region 310 of the head assembly body 300. Alternatively or additionally, one or more first image capturing components 336 may be provided at the first end 331 of the first region 310 of the head assembly body 300.

[0080] First cleaning component (e.g., first cleaning component 338) As in at least Figure 2 and Figures 4A-4B As illustrated in the figure, the head assembly 300 includes one or more first image cleaning components (e.g., first cleaning component 338). The first cleaning component 338 may be configured to direct fluid (e.g., water, non-toxic flushing fluid, etc.), positive pressure, and / or negative pressure to the first image capture assembly 336 to clean, unclog, and / or otherwise improve the visibility and / or image capture quality of the first image capture assembly 336.

[0081] Although the accompanying drawings illustrate that the first cleaning component 338 is provided at the second end 333 of the second region 330 of the head assembly body 300, it will be understood that other configurations are also contemplated in this disclosure (as long as it is near the first image capturing component 336). For example, in addition to or instead of the one or more first cleaning components 338 provided at the second end 333 of the second region 330, one or more first cleaning components 338 may be provided on the side portion of the second region 330 of the head assembly body 300 (e.g., between the first end 331 and the second end 333). Alternatively or additionally, one or more first cleaning components 338 may be provided at the second end 313 of the first region 310 of the head assembly body 300. Alternatively or additionally, one or more first cleaning components 338 may be provided at the first end 331 of the first region 310 of the head assembly body 300.

[0082] Second main component (e.g., second main component 400) As in at least Figure 2 and Figures 4E-4I As illustrated in the diagram, each system 200 includes a second body assembly 200. The second body assembly 400 includes one or more elements. For example, the second body assembly 400 includes a second body 402. The second body assembly 400 also includes a second flexible segment 410. The second body assembly 400 also includes one or more second deployable members 420. The second body assembly 400 also includes one or more second pressure openings 422. The second body assembly 400 also includes a magnetic implantation assembly 430. The second body assembly 400 also includes a fixation assembly 440.

[0083] These and other elements of the second main body assembly 400 will now be described with reference to the accompanying drawings.

[0084] Second subject (e.g., second subject 402) As in at least Figures 4E-4IAs illustrated in the figure, an example embodiment of the second body assembly 400 includes a second body 402. The second body 402 may comprise an elongated tubular structure having a first end (or "proximal end") and a second end (or "distal end," which is the end closest to and / or secured to the fixation assembly 440). The second body 402 may comprise a flexible body having one or more internal channels (not shown). For example, one or more internal channels may be provided for allowing multiple actuation control components (e.g., cables, wires, tendons, etc.) to extend from the controller and / or surgeon's console to a portion of the second end of the second body 402. As another example, one or more internal channels may be provided to allow negative and / or positive pressure to be supplied from one or more external pressure sources (not shown) to one or more second pressure openings 422. As another example, one or more internal channels may be provided for allowing positive and / or negative pressure to be supplied from one or more external pressure sources (not shown) to the second deployable member 420. As another example, one or more internal channels may be provided for securing the cable control assembly 440 (e.g., controlling the securing and releasing of the magnetic implant assembly 430). Other internal channels for other purposes are also contemplated in this disclosure. It will be understood that the internal channels of the second body 402 can be any channels (including those wholly or partially within the first body assembly) and can include smaller tubes, etc., provided in larger channels or tubes. It will also be understood that the internal channels of the second body 402 can extend beyond the first end and / or the second end of the second body 402.

[0085] As in at least Figures 4E-4I As illustrated in the figure, the second end of the second body 402 may be fixed to or fixed to the fixing component 440 (and in an example embodiment, may be detached from the fixing component 440). The second end of the second body 402 may also be fixed to or fixed to the magnetic implant component 430 (and in an example embodiment, may be detached from the magnetic implant component 430) (e.g., via the fixing component 440).

[0086] In an example embodiment, the second body 400 may have a length between approximately 1800 mm and approximately 2500 mm, and a diameter between approximately 2 mm and approximately 4 mm. The second body 400 may be formed having one or more of a plurality of cross-sectional shapes, including circular cross-sections, elliptical cross-sections, etc. Other dimensions and shapes are also contemplated without departing from the teachings of this disclosure.

[0087] The second flexible segment (e.g., the second flexible segment 410) As in at least Figure 4G and Figure 4HAs illustrated in the figure, the second body assembly 400 includes one or more second flexible segments (e.g., second flexible segment 410). One or more second flexible segments 410 may be provided at a second end of the second body assembly 400.

[0088] In an example implementation, the second flexible segment 410 may be configured or be configured to cause the second body assembly 400 to bend in any one or more of a plurality of available directions and / or at one or more sites along the second flexible segment 410. This may be desirable when the second body assembly 400 is being pushed forward into a body cavity (such as the colon or small intestine), and when the system 100 reaches bends, turns, etc., within the body cavity. Alternatively or additionally, such bending may be desirable when specific areas of the inner wall of the body cavity need to be viewed and / or acted upon (e.g., delivery of the magnetic implant 430). Such bending of the second flexible segment 410 may be achievable or can be implemented by selectively configuring one or more sites along the second flexible segment 410 to bend (e.g., away from the central axis formed by the second flexible segment 410). Such selective configuration may involve bending along one or more sites selected from a plurality of flexible sites along the second flexible segment 410. Figures 4G-4H The illustration shows an example of bending of the second flexible segment 410. The selective configuration may also include selecting a curvature degree for bending at each location along the second flexible segment 410 from a plurality of available curvature degrees. The selective configuration may also include selecting one or more directions for bending at each location along the second flexible segment 410 from a plurality of available directions, etc.

[0089] The bending of the second flexible segment 410 can be selectively controllable by controlling the amount of force (e.g., tension via pull or push) applied to one or more actuation control members (not shown) (increased, decreased, maintained, or not applied) and / or by selectively controlling one or more actuation control members (i.e., the actuation control member will receive an increase in the applied force, a decrease in the applied force, no change in the applied force, and / or no force applied). In an example embodiment, the second flexible segment 410 may comprise an arrangement of multiple flexible sub-segments (not shown) connected in series (or in a straight line). Each flexible sub-segment may include one or more distal termination points for receiving, securing, terminating, and / or connecting one or more actuation control members.

[0090] Each of the flexible sub-segments may contain one or more internal cavities or channels, which are used, among other things, to allow one or more actuation control members to extend through, to allow negative and / or positive pressure to be provided to one or more pressure openings 422, to allow positive and / or negative pressure to be provided to a second deployable member 420, to allow cables to extend to a fixing assembly 440, and so on.

[0091] The distal terminations for one or more actuation control elements can be provided in any shape or form, as long as they enable reception, connection, termination, and / or fixation of the distal ends of one or more actuation control elements. For example, the distal terminations can be openings, connectors, terminations, hooks, etc. The degree of bending of one or more of the bendable points of the second bendable segment 410 can be between approximately 0 degrees and 210 degrees with respect to the central axis in an example embodiment.

[0092] In the example embodiment, the length of the second flexible segment 410 may be between approximately 5 mm and approximately 50 mm, and in the example embodiment, the diameter of the second flexible segment 410 may be between approximately 2 mm and approximately 4 mm. Other dimensions are also contemplated without departing from the teachings of this disclosure.

[0093] Although the illustrated order or sequence of elements (e.g., when moving toward the fixing assembly 440 or the magnetic implant assembly 430) provides the second deployable member 420 between the second flexible segment 410 and one or more second pressure ports 422, it will be understood that other configurations are also contemplated in this disclosure. For example, one or more second pressure ports 422 may be provided between the second flexible segment 410 and the second deployable member 420. As another example, the flexible segment 410 may be provided between the second deployable member 420 and one or more second pressure ports 422. The order or sequence of elements may also vary from that shown in the figures (illustrated as the order of the second flexible segment 410, followed by the second deployable member 420, followed by one or more second pressure ports 422). For example, the order may be one or more second pressure ports 422, followed by the second deployable member 420, followed by the second flexible portion 410. As another example, the sequence could be one or more second pressure ports 422, followed by a second deployable portion 410, followed by a second deployable member 420. As another example, the sequence could be a second deployable member 420, followed by one or more second pressure ports 422, followed by a second flexible portion 410. As another example, the sequence could be a second deployable member 420, followed by a second flexible portion 410, followed by one or more second pressure ports 422.

[0094] As in Figure 4I As illustrated in the figure, an example embodiment of the second body assembly 400 can also be configured or be configured to rotate relative to a central axis formed by the second body 402. Such rotation allows the orientation of the magnetic implant assembly 430 to be selectively changed, which, together with the bending of the second flexible segment 410, can help position the magnetic implant assembly 430 for magnetic coupling to another magnetic implant assembly 430'.

[0095] Second deployable member (e.g., second deployable member 420) As in at least Figure 2 and Figures 4E-4I As illustrated in the diagram, the second main body component 400 includes one or more second deployable members (e.g., second deployable member 420). As in at least Figure 4E As illustrated in the diagram, the second deployable member 420 is fixed to a portion of the second end of the second main body assembly 400. The second deployable member 420 is configured in a normal or non-deployed configuration (e.g., as shown in...). Figure 4E (See diagram below) and expand configuration (e.g., as shown in...) Figure 4F and Figure 4H(as illustrated in the diagram) In the unfolded configuration, the second unfoldable member 420 unfolds radially outward or away from the second body 402 (or radially toward or to the patient's cavity wall).

[0096] When the second deployable member 420 is controlled to be in a deployed configuration within the patient's cavity, the controller (not shown) is configured to control the second deployable member 420 to deploy radially outward or away from the second body 402 and toward and / or radially deploy to the patient's cavity wall. When deployed, the second deployable member 420 may or may not reach the patient's cavity wall. If the second deployable member 420 (when deployed) reaches the patient's cavity wall, the second deployable member 420 may bulge or push the patient's cavity wall outward. However, in the example embodiment, the second deployable member 420 (when deployed) may briefly stop (may not reach), or may not push outward (if it reaches) the patient's cavity wall. In any of these cases, it is recognized that the second deployable member 420 cooperates or combines with the second pressure port 422 (as further described in this disclosure, the second pressure port 422 is configured to agitate, introduce, inwardly aspirate and / or fold part of the patient's cavity wall) to enable the system 100 to anchor, grip and / or otherwise secure to the patient's cavity wall.

[0097] The second deployable member 420 may be formed to completely or partially surround the second body 402. The second deployable member 420 may resemble a balloon or the like and may include one or more openings (not shown) to allow positive pressure (e.g., the passage of gas and / or fluid, and / or the manipulation of pressure within the second deployable member 420) to be introduced, controlled, and / or reduced within the second deployable member 420. Each such opening may be connected to one or more pressure chambers, which in turn are connected to one or more external pressure sources (not shown). Alternatively, the second deployable member 420 may be formed from one or more films (e.g., rectangular sheets) of deployable material, and the opposing long sides of such films may be circumferentially fixed around the second body 402 (e.g., via a secondary molding process).

[0098] When in a deployed configuration (which may be a state in which an external pressure source provides positive pressure to the second deployable member 420), the second deployable member 420 may be configured to deploy radially outward (e.g., similar to a balloon, tire, etc.), wherein the overall diameter of the second deployable member 420 in the deployed configuration is between approximately 10 mm and 30 mm. Other dimensions are also contemplated without departing from the teachings of this disclosure.

[0099] Although the illustrated order or sequence of elements (e.g., when moving toward the fixing assembly 440 or the magnetic implant assembly 430) provides the second deployable member 420 between the second flexible segment 410 and one or more second pressure ports 422, it will be understood that other configurations are also contemplated in this disclosure. For example, one or more second pressure ports 422 may be provided between the second flexible segment 410 and the second deployable member 420. As another example, the flexible segment 410 may be provided between the second deployable member 420 and one or more second pressure ports 422. The order or sequence of elements may also vary from that shown in the figures (illustrated as the order of the second flexible segment 410, followed by the second deployable member 420, followed by one or more second pressure ports 422). For example, the order may be one or more second pressure ports 422, followed by the second deployable member 420, followed by the second flexible portion 410. As another example, the sequence could be one or more second pressure ports 422, followed by a second deployable portion 410, followed by a second deployable member 420. As another example, the sequence could be a second deployable member 420, followed by one or more second pressure ports 422, followed by a second flexible portion 410. As another example, the sequence could be a second deployable member 420, followed by a second flexible portion 410, followed by one or more second pressure ports 422.

[0100] Second pressure port (e.g., second pressure port 422). As in at least Figure 2 and Figures 4E-4I As illustrated in the diagram, the second body assembly 400 includes one or more second pressure ports (e.g., second pressure ports 422, also referred to herein as "second pressure openings" 422). One or more second pressure ports 422 may be provided at a second end of the second body assembly 400 and configured to provide negative pressure (and / or positive pressure) to the outside of the second body 402 (e.g., to a patient's cavity). In example embodiments where more than one second pressure port 422 may be provided on (or through) the second body 402, such second pressure ports 422 may be provided around the circumference of the second body 402 (e.g., if the second body 402 has a circular circumference; or otherwise around the head assembly body 300). Alternatively or additionally, in example embodiments where more than one second pressure port 422 is provided on (or through) the second body 402, such second pressure ports 422 may be provided at one or more different locations along the second body 402. For example, as in at least Figure 4E As illustrated in the diagram, one or more second pressure ports 422 may be provided on the second body 402 at a point between the fixing component 440 (or the most distal portion of the second body 402) and the second deployable member 420 (or, if more than one second deployable member 420 exists, the most distal second deployable member 420) (or provided through the second body 402). As another example (not shown), one or more second pressure ports 422 may be provided on the second body 402 (or provided through the second body 402) such that the second deployable member 420 is provided between one or more second pressure ports 422 and the fixing component 440 (or the most distal portion of the second body 402). As another example (not shown), one or more second pressure ports 422 may be provided on the second body 402 (or provided through the second body 402), at the front and rear (or at the distal and proximal sides of the second deployable member 420). As another example (not shown), in an example embodiment where two or more second deployable members 420 are secured to a second body 402, a plurality of second pressure ports 422 may be provided on (or through) the second body 402 in such a manner that the second pressure ports 422 are provided in front of and behind (or distally and proximally) each of the second deployable members 420. One or more second pressure ports 422 may be configured to provide negative pressure to agitate, introduce, aspirate inward, and / or fold a portion of the patient's cavity wall toward the second body 402. It is recognized in this disclosure that such agitation, introduction, aspirate inward, and / or folding of a portion of the patient's cavity wall, combined with the radially outward unfolding and / or radially outward unfolding of one or more second deployable members 420 toward and / or into a portion of the patient's cavity wall, enables the second body assembly 400 to anchor, grip, and / or otherwise secure to the patient's cavity wall.

[0101] Although the illustrated order or sequence of elements (e.g., when moving toward the fixing assembly 440 or the magnetic implant assembly 430) provides the second deployable member 420 between the second flexible segment 410 and one or more second pressure ports 422, it will be understood that other configurations are also contemplated in this disclosure. For example, alternatively or additionally, one or more second pressure ports 422 may be provided between the second flexible segment 410 and the second deployable member 420. As another example, alternatively or additionally, the flexible segment 410 may be provided between the second deployable member 420 and one or more second pressure ports 422. The order or sequence of elements may also vary from that shown in the figures (illustrated as the order of the second flexible segment 410, followed by the second deployable member 420, followed by one or more second pressure ports 422). For example, the order may be one or more second pressure ports 422, followed by the second deployable member 420, followed by the second flexible portion 410. As another example, the sequence could be one or more second pressure ports 422, followed by a second deployable portion 410, followed by a second deployable member 420. As another example, the sequence could be a second deployable member 420, followed by one or more second pressure ports 422, followed by a second flexible portion 410. As another example, the sequence could be a second deployable member 420, followed by a second flexible portion 410, followed by one or more second pressure ports 422.

[0102] Magnetic implantation components (e.g., magnetic implantation component 430) As in at least Figure 2 and Figures 4E-4I As illustrated in the diagram, the second body assembly 400 includes a magnetic implant component (e.g., magnetic implant component 430, magnetic implant 430, magnet 430, etc.). The magnetic implant component 430 is attachable to and detachable from the second body 402 via a fixing component 440. As will be further described in this disclosure, the magnetic implant component 430 may be wholly or partially formed of a ferromagnetic or magnetic material, or may be wholly or partially formed using a ferromagnetic or magnetic material.

[0103] The magnetic implant component 430 can be configured in one or more configurations. In this regard, an example embodiment of the first magnetic implant component 430 of one system 100 (e.g., a first system 100 for orally delivering the magnetic implant component 430 via an approach through the patient's mouth) and an example embodiment of the second magnetic implant component 430 of another system 100 (e.g., a second system 100 for rectal delivery of the magnetic implant component 430 via an approach through the patient's rectum) can be the same or can be different. For example, as in... Figure 6A , Figure 6B , Figure 7A and Figure 7B As illustrated in the figure and as will be further described in this disclosure, the second magnetic implant component 430' may not contain any protrusions 434 and / or recesses 435, and the first magnetic implant component 430 may contain one or more protrusions 434 and / or one or more recesses 435.

[0104] Now refer to Figures 6A-6D and Figures 7A-7D To describe an example implementation of the magnetic implant component 430.

[0105] First example implementation of magnetic implant component 430 As in Figure 6A and Figure 6B Cross-sectional side view and Figure 6C and Figure 6D As illustrated in the top view, the first magnetic implant component 430 may be formed as and / or comprise a flattened cylinder 432 (e.g., flattened when viewed from the side and rounded when viewed from the top). The body 432 may be formed wholly or partially of a ferromagnetic or magnetic material, or may be formed wholly or partially of a ferromagnetic or magnetic material.

[0106] The first magnetic implant component 430 includes an anterior wall 432a (e.g., ...). Figure 6A and 6B The lower wall 432a of the upper magnetic implant component 430 is illustrated in the middle diagram; Figure 6C and Figure 6D The front wall 432a is illustrated in the figure. In an example embodiment, the front wall 432a is the wall to be magnetically coupled to or facing the second magnetic implant assembly 430'. The front wall 432a may have a circular shape with a central axis formed through the center of the front wall 432a. The front wall 432a may have a radius R1 (from the central axis), as shown in the figure. Figures 6C-6D The illustration is shown in the figure. In the example embodiment, the first magnetic implant component 430 may also include a hole, a drilled hole, etc., through the central axis, such as in at least Figure 6DThe diagram illustrates this. In such an implementation, the hole can have a radius R4 (from the central axis).

[0107] The first magnetic implant assembly 430 includes a rear wall 432b opposite to the front wall 432a. In an example embodiment, the rear wall 432b is not the wall to be magnetically coupled to or facing the second magnetic implant assembly 430'. The rear wall 432b will have substantially the same shape and central axis as the front wall 432a, as well as a radius R1 (from the central axis).

[0108] The first magnetic implant assembly 430 includes a first outer circumferential sidewall 432c formed around a magnet 432. The first outer circumferential sidewall 432c may define the thickness of the magnet 432. The first outer circumferential sidewall 432c may be formed at a radius R1 away from the central axis.

[0109] In an example embodiment, the first magnetic implant assembly 430 includes one or more protrusions 434 formed on the anterior wall 432a. The one or more protrusions 434 can be formed in one or more of a plurality of shapes or forms. The one or more protrusions 434 can be formed using a ferromagnetic or magnetic material. For example, as in... Figures 6A-6D As illustrated in the figure, protrusion 434 can be in the shape of a protruding ring having an outer diameter R2 and an inner diameter R3. Alternatively or additionally, the first magnetic implant assembly 430 may include another protrusion (not shown) formed on the protrusion having radii R2 and R1 (e.g., in a stepping manner), wherein the additional protrusion has an outer diameter between R2 and R1. One or more other protrusions may also be formed on the front wall 432a and / or another protrusion 432 without departing from the teachings of this disclosure. In the example embodiments, one or more of the protrusions 434 may not necessarily be formed using the same ferromagnetic or magnetic material (and / or the same magnetic force) as the body 432. For example, one or more of the protrusions 434 may be formed as a weaker magnet (or a ferromagnetic or magnetic material with a weaker magnetic force) or formed using a weaker magnet (or a ferromagnetic or magnetic material with a weaker magnetic force) compared to the ferromagnetic or magnetic material of the body 432. As another example, one or more of the protrusions 434 may be formed as a stronger magnet (or a ferromagnetic or magnetic material with a stronger magnetic force) or formed using a stronger magnet (or a ferromagnetic or magnetic material with a stronger magnetic force) compared to the ferromagnetic or magnetic material of the first magnetic implant component 430. As another example, one or more of the protrusions 434 may not be formed using a ferromagnetic or magnetic material (and / or may not contain a ferromagnetic or magnetic material), but may be formed using other materials (such as plastics, silicone rubber, etc.). Other configurations, magnetic coupling strengths, and / or materials / compositions are also contemplated without departing from the teachings of this disclosure.

[0110] In an example embodiment where the first magnetic implant component 430 includes a circular or annular protrusion 434 formed on the front wall 432a, the second magnetic implant component 430' may be formed as and / or include a flattened cylinder 432' (e.g., flattened when viewed from the side and circular when viewed from the top).

[0111] The second magnetic implant component 430' includes an anterior wall 432a' (e.g., ...). Figure 6A and Figure 6B The upper wall 432a' of the lower magnetic implant component 430' is illustrated in the figure. In an example embodiment, the front wall 432a' is the wall to be magnetically coupled to or facing the second magnetic implant component 430'. The front wall 432a' may have a circular shape with a central axis formed through the center of the front wall 432a'. The front wall 432a' may have a radius equal to or not equal to R1 (from the central axis), but greater than the radius R2. In an example embodiment, the second magnetic implant component 430' may also include holes, drilled holes, etc., through the central axis, similar to the holes, drilled holes, etc., of the first magnetic implant component 430.

[0112] The second magnetic implant assembly 430' includes a rear wall 432b' opposite to the front wall 432a'. In an example embodiment, the rear wall 432b' is not a wall that will be magnetically coupled to or facing the first magnetic implant assembly 430. The rear wall 432b' will have substantially the same shape and central axis, as well as radius (from the central axis) as the front wall 432a'.

[0113] The second magnetic implant assembly 430' includes a second outer circumferential sidewall 432c' formed around the magnet 432'. The second outer circumferential sidewall 432c' may define the thickness of the magnet 432'. The thickness of the magnet 432' may be the same as or different from the thickness of the magnet 432 of the first magnetic implant assembly 430.

[0114] In the example implementation, the front wall 432a' of the second magnetic implant assembly 430' does not contain any protrusions like those of the first magnetic implant assembly 430. It is recognized in this disclosure that the absence of protrusions on the front wall 432a' of the second magnetic implant assembly 430' allows for simple and aligned geomagnetic coupling (as in...) with the front wall 432a of the first magnetic implant assembly 430 (i.e., with the protrusion 434 of the first magnetic implant assembly 430). Figure 6B(See illustration). However, it will be understood that the anterior wall 432a' of the second magnetic implant component 430' may also include one or more protrusions (not shown) that are similar to (e.g., different outer diameter and / or inner diameter) or the same as (e.g., the same outer diameter and / or inner diameter) the protrusion 434 of the anterior wall 432 of the first magnetic implant component 430.

[0115] In this disclosure, it is recognized that preventing the outer portion of the first magnetic implant assembly 430 (i.e., the portion between radius R1 and radius R2) from being magnetically coupled to the second magnetic implant assembly 430' (or being magnetically coupled to the second magnetic implant assembly 430' with a smaller magnetic force due to the air gap between the outer portion of the first magnetic implant assembly 430 and the second magnetic implant assembly 430') results in a force or pressure (F1) applied to a first portion of the patient's cavity wall (i.e., the force between the outer portion of the first magnetic implant assembly 430 between R1 and R2 and the second magnetic implant assembly 430') being less than the force or pressure (F2) applied to a second (adjacent) portion of the patient's cavity wall (i.e., the force between the protrusion 434 and the second magnetic implant assembly 430'). In this respect, it is recognized in this disclosure that the adjacent application of the different forces or pressures as described above and in this disclosure improves the healing of anastomoses and / or necrosis formed by the first magnetic implant assembly 430 and the second magnetic implant assembly 430' (and / or enables better controlled healing).

[0116] It will be noted in this disclosure that the first magnetic implant assembly 430 (and / or the second magnetic implant assembly 430') may also include one or more indentations on the anterior wall 432a (and 432a'). For example, the segment of the anterior wall 432a between the outer diameter R2 and the radius R1 may be an indentation. As another example, the anterior wall 432a may have an indentation at the inner diameter R3 and the central axis (or for...) Figure 6D In the example implementation illustrated in the diagram, the segments between radii R4 can be indentations.

[0117] Second example implementation of magnetic implant component 430 As in Figure 7A and Figure 7B Cross-sectional side view and Figure 7C and Figure 7D As illustrated in the top view, the first magnetic implant component 430 may be formed as and / or comprise a flattened cylinder 432 (e.g., flattened when viewed from the side and rounded when viewed from the top). The body 432 may be formed wholly or partially of a ferromagnetic or magnetic material, or may be formed wholly or partially of a ferromagnetic or magnetic material.

[0118] The first magnetic implant component 430 includes an anterior wall 432a (e.g., ...). Figure 7A and 7BThe lower wall 432a of the upper magnetic implant component 430 is illustrated in the middle diagram; Figure 7C and Figure 7D The front wall 432a is illustrated in the figure. In an example embodiment, the front wall 432a is the wall that will be magnetically coupled to or faces the second magnetic implant assembly 430'. The front wall 432a may have a circular shape with a central axis formed through the center of the front wall 432a. The front wall 432a may have a radius R2 (from the central axis), as shown in the figure. Figures 7C-7D The illustration is shown in the figure. In the example embodiment, the first magnetic implant component 430 may also include a hole, a drilled hole, etc., through the central axis, such as in at least Figure 7D The diagram illustrates this. In such an implementation, the hole can have a radius R4 (from the central axis).

[0119] The first magnetic implant assembly 430 includes a rear wall 432b opposite to the front wall 432a. In an example embodiment, the rear wall 432b is not the wall to be magnetically coupled to or facing the second magnetic implant assembly 430'. The rear wall 432b will have substantially the same shape and central axis as the front wall 432a, as well as a radius R1 (from the central axis).

[0120] The first magnetic implant assembly 430 includes a first outer circumferential sidewall 432c formed around a magnet 432. The first outer circumferential sidewall 432c may define the thickness of the magnet 432 (and the protrusion 434 described further below). The first outer circumferential sidewall 432c may be formed at a radius R2 away from the central axis.

[0121] In an example embodiment, the first magnetic implant assembly 430 includes one or more protrusions 434 formed on the anterior wall 432a. The one or more protrusions 434 can be formed in one or more of a plurality of shapes or forms. The one or more protrusions 434 can be formed using a ferromagnetic or magnetic material. For example, as in... Figures 7A-7DAs illustrated in the figure, protrusion 434 can be in the shape of a protruding ring having an outer diameter R2 and an inner diameter R3. One or more other protrusions may also be formed on the front wall 432a without departing from the teachings of this disclosure. In exemplary embodiments, one or more of the protrusions 434 may not necessarily be formed using the same ferromagnetic or magnetic material (and / or the same magnetic force) as the body 432. For example, one or more of the protrusions 434 may be formed using a weaker magnet (or a ferromagnetic or magnetic material with a weaker magnetic force) or using a weaker magnet (or a ferromagnetic or magnetic material with a weaker magnetic force) compared to the ferromagnetic or magnetic material of the first magnetic implant assembly 430. As another example, one or more of the protrusions 434 may be formed using a stronger magnet (or a ferromagnetic or magnetic material with a stronger magnetic force) or using a stronger magnet (or a ferromagnetic or magnetic material with a stronger magnetic force) compared to the ferromagnetic or magnetic material of the first magnetic implant assembly 430. As another example, one or more of the protrusions 434 may not be formed using ferromagnetic or magnetic materials (and / or may not contain ferromagnetic or magnetic materials), but may be formed using other materials (such as plastics, silicone rubber, etc.). Other configurations, magnetic coupling strengths, and / or materials / compositions are also contemplated without departing from the teachings of this disclosure.

[0122] As in Figures 7A-7BAs illustrated in the figure, the first magnetic implant assembly 430 includes an outer cylindrical or annular body 436. The outer body 436 is formed around and fixedly attached to a first outer circumferential sidewall 432c of the magnet 432. The outer body 436 includes a front outer cylindrical or annular portion, at least a portion of which is adjacent to the front wall 432a. The outer body 436 may also include a rear outer cylindrical or annular portion adjacent to the rear wall 432b. In example embodiments, the outer body 436 may or may not be entirely or completely magnetic, and / or may or may not be magnetically coupled to the second magnetic implant assembly 430' when the first magnetic implant assembly 430 is magnetically coupled to the second magnetic implant assembly 430'. For example, the outer body 436 may not be formed using ferromagnetic or magnetic materials (and / or may not contain ferromagnetic or magnetic materials), but may be formed using other materials (such as plastics, silicone rubber, etc.). As another example, compared to the ferromagnetic or magnetic material of body 432 and / or protrusion 434, the outer body 436 may be formed as a weaker magnet (or a ferromagnetic or magnetic material with a weaker magnetic force) or formed using a weaker magnet (or a ferromagnetic or magnetic material with a weaker magnetic force). As another example, compared to the ferromagnetic or magnetic material of body 432 and / or protrusion 434, the outer body 436 may be partially formed as one or more magnets and / or magnetic segments (or ferromagnetic or magnetic materials) with the same, weaker, and / or stronger magnetic forces or partially formed using one or more magnets and / or magnetic segments (or ferromagnetic or magnetic materials) with the same, weaker, and / or stronger magnetic forces. It is recognized in this disclosure that preventing the external body 436 from being magnetically coupled to the second magnetic implant assembly 430' (or being magnetically coupled to the second magnetic implant assembly 430' with a smaller magnetic force) results in the force or pressure (F1) applied to the first portion of the patient's cavity wall (i.e., the force between the external body 436 and the second magnetic implant assembly 430') being less than the force or pressure (F2) applied to the second (adjacent) portion of the patient's cavity wall (i.e., the force between the protrusion 434 and the second magnetic implant assembly 430'). In this respect, it is recognized in this disclosure that the adjacent application of the different forces or pressures as described above and in this disclosure improves the healing of anastomoses and / or necrosis formed by the first magnetic implant assembly 430 and the second magnetic implant assembly 430' (and / or enables better controlled healing).

[0123] In an example embodiment where the first magnetic implant component 430 includes a circular or annular protrusion 434 formed on the front wall 432a, the second magnetic implant component 430' may be formed as and / or include a flattened cylinder 432' (e.g., flattened when viewed from the side and circular when viewed from the top).

[0124] The second magnetic implant component 430' includes an anterior wall 432a' (e.g., ...). Figure 7A and Figure 7B The upper wall 432a' of the lower magnetic implant component 430' is illustrated in the figure. In an example embodiment, the front wall 432a' is the wall to be magnetically coupled to or facing the second magnetic implant component 430'. The front wall 432a' may have a circular shape with a central axis formed through the center of the front wall 432a'. The front wall 432a' may have a radius equal to or not equal to R1 (from the central axis), but greater than the radius R2. In an example embodiment, the second magnetic implant component 430' may also include holes, drilled holes, etc., through the central axis, similar to the holes, drilled holes, etc., of the first magnetic implant component 430.

[0125] The second magnetic implant assembly 430' includes a rear wall 432b' opposite to the front wall 432a'. In an example embodiment, the rear wall 432b' is not a wall that will be magnetically coupled to or facing the first magnetic implant assembly 430. The rear wall 432b' will have substantially the same shape and central axis, as well as radius (from the central axis) as the front wall 432a'.

[0126] The second magnetic implant assembly 430' includes a second outer circumferential sidewall 432c' formed around the magnet 432'. The second outer circumferential sidewall 432c' may define the thickness of the magnet 432' and the protrusion 434. The thickness of the magnet 432' may be the same as or different from the thickness of the magnet 432 of the first magnetic implant assembly 430.

[0127] In the example implementation, the front wall 432a' of the second magnetic implant assembly 430' does not contain any protrusions like those of the first magnetic implant assembly 430. It is recognized in this disclosure that the absence of protrusions on the front wall 432a' of the second magnetic implant assembly 430' allows for simple and aligned geomagnetic coupling (as in...) with the front wall 432a of the first magnetic implant assembly 430 (i.e., with protrusion 434). Figure 7B (See illustration). However, it will be understood that the anterior wall 432a' of the second magnetic implant component 430' may also include one or more protrusions (not shown) that are similar to (e.g., different outer diameter and / or inner diameter) or the same as (e.g., the same outer diameter and / or inner diameter) the protrusion 434 of the anterior wall 432 of the first magnetic implant component 430.

[0128] It will be noted in this disclosure that the first magnetic implant assembly 430 (and / or the second magnetic implant assembly 430') may also include one or more recesses 435 on the anterior wall 432a (and 432a'). For example, the anterior wall 432a may have recesses 435 on the inner diameter R3 and the central axis (or for...) Figure 6DIn the example implementation illustrated in the diagram, the segment 435 between radii R4 can be a dent.

[0129] It will be understood in this disclosure that, in addition to or in place of the outer body 436 for the first magnetic implant assembly 430, an outer body (e.g., similar to the outer body 436 described above for the first magnetic implant assembly 430) may be formed around the second outer circumferential sidewall 432c' of the second magnetic implant assembly 430' and fixedly attached to the second outer circumferential sidewall 432c' of the second magnetic implant assembly 430' without departing from the teachings of this disclosure.

[0130] Fixed components (e.g., fixed component 440) As in at least Figure 2 and Figures 5A-5H As illustrated in the figure, the second body assembly 400 includes a fixing component (e.g., fixing component 440). The fixing component 440 is configured to fix the magnetic implantation component 430 to the second body 402 and release the magnetic implantation component 430 from the second body 402.

[0131] Fixed component 440 can be configured as one or more configurations. For example, as in Figures 5A-5B and Figures 5E-5F As illustrated in the diagram and as will be further described in this disclosure, the fixing component 440 can be configured in the form of a gripper 440, etc. As another example, as shown in... Figures 5C-5D As illustrated in the diagrams and as will be further described in this disclosure, the fixing component 440 can be configured as a quarter-turn or half-turn threaded lock 440. As another example, as shown in... Figure 5G-Figure 5H As illustrated in the diagram and as will be further described in this disclosure, the fixing component 440 can be configured using a snare 440 or the like.

[0132] Now refer to Figures 5A-5H To describe an example implementation of the fixed component 440.

[0133] First example implementation of fixed component 440 As in Figure 5A Perspective view and Figure 5B As illustrated in the cross-sectional view, the fixing component 440 may be formed as and / or include a gripper 440 for gripping at least a portion of the outer circumferential sidewall 432c of the magnetic implant component 430. In an example embodiment, the magnetic implant component 430 may include a hole 430a for receiving a protrusion 402a of the second body 402. In an example embodiment, the size of the gripper 440 may be configured to grip more than half of the circumference or periphery of the magnetic implant component 430.

[0134] In an example implementation, a wire or cable (not shown) may be secured at one end to a portion of the magnetic implant assembly 430 and provided through a hole 430a, a second body 402, and back to a controller (not shown) and / or a surgeon's console. Such a wire or cable can be useful in cases where the magnetic implant assembly 430 accidentally, unintentionally, or erroneously becomes detached from the fixation assembly 440. If one magnetic implant assembly 430 is magnetically coupled to another magnetic implant assembly 430', such a wire or cable can be cut or disconnected at or near the magnetic implant assembly 430.

[0135] Second example implementation of fixed component 440 As in Figure 5C Perspective view and Figure 5D As illustrated in the cross-sectional view, the fixing component 440 may be formed as and / or include a threaded lock 440 for fixing and releasing the magnetic implant component 430. More specifically, the magnetic implant component 430 may include a quarter-rotation or half-rotation (or other) threaded hole 430a for receiving a threaded protrusion 402a of the second body 402.

[0136] As described above and in this disclosure, a wire or cable (not shown) may be secured at one end to a portion of the magnetic implant assembly 430 and provided through a hole 430a, a second body 402, and back to a controller (not shown) and / or a surgeon's console (not shown).

[0137] Third example implementation of fixed component 440 As in Figure 5E Perspective view and Figure 5F As illustrated in the cross-sectional view, the fixation component 440 may be formed as and / or include at least a portion of the front wall 432a and rear wall 432b for gripping the magnetic implant component 430 (and / or with) Figures 6A-5D and Figures 7A-7D The gripper 440, etc., is a protrusion (not shown) similar to the protrusions illustrated in the figure. In an example embodiment, the magnetic implant assembly 430 may include a hole 430a for receiving a protrusion 402a of the second body 402.

[0138] As described above and in this disclosure, a wire or cable (not shown) may be secured at one end to a portion of the magnetic implant assembly 430 and provided through a hole 430a, a second body 402, and back to a controller (not shown) and / or a surgeon's console.

[0139] Fourth and fifth example implementations of the fixed component As in Figure 5G As illustrated in the perspective view, the fixation component may be formed and / or include loops or the like for fixing and releasing the magnetic implant assembly 430. More specifically, the magnetic implant assembly 430 includes a first cable 442, one end of which is fixed to an actuating member 444 and is provided through the system 100 to a second end (i.e., at the end where the controller (not shown) or surgeon's console (not shown) is located). The magnetic implant assembly 430 also includes a second cable 446, both ends of which are fixed to the actuating member 444. The second cable 446 is provided in a groove, channel, or the like formed around the outer circumferential sidewall 432c of the magnetic implant assembly 430 to prevent the second cable 446 from sliding around and / or away from the outer circumferential sidewall 432c.

[0140] When the magnetic implant assembly 430 is to be secured to the second body 402, the first cable 442 is continuously pulled at its second end in such a way that the actuating member 444 is continuously held in the first (secured) position (i.e., the position furthest from the magnetic implant assembly 430 (or the position furthest from the point furthest from the second end of the second body 402)). In the first (secured) position, the second cable 446 is continuously held in the groove of the outer circumferential sidewall 432c, and the magnetic implant assembly 430 is thus secured to the second body 402.

[0141] When the magnetic implant assembly 430 is released from the second body 402 (e.g., when the magnetic implant assembly 430 is magnetically coupled to another magnetic implant assembly 430'), the first cable 442 is released or pushed from the second end in such a way that the actuating member 444 is moved to a second (released) position (i.e., a position closer to the magnetic implant assembly 430 (or a position closer to the point on the farthest side of the second end of the second body 402)). In the second (released) position, the second cable 446 is no longer held in the groove of the outer circumferential sidewall 432c (i.e., becomes looser, becoming a larger loop), and the magnetic implant assembly 430 is thus released or releasable from the second body 402.

[0142] The fixation component can be configured as and / or include other configurations such as a snare for fixing and releasing the magnetic implant component 430. For example, as in Figure 5HAs illustrated in the diagram, the magnetic implant assembly 430 includes a first cable 442, one end of which is secured to an actuable member 444. The first cable 442 is provided in a groove, channel, or the like formed around the outer circumferential sidewall 432c of the magnetic implant assembly 430, passes through a second body 402, and extends through the remainder of the system 100 to a second end (i.e., at the end where the controller (not shown) or surgeon's console (not shown) is located). The first cable 442 is cooperatively provided in the groove formed around the outer circumferential sidewall 432c of the magnetic implant assembly 430 to prevent a second cable 446 from sliding around and / or away from the outer circumferential sidewall 432c.

[0143] When the magnetic implant component 430 is fixed to the second body 402, the first cable 442 is pulled at the second end in such a way that the magnetic implant component 430 is always fixed by the first cable 442.

[0144] When the magnetic implant component 430 is released from the second body 402 (i.e., when the magnetic implant component 430 is magnetically coupled to another magnetic implant component 430'), the first cable 442 is released or pushed from the second end in such a way that the first cable 442 is no longer held in the groove of the outer circumferential sidewall 432c (i.e., becomes looser and becomes a larger loop), and the magnetic implant component 430 is thus released or releasable from the second body 402.

[0145] Other implementations and / or configurations of the trap are also envisioned in this disclosure.

[0146] As described above and in this disclosure, a wire or cable (not shown) may be secured at one end to a portion of the magnetic implant assembly 430 and provided through a hole 430a, a second body 402, and back to a controller (not shown) and / or a surgeon's console.

[0147] Example implementation of a method for rectal delivery of magnetic implant components Figures 8A-8Q The illustration shows an example embodiment of a method for delivering a magnetic implant component. The magnetic implant component may be, or may include, one or more example embodiments of the magnetic implant component 430 (or second magnetic implant component 430') described in this disclosure. The method may be performed using one or more example embodiments of the endoscopic anastomosis system 100 described in this disclosure, which includes a first body component 200, a head component 300, a second body component 400, and a first magnetic implant component 430. Figures 8A-8Q The method illustrated in the figure is an example embodiment of a method for delivering a magnetic implant component rectally (i.e., via the rectum and anus).

[0148] As in Figure 8A and Figure 8B As illustrated in the figure, an example embodiment of the method involves inserting a system 100 (as described in this disclosure, an example embodiment of system 100 including a first body component 200, a head component 300, and a second body component 400) into the anus and through the rectum.

[0149] As in Figure 8C and Figure 8D As illustrated in the figure, an example embodiment of the method includes bending or turning the system 100 (e.g., via a first flexible segment 210 of the first body component 200) and pushing the system 100 further forward into the sigmoid colon around one or more bends or turns.

[0150] As in Figure 8E As illustrated in the diagram, once the head assembly 300 is pushed forward around a bend or turn, the head assembly 300 (and the first body assembly 200) is anchored or secured to a portion of the patient's cavity wall (e.g., by controlling / configuring the first deployable member 320 to deploy radially outward, while also controlling / configuring the first pressure port (not shown here, but as described for the first pressure port 332) to provide negative pressure to bulge, introduce, aspirate inward, and / or fold a portion of the patient's cavity wall toward the head assembly 300).

[0151] As in Figure 8F As illustrated in the diagram, once the patient's cavity wall is anchored or secured to the head assembly 300 and the first body assembly 200 (as shown above for...), Figure 8E As described, bends or turns in the colon can be straightened by pulling back the system 100 (i.e., pulling the first main body component 200) so that the colon can be folded up.

[0152] As in Figure 8G As illustrated in the diagram, once the colon has been straightened, the system 100 can be de-anchored or released from the lumen wall of the colon (e.g., by retracting the first deployable member 320 or by deflating the first deployable member 320 and not applying negative pressure (or applying positive pressure) through the first pressure port).

[0153] As in Figure 8H and Figure 8I As illustrated in the figure, an embodiment of the method includes pushing the system 100 forward through the descending colon, splenic flexure, transverse colon, hepatic flexure, and ascending colon until the head assembly 300 approaches the ileocecal valve.

[0154] As in Figure 8J , Figure 8K and Figure 8LAs illustrated in the figure, an example embodiment of the method includes bending or turning the system 100 (e.g., via a first flexible segment 210 of the first body component 200) and pushing the system 100 further forward into and through the ileocecal valve.

[0155] As in Figure 8M As illustrated in the diagram, once the head assembly 300 is pushed forward into the ileocecal valve and into the small intestine, the head assembly 300 (and the first body assembly 200) is anchored or secured to a portion of the lumen wall (e.g., by controlling / configuring the first deployable member 320 to deploy radially outward, while also controlling / configuring the first pressure port (not shown here, but as described for the first pressure port 332) to provide negative pressure to agitate, introduce, aspirate inward and / or fold a portion of the patient's lumen wall toward the head assembly 300).

[0156] As in Figure 8N As illustrated in the diagram, once the patient's cavity wall is anchored or secured to the head assembly 300 and the first body assembly 200 (as shown above for...), Figure 8M As described, the second body assembly 400 (as described in this disclosure, the second body assembly 400 includes an example embodiment of a second body 402, a second deployable member 420 and a magnetic implantation assembly 430) is pushed forward by sliding the second body assembly 400 forward relative to the anchored first body assembly 200.

[0157] As in Figure 8O As illustrated in the diagram, after the second body assembly 400 has been pushed forward, the second body assembly 400 can be anchored or fixed to a portion of the cavity wall (e.g., by controlling / configuring the second deployable member 420 to deploy radially outward, while also controlling / configuring the second pressure port (not shown here, but as described for the second pressure port 442) to provide negative pressure to agitate, introduce, aspirate inward and / or fold a portion of the patient's cavity wall toward the second body 402).

[0158] As in Figure 8P As illustrated in the diagram, once the patient's cavity wall is anchored or secured to the second main body component 400 (as shown above for...), Figure 8O As described, the head assembly 300 and the first body assembly 200 can be de-anchored or released (e.g., by retracting the first deployable member 320 or by deflating the first deployable member 320 and not applying negative pressure (or applying positive pressure) through the first pressure port).

[0159] As in Figure 8Q As illustrated in the diagram, the head assembly 300 and the first body assembly 200 have been unanchored or released (as shown above for...). Figure 8P(As described) After that, the first main body component 200 and the head component 300 are pushed forward toward the second deployable member 420 of the second main body component 400.

[0160] As in Figure 8R As illustrated in the diagram, the head assembly 300 and the first body assembly 200 are then anchored or secured to a portion of the patient's cavity wall (e.g., by controlling / configuring the first deployable member 320 to deploy radially outward, while also controlling / configuring the first pressure port to provide negative pressure toward the head assembly 300 to agitate, introduce, suction inward, and / or fold a portion of the patient's cavity wall). For example, for Figure 8N As explained, the second main component 400 is then pushed forward.

[0161] As in Figure 8S As illustrated in the diagram, Figures 8N-8R The steps illustrated in the diagram are repeated as necessary until the head assembly 300 is approximately 20-30 cm from the ileocecal valve. At this point, the system 100 is ready to deliver the magnetic implant assembly 430 for magnetic coupling with another magnetic implant assembly 430' delivered orally (i.e., via the oral cavity).

[0162] Example implementation of a method for oral delivery of magnetic implant components Figures 9A-9I The illustration shows another example embodiment of a method for delivering a magnetic implant component. The magnetic implant component may be, or may include, one or more example embodiments of the magnetic implant component 430' (or 430) described in this disclosure. The method may be performed using one or more example embodiments of an endoscopic anastomosis system 100 described in this disclosure, which includes a first body component 200, a head component 300, a second body component 400, and a second magnetic implant component 430'. Figures 9A-9I The illustration in the middle shows an example embodiment of a method for oral (i.e., via the mouth and esophagus) delivery of a magnetic implant component.

[0163] As in Figure 9A and Figure 9B As illustrated in the figure, an example embodiment of the method involves inserting a system 100 (as described in this disclosure, an example embodiment of system 100 including a first body component 200, a head component 300, and a second body component 400) into the oral cavity, through the esophagus, and through the stomach. Once system 100 has reached the pyloric sphincter, system 100 is configured to bend or turn (e.g., via a first flexible segment 210 of the first body component 200) into the pyloric sphincter.

[0164] As in Figure 9CAs illustrated in the figure, an example embodiment of the method includes pushing the system 100 further forward into the duodenum.

[0165] As in Figure 9D As illustrated in the diagram, once the head assembly 300 is pushed forward, the system 100 is anchored or secured to a portion of the patient's cavity wall (e.g., by controlling / configuring the first deployable member 320 to deploy radially outward, while also controlling / configuring the first pressure port (not shown here, but as described for the first pressure port 332) to provide negative pressure to agitate, introduce, suction inward, and / or fold a portion of the patient's cavity wall toward the head assembly 300).

[0166] As in Figure 9E As illustrated in the diagram, once the patient's cavity wall is anchored or secured to system 100 (as shown above for...), Figure 9D As described, the duodenum can be straightened by pulling back the system 100 (i.e., pulling the first main body component 200) so that it folds up.

[0167] As in Figure 9F As illustrated in the figure, the second body assembly 400 (as described in this disclosure, the second body assembly 400 includes an example embodiment of a second body 402, a second deployable member 420, and a magnetic implantation assembly 430) is pushed forward by sliding the second body assembly 400 forward relative to the anchored first body assembly 200.

[0168] As in Figure 9G As illustrated in the diagram, after the second body assembly 400 has been pushed forward, the second body assembly 400 can be anchored or fixed to a portion of the cavity wall (e.g., by controlling / configuring the second deployable member 420 to deploy radially outward, while also controlling / configuring the second pressure port (not shown here, but as described for the second pressure port 442) to provide negative pressure to agitate, introduce, aspirate inward and / or fold a portion of the patient's cavity wall toward the second body 402).

[0169] As in Figure 9H As illustrated in the diagram, once the patient's cavity wall is anchored or secured to the second main body component 400 (as shown above for...), Figure 9G As described, the head assembly 300 and the first body assembly 200 can be de-anchored or released (e.g., by retracting the first deployable member 320 or by deflating the first deployable member 320 and not applying negative pressure (or applying positive pressure) through the first pressure port).

[0170] As in Figure 9I As illustrated in the diagram, the head assembly 300 and the first body assembly 200 have been unanchored or released (as shown above for...). Figure 8P (As described) After that, the first main body component 200 and the head component 300 are pushed forward toward the second deployable member 420 of the second main body component 400. Figures 9D-9I The steps illustrated in the diagram are repeated as necessary until the head component 300 is close to the target site / location in the distal duodenum or jejunum (i.e., the site where the first magnetic implant component 430 has been delivered, such as...). Figures 8A-8S (as described in the document). The method then includes delivering a second magnetic implant component 430' to magnetically couple with the magnetic implant component 430 delivered rectally (as described in the document). Figures 8A-8S As described in [the text].

[0171] like Figures 10 to 12D As shown, an exemplary embodiment of this application provides an endoscopic magnetic anastomosis system, which may include at least one endoscope assembly 500. The endoscope assembly 500 includes an endoscope 51 and an adjustable lasso mechanism. The endoscope 51 may include a flexible body or flexible tube having one or more internal channels (not shown). In an exemplary embodiment, the endoscope 51 has a first end and an opposing second end, and includes a magnetic implantation assembly 511 disposed at the second end and a lasso channel extending from the first end to the second end.

[0172] The adjustable lasso mechanism includes a lasso assembly 52 and a lasso guide assembly 53. The lasso assembly 52 passes through a lasso channel and includes a lasso tube 521 and a lasso 522 passing through the lasso tube 521 for selectively fastening and releasing the magnetic implant assembly 511.

[0173] In an exemplary embodiment, in an endoscopic magnetic anastomosis system, the endoscope assembly 500 includes an endoscope 51 and an adjustable lasso mechanism. A first end of the endoscope 51 is proximal (i.e., the end located outside the body), and a second end of the endoscope 51 is distal (i.e., the end for insertion into the body). The second end of the endoscope 51 is provided with a magnetic implantation assembly 511. The adjustable lasso mechanism is used to secure the magnetic implantation assembly 511 to the second end of the endoscope 51 and can also release the magnetic implantation assembly 511 to allow it to be inserted into the body.

[0174] In an exemplary implementation, such as Figure 10 As shown, the endoscopic magnetic anastomosis system may include two endoscopic assemblies 500, one of which deploys a magnetic implantation assembly 511 into the proximal jejunum via the upper digestive tract, and the other endoscopic assembly 500 deploys another magnetic implantation assembly 511 into the distal ileum via the lower digestive tract. The two endoscopic assemblies 500 may be configured to be the same or different; for example, the endoscopic assembly 500 via the upper digestive tract may not include an outer cannula 55 (detailed description below).

[0175] The endoscope 51 is also provided with a lasso channel that extends from one end of the endoscope 51 (e.g., the distal end inside the human body) to the other end (e.g., the proximal end outside the human body). The lasso component 52 in the adjustable lasso mechanism can pass through the lasso channel to secure and release the magnetic implant component 511.

[0176] The adjustable lasso mechanism's lasso assembly 52 includes a lasso 522 and a lasso tube 521, the lasso 522 passing through the lasso tube 521, and both the lasso 522 and the lasso tube 521 being bendable and deformable to adapt to curved cavities or intestines within the human body. In an exemplary embodiment, the lasso 522 may be made of stainless steel, and the lasso tube 521 may be made of Teflon (polytetrafluoroethylene), or the materials of the lasso 522 and the lasso tube 521 may be adjusted as needed.

[0177] Some exemplary implementations, such as Figures 12A to 12D As shown, the adjustable lasso mechanism includes a lasso guide assembly 53. The lasso guide assembly 53 includes a base 531 and a motion mechanism movably mounted on the base 531. This motion mechanism is connected to at least one of a lasso 522 and a lasso tube 521 and is configured to move the at least one of the lasso 522 and the lasso tube 521, allowing relative movement between the lasso 522 and the lasso tube 521 to allow the lasso 522 to extend and retract relative to the lasso tube 521. In an exemplary embodiment, the motion mechanism may include a first movable member 532 and a second movable member 533. Both the first movable member 532 and the second movable member 533 are movably mounted on the base 531. The first movable member 532 is connected to the lasso 522 and configured to drive the lasso 522 to move, and the second movable member 533 is connected to the lasso tube 521 and configured to drive the lasso tube 521 to move, such that when at least one of the first movable member 532 and the second movable member 533 moves, there is relative movement between the lasso 522 and the lasso tube 521.

[0178] The adjustable lasso mechanism includes a lasso assembly 52 and a lasso guide assembly 53. In the lasso guide assembly 53, both the first movable member 532 and the second movable member 533 are movably mounted on the base 531. The first movable member 532 is connected to the lasso 522, and the second movable member 533 is connected to the lasso tube 521, so that the movement of the first movable member 532 can drive the lasso 522 to move, and the movement of the second movable member 533 can drive the lasso tube 521 to move. When at least one of the first movable member 532 and the second movable member 533 moves, there is relative movement between the lasso 522 and the lasso tube 521, allowing the lasso 522 to retract and extend from the lasso tube 521. During use, the lasso 522 can be retracted into the lasso tube 521 first, so that the lasso assembly 52 passes through the lasso channel of the endoscope 51 (e.g., Figure 12A The state (a1) and Figure 12B (as shown); then, the lasso 522 can be moved to the extension of the lasso tube 521 so that the magnetic implantation assembly 511 can be installed into the portion of the lasso 522 extending outside the lasso tube 521 (as shown). Figure 12A As shown in state (a2); after the magnetic implant component 511 is installed, the lasso 522 can be further retracted into the lasso tube 521 so that the lasso 522 secures the magnetic implant component 511 (as shown in state (a2)). Figure 12A The state (a3) ​​and Figure 12C (As shown); after the magnetic implant component 511 reaches the appropriate position (set position) within the human body, the lasso 522 can extend further out of the lasso tube 521 to release the magnetic implant component 511 and release it from the appropriate position (as shown). Figure 12A The state (a4) and Figure 12D (As shown).

[0179] Some exemplary implementations, such as Figures 12A to 12D As shown, the base 531 is provided with a first slide rail 5313 and a second slide rail 5314 extending along the length direction of the base 531. The first movable member 532 is configured to slide along the first slide rail 5313, and the second movable member 533 is configured to slide along the second slide rail 5314.

[0180] The base 531 of the lasso guide assembly 53 is provided with a first slide rail 5313 and a second slide rail 5314 extending along its length direction. The first movable member 532 and the second movable member 533 can slide along the first slide rail 5313 and the second slide rail 5314 respectively, thereby driving the lasso 522 and the lasso tube 521 to move, so that the lasso 522 can retract and extend out of the lasso tube 521.

[0181] Some exemplary implementations, such as Figures 12B to 12DAs shown, the first slide rail 5313 and the second slide rail 5314 are arranged sequentially along the length of the base 531. The end of the second movable member 533 away from the first movable member 532 is connected to the first end (i.e., the proximal end) of the lasso tube 521. The lasso guiding assembly 53 also includes a connecting member 534. One end of the lasso 522 extends out of the first end of the lasso tube 521 and is fixedly connected to one end of the connecting member 534. The other end of the connecting member 534 is connected to the first movable member 532.

[0182] like Figures 12B to 12D As shown, both the first slide rail 5313 and the second slide rail 5314 extend along the length of the base 531, with the first slide rail 5313 located to the left of the second slide rail 5314. The right end of the second movable member 533 is connected to the first end of the lasso tube 521, and the second movable member 533 can drive the lasso tube 521 to move. The end of the lasso 522 extends out of the first end of the lasso tube 521 and is connected to the first movable member 532 through the connecting member 534, so that the first movable member 532 can drive the lasso 522 to move through the connecting member 534. In an exemplary embodiment, the connecting member 534 can be a connecting crimp rod. For example, the connecting member 534 can be a hollow connecting tube. After the end of the lasso 522 extends out of the first end of the lasso tube 521, it can extend into the connecting tube, and the connection between the connecting member 534 and the lasso 522 is achieved by crimping.

[0183] Some exemplary implementations, such as Figures 12A to 12D As shown, the base 531 includes a first base portion 5311 and a second base portion 5312 connected to each other. The first slide rail 5313 includes a groove disposed in the first base portion 5311. The first movable member 532 includes a slider that cooperates with the groove. The second slide rail 5314 is disposed on the outer surface of the second base portion 5312. The second movable member 533 is sleeved on the outer surface of the second base portion 5312.

[0184] The base 531 includes a first base portion 5311 and a second base portion 5312. The first base portion 5311 is provided with a groove to form a first slide rail 5313. The slider of the first movable member 532 can cooperate with the groove so that the first movable member 532 can slide along the first slide rail 5313.

[0185] The outer surface of the second base portion 5312 may form a second slide rail 5314, or the outer surface of the second base portion 5312 may be provided with a second slide rail 5314. The second movable member 533 is sleeved on the outer surface of the second base portion 5312, and the second movable member 533 slides in cooperation with the second slide rail 5314 so that the second movable member 533 slides along the second slide rail 5314. In an exemplary embodiment, the second movable member 533 may include a sleeve section 5331 and a fixing section 5332. The sleeve section 5331 may be sleeved on the outer surface of the second base portion 5312 and may slide relative to the second base portion 5312. The fixing section 5332 may be fixedly connected to the sleeve section 5331 and is connected to the lasso tube 521 to realize the connection between the second movable member 533 and the lasso tube 521.

[0186] The connecting member 534 can be disposed in the groove of the first base part 5311, and the end of the lasso 522 can pass through the lasso tube 521, the second movable member 533 and the second base part 5312 and then connect to the connecting member 534.

[0187] Some exemplary implementations, such as Figures 12A to 12D As shown, the lasso guide assembly 53 also includes a releasable locking mechanism 54 mounted to the first movable member 532. The releasable locking mechanism 54 is configured to lock into the base 531 to fix the first movable member 532 to the base 531, and to disengage from the base 531 to allow the first movable member 532 to move relative to the base 531.

[0188] In this lasso guide assembly 53, the releasable locking mechanism 54 has a locked state and a released state. For example... Figure 12A As shown in state (a3), when the releasable locking mechanism 54 is in the locked state, it can lock into the base 531 (e.g., the first base portion 5311). At this time, the releasable locking mechanism 54 is fixed to the base 531, thereby fixing the first movable member 532 to the base 531 to prevent the lasso 522 from moving. This allows the lasso 522 to remain in the state of securing the magnetic implant assembly 511, thus firmly securing the magnetic implant assembly 511. Figure 12A As shown in states (a1), (a2), and (a4), when the releasable locking mechanism 54 is in the released state, the releasable locking mechanism can disengage from the base 531 (e.g., the first base portion 5311). At this time, the releasable locking mechanism 54 is disengaged from the base 531, allowing the first movable member 532 to move relative to the base 531. This enables the first movable member 532 to move the lasso 522, allowing the lasso 522 to retract into the lasso tube 521, and also enabling the installation and release of the magnetic implant component 511.

[0189] Some exemplary implementations, such as Figures 12A to 12D As shown, the releasable locking mechanism 54 includes a rotary locking mechanism, which includes a knob 541 and a clamping member 542. The knob 541 is connected to the clamping member 542 and is configured to rotate in two opposite directions to cause the clamping member 542 to clamp and release the base 531 accordingly.

[0190] The releasable locking mechanism 54 can be a rotary locking mechanism mounted to the first movable member 532, whose knob 541 can be connected to the clamping member 542, and the rotation of the knob 541 can drive the clamping member 542 to move. Specifically, when the knob 541 moves in one direction (e.g.: Figure 12A When the knob 541 rotates in the state shown by the curved arrow in state (a4) in either the counterclockwise or clockwise direction, it can cause the clamping member 542 to release the base 531 (e.g., the first base portion 5311), so that the releasable locking mechanism 54 and the first movable member 532 can move relative to the base 531; when the knob 541 rotates in the opposite direction (e.g., ... Figure 12A When the knob 541 rotates clockwise or counterclockwise as indicated by the curved arrow in state (a3), the clamping member 542 can clamp the base 531 (e.g., the first base portion 5311) so that the releasable locking mechanism 54 and the first movable member 532 are clamped and fixed to the base 531, preventing the releasable locking mechanism 54 and the first movable member 532 from moving relative to the base 531.

[0191] During use, such as Figure 12A As shown in state (a1), the second movable member 533 can first slide along the base 531 (as shown in state (a1)). Figure 12A In state (a1), the direction indicated by the straight arrow causes the second movable member 533 to move away from the first base portion 5311, and drives the lasso tube 521 to move, so that the lasso 522 can gradually retract into the lasso tube 521, facilitating the lasso assembly 52 to pass through the lasso channel of the endoscope 51; then, as shown in the image. Figure 12A As shown in state (a2), the second movable member 533 can slide in the opposite direction (as shown in state (a2)). Figure 12A In state (a2), the direction indicated by the straight arrow causes the second movable member 533 to move towards the first base portion 5311, and drives the lasso tube 521 to move, so that the lasso 522 can gradually extend out of the lasso tube 521. At this time, the lasso 522 is in a loose state so that the magnetic implantation component 511 can be installed into the part of the lasso 522 that extends out of the lasso tube 521; after the magnetic implantation component 511 is installed, as shown by the straight arrow arrow in state (a2), the second movable member 533 moves towards the first base portion 5311, and drives the lasso tube 521 to move, so that the lasso 522 can gradually extend out of the lasso tube 521. Figure 12A As shown in state (a3), the first movable member 532 can slide along the base 531 (as shown in state (a3)). Figure 12AIn state (a3), the direction indicated by the straight arrow causes the first movable member 532 to move away from the second base portion 5312, and drives the lasso 522 to move, so that the lasso 522 can gradually retract into the lasso tube 521, so that the lasso 522 secures the magnetic implant assembly 511, and the knob 541 of the releasable locking mechanism 54 is rotated (as shown in the image). Figure 12A In state (a3), the direction indicated by the curved arrow) is used to lock the first movable member 532 to the base 531, so that during the insertion of the endoscope 51 cannula and the delivery of the lasso guide assembly 53, the lasso 522 remains taut and fixes the magnetic implant assembly 511; when the magnetic implant assembly 511 needs to be released after reaching the appropriate position in the human body, such as... Figure 12A As shown in state (a4), the knob 541 of the reversible and releasable locking mechanism 54 (as shown in the image) is a reversible and releasable mechanism. Figure 12A In state (a4), the direction indicated by the curved arrow is used to disengage the first movable member 532 from the base 531, and then the first movable member 532 is moved toward the second base portion 5312 (as shown by the arrow). Figure 12A (as indicated by the straight arrow in state (a4)) and move the lasso 522, allowing it to gradually extend out of the lasso tube 521 to release the magnetic implant component 511. At this point, the magnetic implant component 511 can be released from its suitable position. While the lasso 522 releases the magnetic implant component 511, the connecting member 534 remains within the lasso tube 521 (e.g., ...). Figure 12D (As shown), to prevent the connecting member 534 from clamping any tissue in the human body.

[0192] In some exemplary embodiments, the lasso guide assembly 53 further includes an unlockable locking device mounted to the second movable member 533, the unlockable locking device being configured to lock into the base 531 to fix the second movable member 533 to the base 531, and to disengage from the base 531 to allow the second movable member 533 to move relative to the base 531.

[0193] In the lasso guiding assembly 53, the unlockable locking device can have a locked state and a released state. When the unlockable locking device is in the locked state, it can lock into the base 531 (e.g., the second base portion 5312), thus fixing the unlockable locking device to the base 531 and consequently fixing the second movable member 533 to the base 531 to prevent the lasso tube 521 from moving. When the unlockable locking device is in the released state, it can disengage from the base 531 (e.g., the second base portion 5312), thus disengaging the unlockable locking device from the base 531 and allowing the second movable member 533 to move relative to the base 531, thereby moving the lasso tube 521. In an exemplary embodiment, the structure of the unlockable locking device may be the same as or different from the structure of the releasable locking mechanism 54.

[0194] It should be understood that the second movable member 533 and the base 531 can be locked or unlocked by an unlockable locking device, or locked or released by other means. For example, in some other exemplary embodiments, such as Figures 12A to 12D As shown, the second movable member 533 is frictionally engaged with the base 531, allowing the second movable member 533 to remain fixed relative to the base 531 under the action of frictional force between it and the base 531, and also to overcome the frictional force and move relative to the base 531 under the action of external force. Specifically, when the second movable member 533 is sleeved on the second base portion 5312 of the base 531, the inner diameter of the second movable member 533 can be smaller than the outer diameter of the second base portion 5312, so that the second movable member 533 and the second base portion 5312 are frictionally engaged (e.g., interference fit). Therefore, friction exists between the second movable member 533 and the second base portion 5312 due to compression. Under the action of this frictional force, the second movable member 533 can be fixed relative to the second base portion 5312; under the action of external force (e.g., the pushing action of a human hand), the second movable member 533 can also overcome the frictional force and slide relative to the second base portion 5312.

[0195] Some exemplary implementations, such as Figures 13A to 13G As shown, the endoscope assembly 500 also includes an outer tube 55, which may include a body tube having a first end (i.e., proximal end) and an opposing second end (i.e., distal end) and a tube locking mechanism 552 mounted at the first end of the body tube. The body tube has an endoscope channel 5519 extending from the first end of the body tube to the second end of the body tube for the endoscope 51 to pass through. The tube locking mechanism 552 is configured to engage with the endoscope 51 to secure the endoscope 51 to the body tube, and to disengage from the endoscope 51 to allow the endoscope 51 to slide and rotate relative to the body tube.

[0196] The outer tube 55 has an endoscope channel 5519 in its main body tube. An endoscope 51 can pass through this endoscope channel 5519, and the endoscope 51 and the endoscope channel 5519 can be fitted with a clearance, allowing the endoscope 51 to slide or rotate within the endoscope channel 5519. A tube locking mechanism 552 can be installed at one end of the main body tube (e.g., the proximal end outside the body), and the tube locking mechanism 552 can have a locked state and a released state. Figure 13A As shown, when the tube locking mechanism 552 is in the locked state, it can lock and engage with the endoscope 51. At this time, the tube locking mechanism 552 is fixed to the endoscope 51, thereby fixing the body tube to the endoscope 51 and preventing relative movement between them. This allows the endoscope 51 to be moved or rotated by applying a pushing or twisting force to the body tube, enabling the endoscope 51 and the body tube to be inserted into the human body together. Figure 13B As shown, when the tube locking mechanism 552 is in the released state, it can disengage from the locking engagement with the endoscope 51. At this time, the tube locking mechanism 552 is disengaged from the endoscope 51, allowing the endoscope 51 to move relative to the body tube. This allows the endoscope 51 to be moved or rotated by applying a pushing or torsional force, so that the endoscope 51 can be further inserted into the human body relative to the body tube.

[0197] By setting the tube locking mechanism 552, the outer tube 55 can be engaged to the endoscope 51 when the tube locking mechanism 552 is in the locked state, so that the driving torque applied to the outer tube 55 can be transmitted to the endoscope 51, and a 1:1 torque transmission from the outer tube 55 to the endoscope 51 can be achieved, so that the outer tube 55 and the endoscope 51 can be moved or rotated together and inserted into the human body; the outer tube 55 can be disengaged from the endoscope 51 when the tube locking mechanism 552 is in the released state, so that the endoscope 51 can move or rotate relative to the outer tube 55.

[0198] Some exemplary implementations, such as Figures 13A to 13C and Figure 13E As shown, the tube locking mechanism 552 includes a locking seat 5521, a rotatable member 5522, and a plurality of locking blocks 5524. The locking seat 5521 is mounted to the first end of the body tube. The rotatable member 5522 is rotatably mounted to the locking seat 5521 and has a helical drive portion 5523, the helical center line of the helical drive portion 5523 coinciding with the rotation center line of the rotatable member 5522. The plurality of locking blocks 5524 are movably mounted to the locking seat 5521 and are configured to drive and engage with the helical drive portion 5523 so as to translate radially along the helical drive portion 5523 as the helical drive portion 5523 rotates. The adjacent ends of the plurality of locking blocks 5524 collectively define an opening 5525 for the endoscope 51 to pass through. The size of the opening 5525 changes with the radial translation of the plurality of locking blocks 5524.

[0199] Multiple locking blocks 5524 are configured to rotate in a first direction (e.g., the rotatable member 5522 rotates in a first direction). Figure 13E When the state (b2) is shown by the curved arrow, the multiple locking blocks 5524 are radially moved inward toward the spiral centerline of the spiral drive unit 5523 (as shown by the arrow in state b2). Figure 13E (as shown by the straight arrow in state (b2)) to clamp the endoscope 51 by narrowing the opening 5525. The driving engagement of the plurality of locking blocks 5524 with the helical drive 5523 also causes the rotatable member 5522 to rotate in a second direction opposite to the first direction (as shown by the straight arrow arrow in state (b2)). Figure 13E When the state (b1) is shown by the curved arrow, the multiple locking blocks 5524 are radially outward from the spiral centerline of the spiral drive part 5523 (as shown by the arrow in the diagram). Figure 13E (as shown by the straight arrow in state (b1)) to widen the opening 5525 and loosen the endoscope 51.

[0200] In the pipe locking mechanism 552, a rotatable member 5522 is rotatably mounted to a locking seat 5521, and multiple locking blocks 5524 are translatably mounted to the locking seat 5521. The locking seat 5521 is mounted to the first end of the main body pipe, thereby enabling the pipe locking mechanism 552 to be mounted to the first end of the main body pipe. The rotatable member 5522 is provided with a helical drive part 5523, the helical center line of which coincides with the rotation center line of the rotatable member 5522. The multiple locking blocks 5524 are driven and engaged with the helical drive part 5523, and can be translated along one side close to or away from the helical center line of the helical drive part 5523 under the drive of the rotating rotatable member 5522. In an exemplary embodiment, the rotatable member 5522 is driven along a first direction (e.g., Figure 13E When rotating in the clockwise or counterclockwise direction indicated by the curved arrow in state (b2), the multiple locking blocks 5524 can be radially and inwardly translated towards the helical centerline of the helical drive part 5523 under the push of the helical drive part 5523 of the rotatable member 5522 (e.g., ...). Figure 13E As shown by the straight arrow in state (b2), the cross-sectional area of ​​the opening 5525 formed between the multiple locking blocks 5524 for the endoscope 51 to pass through is reduced, so that the multiple locking blocks 5524 clamp the endoscope 51, realizing the locking engagement between the tube locking mechanism 552 and the endoscope 51; when the rotatable member 5522 rotates in a second direction opposite to the first direction (such as... Figure 13E In state (b1), when the curved arrow indicates either a counterclockwise or clockwise direction, the multiple locking blocks 5524 can be radially outwardly translated away from the helical centerline of the helical drive part 5523 under the push of the helical drive part 5523 of the rotatable member 5522 (e.g., ...). Figure 13EAs shown by the straight arrow in state (b1), the cross-sectional area of ​​the opening 5525 formed between the multiple locking blocks 5524 for the endoscope 51 to pass through is increased, so that the multiple locking blocks 5524 release the endoscope 51, thereby realizing the disengagement of the tube locking mechanism 552 from the endoscope 51.

[0201] Some exemplary implementations, such as Figure 13E As shown, there may be at least two locking blocks 5524, such as four. Multiple locking blocks 5524 may be evenly arranged along the circumference of the helical drive part 5523.

[0202] Some exemplary implementations, such as Figures 13A to 13C As shown, the outer surface of the rotatable member 5522 is provided with an anti-slip structure (e.g., anti-slip protrusions) so as to rotate the rotatable member 5522.

[0203] Some exemplary implementations, such as Figures 13A to 13C and Figure 13F As shown, the outer sleeve 55 also includes a deployable member 554, which is sleeved on the outer surface of the main body tube at the second end. The main body tube is provided with a gas channel 5511 extending between the inner and outer surfaces of the main body tube along the axial direction of the main body tube. The gas channel 5511 is connected to the deployable member 554 at the second end of the main body tube and is connected to an external pressure source 553 at the first end of the main body tube, so that the deployable member 554 can extend outward from the non-deployed state to the deployed state or retract from the deployed state to the non-deployed state in response to the action of the external pressure source 553.

[0204] In the outer tube 55, the deployable member 554 is fitted onto the outer surface of the main tube at the second end (e.g., the distal end that enters the human body). The deployable member 554 may include a balloon. The main tube is provided with a gas channel 5511 that connects an external pressure source 553 and the deployable member 554, so that the external pressure source 553 supplies gas to the deployable member 554 through the gas channel 5511, allowing the deployable member 554 to expand radially outward along the main tube to the cavity wall of the human body, so that the deployable member 554 can be anchored or gripped onto the cavity wall of the human body, thus fixing the outer tube 55 into the human body.

[0205] The external pressure source 553 can provide positive pressure to supply air to the deployable member 554 so that the deployable member 554 is in the deployed configuration; the external pressure source 553 can also provide negative pressure to extract air from the deployable member 554 so that the deployable member 554 can retract radially inward along the body tube, at which time the deployable member 554 is in the normal or undeployed configuration.

[0206] In some exemplary embodiments, the endoscope assembly 500 also includes the external pressure source 553, which is configured to provide a fixed volume of gas to the deployable member 554 to deploy the deployable member 554 outward in the radial direction of the body tube.

[0207] When the deployable component 554 is deployed, the external pressure source 553 can provide a fixed volume of gas to the deployable component 554 to control the deployment volume of the deployable component 554. Compared with providing gas at a fixed pressure to control the deployment of the deployable component 554 by pressure, the external pressure source 553 of the present application embodiment makes the deployment control of the deployable component 554 simpler, easier, and safer (e.g., in case of air leakage in the deployable component 554).

[0208] Some exemplary implementations, such as Figure 13H As shown, the external pressure source 553 includes a housing 5531, a first linear actuator 741 5532 mounted within the housing 5531, a syringe 5533 mounted within the housing 5531, and two position sensors 5537 mounted within the housing 5531. The first linear actuator 741 5532 has a configuration that enables it to operate at a first position (e.g., ...). Figure 13H The state (c2) shown in the middle) and the second position (as shown in the middle) Figure 13H The syringe 5533 includes a syringe barrel 5534 and a syringe plunger 5535 movably mounted on the syringe barrel 5534. The syringe barrel 5534 has an injection port 5536 communicating with a gas passage 5511. The drive end of a first linear actuator 741 7532 is connected to the syringe plunger 5535 and configured to drive the syringe plunger 5535 to reciprocate relative to the syringe barrel 5534 to supply gas to or draw gas from the deployable member 554 through the injection port 5536. Two position sensors 5537 are configured to detect the position of the drive end of the first linear actuator 741 7532.

[0209] In the external pressure source 553, the drive end of the first linear actuator 7415532 can reciprocate and extend, thereby driving the syringe plunger 5535 of the connected syringe 5533 to reciprocate. The syringe plunger 5535 of the syringe 5533 moves in one direction (e.g., to the right) to... Figure 13H The state (c1) in the middle changes to Figure 13H In state (c2), the syringe barrel 5534 of the syringe 5533 can supply gas to the deployable member 554 through the injection port 5536, so that the deployable member 554 can be deployed radially outward along the body tube; the syringe plunger 5535 of the syringe 5533 moves in the opposite direction (e.g., to the left) to allow gas to be released from the syringe barrel. Figure 13HThe state (c2) in the middle changes to Figure 13H When in state (c1), the syringe 5534 of the syringe 5533 can draw gas from the deployable member 554 through the injection port 5536, so that the deployable member 554 can retract radially inward along the body tube.

[0210] Two position sensors 5537 can be used to detect the position of the drive end of the first linear actuator 7415532, causing the drive end of the first linear actuator 7415532 to move between a first position and a second position. For example, when the drive end of the first linear actuator 7415532 moves to the first position (during which the syringe 5533 provides a fixed volume of gas to the deployable member 554), one sensor is triggered, at which point the drive end of the first linear actuator 7415532 can be controlled to stop moving and stop driving the syringe plunger 5535 to continue inflating the deployable member 554; when the drive end of the first linear actuator 7415532 moves to the second position (during which the syringe 5533 draws air from the deployable member 554), the other sensor is triggered, at which point the drive end of the first linear actuator 7415532 can be controlled to stop moving and return to its original position.

[0211] Some exemplary implementations, such as Figures 13A to 13C , Figures 13F to 13G As shown, the outer tube 55 also includes a first seal 556 and a second seal 555. The first seal 556 is disposed at the first end of the main tube (e.g., the proximal end of the main tube outside the human body) between the main tube and the outer surface of the endoscope 51. The second seal 555 is disposed at the second end of the main tube (e.g., the distal end of the main tube inside the human body) between the main tube and the outer surface of the endoscope 51.

[0212] Some exemplary implementations, such as Figures 13A to 13D , Figures 13F to 13G As shown, the gap between the inner surface of the body tube and the outer surface of the endoscope 51 forms a suction channel 5512. The body tube has one or more suction openings 5513 arranged circumferentially at the second end of the body tube and a suction connector 5514 arranged at the first end of the body tube. The suction openings 5513 and the suction connector 5514 are located between the second seal 555 and the first seal 556. The two ends of the suction channel 5512 communicate with the suction openings 5513 and the suction connector 5514, respectively. The suction connector 5514 is configured to connect to a suction device for providing negative pressure. In an exemplary embodiment, the suction connector 5514 may be a suction interface.

[0213] The suction channel 5512, formed by the gap between the inner surface of the main tube and the outer surface of the endoscope 51, can be sealed at both ends by the first sealing member 556 and the second sealing member 555, respectively. The main tube has a suction opening 5513 and a suction connector 5514 located between the first sealing member 556 and the second sealing member 555. This allows the suction opening 5513 to communicate with the suction channel 5512 on one hand, and with the human body's cavity or intestine when one end of the endoscope 51 and the outer tube 55 is inserted into the cavity or intestine. The suction connector 5514 communicates with the suction channel 5512 on one hand, and with the suction device on the other, allowing the suction device to draw air from the human body's cavity or intestine through the suction connector 5514, the suction channel 5512, and the suction opening 5513 (the gas flow direction is as follows). Figure 13F and Figure 13G (as shown by the dashed arrow in the image), so that under negative pressure, the cavity wall of the cavity or intestine is tightly adhered to the outer surface of the main tube, thereby fixing the main tube of the outer sleeve 55 to the cavity wall of the human body.

[0214] The deployable component 554 is deployed and anchored to the cavity wall of the human body, and the cavity wall is adsorbed and fixed to the main tube of the outer tube 55 by suction negative pressure. This enhances the fixation effect between the outer tube 55 and the cavity wall of the human body, and also reduces the size of the deployable component 554. Compared with deployable components 554 that are fixed only by anchoring (e.g., balloons, whose deployed outer diameter can reach 60 mm), the deployable component 554 of this embodiment (e.g., balloons, whose deployed outer diameter can reach 30 mm) is smaller in size and provides a firm anchoring fixation, preventing slippage and over-inflation within the body's cavities or intestines. Furthermore, compared with deployable components 554 that are fixed only by anchoring, the deployable component 554 of this embodiment saves installation time and costs.

[0215] Some exemplary implementations, such as Figure 13F and Figure 13G As shown, the second seal 555 is located on the side near the suction opening 5513, and the first seal 556 is located on the side near the suction connector 5514. In an exemplary embodiment, the second seal 555 and the suction opening 5513 may be located at one end of the body tube (e.g., the distal end of the body tube that enters the human body), and the first seal 556 and the suction connector 5514 may be located at the other end of the body tube (e.g., the proximal end of the body tube that is outside the human body).

[0216] Some exemplary implementations, such as Figure 13FAs shown, the second seal 555 has a tapered portion 5551 on the side away from the first seal 556. The tapered end of the tapered portion 5551 away from the first seal 556 is sealed and fitted with the outer surface of the endoscope 51. The second seal 555 also has a second sealing rib 5552, which is closer to the first seal 556 than the tapered portion 5551, and the second sealing rib 5552 is sealed and fitted with the outer surface of the endoscope 51.

[0217] The second seal 555 has a tapered portion 5551 on the side away from the first seal 556, and the outer diameter of the tapered portion 5551 gradually decreases along the direction away from the first seal 556, so as to avoid the endoscope 51 and the outer tube 55 from being caught by the outer tube 55 during the advancement of the human body.

[0218] The second seal 555 includes not only the tapered portion 5551, but also a second sealing rib 5552 located at the end of the tapered portion 5551 near the first seal 556. When the second seal 555 is sealed with the outer surface of the endoscope 51, it can seal with the outer surface of the endoscope 51 through the end of the tapered portion 5551 away from the first seal 556, and also through the second sealing rib 5552, achieving a double seal with good sealing effect, thus preventing bodily fluids from entering the suction channel 5512 between the inner surface of the outer tube 55 and the outer surface of the endoscope 51.

[0219] Some exemplary implementations, such as Figure 13G As shown, the first sealing member 556 is provided with a first sealing rib 5561, which is sealed to the outer surface of the endoscope 51 to ensure the sealing effect between the inner surface of the body tube of the outer sleeve 55 and the outer surface of the endoscope 51, so as to prevent the body fluid in the human body from leaking out of the body. It can also maintain the negative pressure around the suction opening 5513 by preventing the air outside the body from entering the suction channel 5512 between the inner surface of the body tube of the outer sleeve 55 and the outer surface of the endoscope 51, thus ensuring the adsorption and fixation effect between the cavity wall of the human body and the body tube of the outer sleeve 55.

[0220] In some exemplary embodiments, the second seal 555 may be a conical silicone rubber seal, and the first seal 556 may be a silicone rubber seal. It should be understood that the first seal 556 and the second seal 555 may also be made of other materials.

[0221] Some exemplary implementations, such as Figure 13IAs shown, the main tube has a multi-layer structure and includes a spiral ribbon layer 5515, a mesh tube layer 5516, an outer polymer layer 5517, and an inner polymer layer 5518. In an exemplary embodiment, the spiral ribbon layer 5515 is disposed between the outer polymer layer 5517 and the inner polymer layer 5518, and the mesh tube layer 5516 is disposed between the outer polymer layer 5517 and the spiral ribbon layer 5515. The outer polymer layer 5517 may cover the mesh tube layer 5516, and the mesh tube layer 5516 may cover the inner polymer layer 5518.

[0222] The multi-layered body tube of the outer tube 55 may include an inner polymer layer 5518, a spiral ribbon layer 5515, a mesh tube layer 5516, and an outer polymer layer 5517 arranged sequentially from the inside to the outside. The outer polymer layer 5517 may be made of TPU (thermoplastic polyurethane) or other materials, and the surface of the outer polymer layer 5517 may or may not be coated. If coated, it may be, for example, a hydrophilic coating, a Teflon coating, or other coatings. The inner polymer layer 5518 may be made of TPU (thermoplastic polyurethane) or other materials, and the surface of the inner polymer layer 5518 may or may not be coated. If coated, it may be, for example, a hydrophilic coating, a Teflon coating, or other coatings. The mesh tube layer 5516 may be made of stainless steel or other materials, and the spiral ribbon layer 5515 may be made of stainless steel or other materials. This design gives the body tube of the outer sleeve 55 a certain structural strength so that force can be transmitted to the endoscope 51 through the outer sleeve 55, and also makes the body tube of the outer sleeve 55 bendable and deformable so that it can be delivered into the human body.

[0223] The outer tube 55 of this embodiment is anchored and fixed with a deployable member 554, and can be fixed by suction through the suction channel 5512; its main tube is a multi-layered structure reinforced with a spiral ribbon layer 5515 and a mesh tube layer 5516, which makes the main tube flexible but can provide a 1:1 torque transmission from the outer tube 55 to the endoscope 51; the locking / unlocking engagement between the main tube and the endoscope 51 can be realized by the tube locking mechanism 552; the endoscope 51 can be positioned within the human body by the joint movement of the outer tube 55 and the endoscope 51 and the individual movement of the endoscope 51. Delivery within the body; the second seal 555 can prevent bodily fluids from entering the suction channel 5512 between the outer tube 55 and the endoscope 51, and the conical part 5551 of the second seal 555 also prevents the cavity walls, intestinal walls or mucosal folds of the body from being caught by the outer tube 55 during the advancement of the endoscope 51 and the outer tube 55 in the body; the first seal 556 can prevent bodily fluids from leaking out of the body, and can maintain the negative pressure around the suction opening 5513 by preventing air from entering the suction channel 5512 between the outer tube 55 and the endoscope 51.

[0224] During use, the deployable component 554 can be inflated first, and suction force can be applied at the same time through the suction device to fix the outer tube 55 to the intestinal wall or cavity wall of the human body; then, the tube locking mechanism 552 can be released to disengage the body tube of the outer tube 55 from the endoscope 51; subsequently, the body tube of the outer tube 55 can be held and the endoscope 51 can be pushed to move, which can prevent the endoscope 51 from forming a ring.

[0225] In some exemplary embodiments, the endoscope assembly 500 further includes an image capturing component disposed at a second end of the endoscope 51, and the endoscopic magnetic anastomosis system further includes at least one video processor console, the video processor console including a video processor 56, such as Figure 15A and Figure 15B As shown, the image capture component is electrically connected to the video processor 56 via a cable 57 so that the information captured by the image capture component inside the human body can be transmitted to the video processor 56 for processing and display.

[0226] The video processor 56 has a main connector socket 561, and one end of the cable 57 electrically connected to the video processor 56 is provided with a main connector 571 for mating with the main connector socket 561. A locking structure is provided between the main connector socket 561 and the main connector 571 to lock the mated main connector socket 561 and the main connector 571. In an exemplary embodiment, the main connector 571 may be in the form of a plug.

[0227] A locking structure is provided between the main connector 571 of cable 57 and the main connector socket 561 of video processor 56. This locking structure can lock the plugged-in main connector socket 561 and main connector 571 to prevent the main connector 571 from separating from the main connector socket 561 during the delivery of endoscope 51 into the human body.

[0228] Some exemplary implementations, such as Figures 15C to 15I As shown, the main connector socket 561 includes a base 5611 and a rotatable locking ring 5612, which is rotatably mounted to the base 5611 so that the main connector socket 561 can be in its initial state (e.g., Figure 15D and Figure 15F (as shown in (e1)) and the locked state (as shown in (e1)) Figure 15E and Figure 15F The main connector socket 561 can be switched between the initial state and the locked state by rotating the locking ring 5612.

[0229] In some exemplary embodiments, the locking structure disposed between the main connector 571 and the main connector socket 561 may include a positioning key 5711 disposed on one of the locking ring 5612 and the main connector 571, and a circumferentially extending locking groove 5613 disposed on the other of the locking ring 5612 and the main connector 571. One end of the locking groove 5613 is an insertion end 5614. The positioning key 5711 is configured to be inserted into the locking groove 5613 from the insertion end 5614 when the main connector 571 is plugged into the main connector socket 561 in its initial state, and is configured to slide relative to the locking groove 5613 during rotation of the locking ring 5612, so that the positioning key 5711 is misaligned with the insertion end 5614 of the locking groove 5613, thereby switching the main connector socket 561 to a locked state.

[0230] Some exemplary implementations, such as Figures 15C to 15G As shown, one or more positioning keys 5711 may be provided. For example, as... Figure 15GAs shown, two positioning keys 5711 may be provided, and the two positioning keys 5711 may be respectively disposed on both sides of the main connector 571. Correspondingly, one or more locking grooves 5613 may be provided to cooperate one-to-one with one or more positioning keys 5711. For example, two locking grooves 5613 may be provided, which are disposed on the locking ring 5612, extend circumferentially along the locking ring 5612, and can cooperate with two positioning keys 5711 respectively. When the main connector 571 is plugged into the main connector socket 561 in its initial state, the positioning key 5711 can be inserted into the locking groove 5613 from the insertion end 5614 of the locking groove 5613. Then, by rotating the locking ring 5612, the positioning key 5711 can slide within the locking groove 5613, thereby causing the positioning key 5711 to be misaligned with the insertion end 5614 of the locking groove 5613, preventing the positioning key 5711 from coming out of the insertion end 5614 of the locking groove 5613, and thus preventing the main connector 571 from separating from the main connector socket 561. At this time, the main connector socket 561 switches to the locked state, realizing the locking and fixing of the main connector 571 and the main connector socket 561.

[0231] It should be understood that the positioning key 5711 can also be located on the locking ring 5612, and the locking groove 5613 can be located on the main connector 571 and extend circumferentially along the main connector 571, which can also achieve locking and fixing of the main connector 571 and the main connector socket 561. It should also be understood that the main connector 571 can also be configured to include a base 5611 and a locking ring 5612, with the positioning key 5711 located on one of the locking ring 5612 and the main connector socket 561, and the other of the locking ring 5612 and the main connector socket 561 having a circumferentially extending locking groove 5613.

[0232] Some exemplary implementations, such as Figure 15D and Figure 15E As shown, the locking groove 5613 is a spiral groove, and the positioning key 5711 is configured to be squeezed by the spiral groove during the rotation of the locking ring 5612, so as to drive the main connector 571 to be further inserted into the interior of the main connector socket 561.

[0233] The locking groove 5613 is a spiral groove, and along the direction away from the insertion end 5614 of the locking groove 5613, the locking groove 5613 spirals towards the side of the main connector socket 561 away from the main connector 571, so that during the rotation of the locking ring 5612, the groove wall of the locking groove 5613 can be pressed against the positioning key 5711. Under the action of this pressing force, the main connector 571 can move towards the side of the main connector socket 561 away from the main connector 571 (e.g., Figure 15IAs shown, the main connector 571 moves to the left from the position shown in state (f1) to the position shown in state (f2) by a distance of d, so that the main connector 571 and the main connector socket 561 are more tightly connected, so as to ensure a good connection between the main connector 571 and the main connector socket 561 and prevent the main connector 571 from being accidentally pulled out.

[0234] In some exemplary embodiments, when the positioning key 5711 is disposed on the main connector 571 and the locking groove 5613 is disposed in the locking ring 5612, such as Figures 15C to 15E As shown, the base 5611 is provided with an insertion slot 5615, which is configured to communicate with the insertion end 5614 of the locking slide groove 5613 when the main connector socket 561 is in the initial state (e.g., Figure 15D As shown), when the locking ring 5612 rotates to switch the main connector socket 561 to the locked state, it disengages from the insertion end 5614 of the locking slide 5613 (as shown). Figure 15E (As shown).

[0235] The locking ring 5612 is provided with a locking groove 5613, and the base 5611 is provided with an insertion groove 5615. When the main connector socket 561 is in the initial state, the insertion groove 5615 can be aligned and connected with the insertion end 5614 of the locking groove 5613, so that the positioning key 5711 passes through the insertion groove 5615 and the insertion end 5614 of the locking groove 5613 in sequence and enters the locking groove 5613. During the rotation of the locking ring 5612, the insertion groove 5615 and the insertion end 5614 of the locking groove 5613 are misaligned and disconnected to prevent the positioning key 5711 in the locking groove 5613 from coming out of the insertion groove 5615.

[0236] Some exemplary implementations, such as Figures 15D to 15F , Figure 15H and Figure 15I As shown, the base 5611 is provided with a rotatable latch 5617, and the locking ring 5612 is provided with a limiting groove. The latch 5617 is configured such that when the main connector socket 561 is in the initial state, as... Figure 15D and Figure 15H As shown, the first portion 5618 of the latch 5617 is located within the limiting groove, and the second portion 5619 of the latch 5617 is located outside the limiting groove, to circumferentially fix the locking ring 5612 to the base 5611 and hold the main connector socket 561 in the initial state. The latch 5617 is also configured to, when the main connector 571 is plugged into the main connector socket 561 in the initial state, such as Figure 15I As shown in state (f1), the second part 5619 of the latch 5617 located outside the limiting groove can rotate under the pushing action of the main connector 571, thereby causing the latch 5617 to rotate out of the limiting groove and enabling the locking ring 5612 to rotate.

[0237] The base 5611 is provided with a latch 5617, and the locking ring 5612 is provided with a rotatable limiting groove. Through the cooperation of the latch 5617 and the limiting groove, the locking ring 5612 can rotate or be fixed relative to the base 5611. Specifically, when the main connector socket 561 is in the initial state, such as... Figure 15D and Figure 15H As shown, the first part 5618 of the latch 5617 is located within the limiting groove, and the second part 5619 of the latch 5617 protrudes from the limiting groove. Through the engagement of the latch 5617 and the limiting groove, the locking ring 5612 and the base 5611 can be circumferentially fixed, preventing the locking ring 5612 from rotating, thus keeping the main connector socket 561 in its initial state and facilitating the insertion of the main connector 571 into the main connector socket 561. When the main connector 571 is inserted into the main connector socket 561 in its initial state, as... Figure 15I As shown in state (f1), the second part 5619 of the latch 5617 protruding from the limiting groove can rotate under the pushing action of the main connector 571, so that the latch 5617 as a whole disengages from the limiting groove. At this time, the locking ring 5612 can rotate relative to the base 5611, so that the base 5611 switches to the locking state and locks the main connector 571 (as shown in state (f1)). Figure 15I (as shown in state (f2)) to prevent the main connector 571 from accidentally separating from the main connector socket 561.

[0238] Some exemplary implementations, such as Figure 15H and Figure 15I As shown, the main connector 571 is provided with a clearance groove 5712, which is configured to accommodate the first portion 5618 of the disengagement retaining groove of the latch 5617 during the mating connection between the main connector 571 and the main connector socket 561 (e.g., Figure 15I As shown), it is also configured to rotate the latch 5617 when the main connector 571 is separated from the main connector socket 561, so that the latch 5617 is reset so that the first part 5618 is located in the limiting groove and the second part 5619 is located outside the limiting groove, so as to circumferentially fix the locking ring 5612 and the base 5611.

[0239] The main connector 571 is provided with a clearance groove 5712. When the main connector 571 is inserted into the main connector socket 561 in its initial state, the latch 5617 gradually rotates until it disengages from the limiting groove (as shown in the image). Figure 15H The status shown has switched to Figure 15IAs shown in state (f1), the clearance groove 5712 can accommodate the portion of the latch 5617 that has disengaged (protruded) from the limiting groove, so as not to obstruct the rotation of the latch 5617. During the gradual separation of the main connector 571 from the main connector socket 561 in the plugged-in state, the groove wall of the clearance groove 5712 can push the latch 5617 and cause the latch 5617 to rotate in the opposite direction, so that the latch 5617 gradually returns to a state where part of it is located within the limiting groove of the base 5611 and the other part protrudes from the limiting groove (as shown in state (f1)). Figure 15H As shown in the figure, at this time, the latch 5617 cooperates with the limiting groove to limit the locking ring 5612 and the base 5611 to be circumferentially fixed, and the main connector socket 561 is in the initial state.

[0240] Some exemplary implementations, such as Figure 15H and Figure 15I As shown, the rotation center of the latch 5617 is located in the middle of the latch 5617 and is offset from the center of gravity of the latch 5617, so that the latch 5617 can keep the first part 5618 in the limiting groove and the second part 5619 outside the limiting groove under its own weight (as shown). Figure 15H (As shown).

[0241] The rotation center of the latch 5617 can be located in the middle of the latch 5617 and off from the center of gravity of the latch 5617, so that the latch 5617 can automatically reset under its own weight and keep the first part 5618 in the limiting groove and the second part 5619 in the limiting groove, so that after the main connector 571 is separated from the main connector socket 561, the latch 5617 can automatically fix the locking ring 5612 and the base 5611 circumferentially.

[0242] When connecting the main connector 571 and the main connector socket 561 in the embodiment of this application, the main connector 571 can be inserted into the main connector socket 561 first (the main connector 571 can be inserted along...). Figure 15B (Insert in the direction indicated by the straight arrow in state (d1)). Before insertion, align the positioning key 5711 of the main connector 571 with the insertion slot 5615 on the base 5611 of the main connector socket 561. As the main connector 571 is gradually inserted into the main connector socket 561, the positioning key 5711 gradually inserts into the locking groove 5613 of the locking ring 5612. Then, push down or rotate the locking ring 5612 of the main connector socket 561 downwards (along the direction indicated by the straight arrow in state (d1)). Figure 15BIn state (d2), the locking ring 5612 is toggled or rotated in the direction indicated by the curved arrow, causing the positioning key 5711 to slide within the locking groove 5613 to lock the main connector 571 and the main connector socket 561. The locking groove 5613 presses the positioning key 5711 inward, causing the positioning key 5711 and the main connector 571 to move toward the side of the main connector socket 561 away from the main connector 571, thus achieving a tight connection between the main connector 571 and the main connector socket 561 (e.g., ...). Figure 15B As shown in state (d3), ensure a good video signal connection between the video processor 56 and the cable 57 to prevent accidental disconnection of the main connector; finally, the video processor 56 is ready to operate.

[0243] In some exemplary embodiments, the endoscope 51 includes a head assembly 58 disposed at a second end of the endoscope 51. For example... Figures 14A to 14D As shown, the head assembly 58 includes a head assembly body 581. One end surface of the head assembly body 581 is provided with a support portion 582 and a limiting portion 583 disposed opposite to each other for clamping the magnetic implantation assembly 511 between the limiting portion 583 and the support portion 582. The bottom of the magnetic implantation assembly 511 is supported on the support portion 582, and the top of the magnetic implantation assembly 511 abuts against the limiting portion 583. In an exemplary embodiment, the limiting portion 583 may be designed as a tongue-shaped structure (e.g., Figures 14A to 14D (As shown).

[0244] The second end of the endoscope 51 (e.g., the distal end that enters the human body) is provided with a head assembly 58, such as... Figure 14E and Figure 14F As shown, a support portion 582 is provided on one end surface of the head assembly body 581 of the head assembly 58. This end surface of the head assembly body 581 and the support portion 582 can cooperate to form a mounting base for the magnetic implant component 511. The magnetic implant component 511 can be supported on the support portion 582 and can abut against the end surface of the head assembly body 581. This installation method may cause the magnetic implant component 511 to tilt due to impact with the cavity wall, intestinal wall, or mucosal folds inside the human body (e.g., Figure 14F The arrow in the image is tilted in the direction indicated by the arrow.

[0245] Therefore, in the implementation scheme of this application, such as Figures 14A to 14D As shown, a limiting part 583 is also provided on the end surface of the head assembly body 581. The latch 5617 and the support part 582 are arranged opposite to each other along the height direction of the magnetic implant assembly 511, so that the limiting part 583 can contact the end surface of the magnetic implant assembly 511 away from the support part 582 and constrain and limit the magnetic implant assembly 511 to prevent the magnetic implant assembly 511 from tilting when it hits the cavity wall, intestinal wall or mucosal folds inside the human body.

[0246] Some exemplary implementations, such as Figures 16A to 16C As shown, the magnetic implantation assembly 511 of the endoscope 51 includes a housing 5111 and a magnet 5117, the magnet 5117 being disposed within the housing 5111. The housing 5111 includes a first end surface 5115 and a second end surface 5116 disposed opposite to each other, both the first end surface 5115 and the second end surface 5116 being arc-shaped. In an exemplary embodiment, such as Figure 14D As shown, the second end surface 5116 of the outer shell 5111 can be supported on the support portion 582 of the head assembly body 581, and the first end surface 5115 of the outer shell 5111 can contact the limiting portion 583 provided on the head assembly body 581. The portion of the limiting portion 583 that contacts the first end surface 5115 of the outer shell 5111 is an arc surface, which is adapted to the shape of the first end surface 5115 so as to prevent the magnetic implantation assembly 511 from tilting through the limiting portion 583.

[0247] Some exemplary implementations, such as Figures 16A to 16C As shown, the circumferential side surface of the housing 5111 of the magnetic implant assembly 511 is provided with a fixing annular groove 5113, and the lasso 522 of the lasso assembly 52 can be received in the fixing annular groove 5113 so that the lasso 522 can tightly and fix the magnetic implant assembly 511. The circumferential side surface of the housing 5111 of the magnetic implant assembly 511 is also provided with a recess 5112 for receiving the end of the lasso tube 521 of the lasso assembly 52.

[0248] Some exemplary implementations, such as Figures 16A to 16C As shown, the first end surface 5115 and the second end surface 5116 of the outer shell 5111 have different radii of curvature. For example, the radius of curvature of the first end surface 5115 is smaller than that of the second end surface 5116, and a groove 5114 is provided at the center of the first end surface 5115.

[0249] like Figure 16DAs shown, when the magnetic implantation components 511 of the two endoscopes 51 enter the human body and magnetic coupling occurs, the first end surface 5115 of the magnetic implantation component 511 of one endoscope 51 faces and clamps the cavity wall or intestinal wall of the human body with the second end surface 5116 of the magnetic implantation component 511 of the other endoscope 51. Because the radius of curvature of the first end surface 5115 of the outer shell 5111 of the magnetic implantation component 511 is smaller than the radius of curvature of the second end surface 5116, the portion of the first end surface 5115 of the magnetic implantation component 511 surrounding the groove 5114 of the magnetic implantation component 511 of one endoscope 51 is aligned with the second end surface 5116 of the magnetic implantation component 511 of the other endoscope 51. The distance S1 between the end surfaces 5116 is less than the distance S2 between the edge portion of the first end surface 5115 of the magnetic implant component 511 of one endoscope 51 away from the groove 5114 and the second end surface 5116 of the magnetic implant component 511 of the other endoscope 51. This results in the force F1 applied by the portion of the first end surface 5115 of the magnetic implant component 511 surrounding the groove 5114 to the cavity or intestinal wall of the human body being greater than the force F2 applied by the edge portion of the first end surface 5115 of the magnetic implant component 511 away from the groove 5114 to the cavity or intestinal wall of the human body. The adjacent application of different forces F1 and F2 can improve the anastomosis formed by the magnetic implant components 511 of the two endoscopes 51 and / or the healing of necrosis in the cavity or intestinal wall of the human body (and / or enable better controlled healing of the cavity or intestinal wall of the human body).

[0250] Some exemplary implementations, such as Figure 16C As shown, the magnet 5117 of the magnetic implant component 511 is in the shape of a solid disk and is a permanent magnet.

[0251] Some exemplary implementations, such as Figure 10 and Figure 16D As shown, at least one endoscope component in the endoscopic magnetic anastomosis system includes two endoscope components. The magnetic implantation components of the two endoscope components are a first magnetic implantation component configured to be located in a first lumen tissue region and a second magnetic implantation component configured to be located in a second lumen tissue region (e.g., Figure 10 (As shown). The structures of the first magnetic implant component and the second magnetic implant component can be configured to be identical. For example, the structure of each of the first magnetic implant component and the second magnetic implant component can be as follows: Figures 16A-16C As shown.

[0252] The housing of the first magnetic implant assembly (i.e., the first housing) has a retaining annular groove (i.e., the first retaining annular groove) on its circumferential side surface for receiving the lasso of one of the two endoscope assemblies. The housing of the second magnetic implant assembly (i.e., the second housing) has a retaining annular groove (i.e., the second retaining annular groove) on its circumferential side surface for receiving the lasso of the other of the two endoscope assemblies.

[0253] The first housing of the first magnetic implant assembly has a first engagement surface, and the second housing of the second magnetic implant assembly has a second engagement surface. The first and second engagement surfaces are configured such that when the first and second magnetic implant assemblies are magnetically anastomosed with a first lumen tissue region and a second lumen tissue region interposed therebetween (e.g., ...), ... Figure 10 As shown), they face each other and can apply non-uniform compressive forces to the first and second lumen tissue regions so that the body's cavity walls or intestinal walls can heal in a more controlled manner.

[0254] The first mating surface is a concave surface with a first radius of curvature, and the second mating surface is a convex surface with a second radius of curvature, wherein the radius of curvature of the convex surface is smaller than the radius of curvature of the concave surface. The first mating surface may be formed on the second end surface of the first housing of the first magnetic implantation assembly, and the second mating surface may be formed on the first end surface of the second housing of the second magnetic implantation assembly.

[0255] The convex and concave surfaces are configured such that when the first magnetic implant assembly and the second magnetic implant assembly are magnetically matched, the convex surface protrudes toward the concave surface, and the axial distance between the convex and concave surfaces along the centerline of the first magnetic implant assembly increases as the radial distance from the centerline of the first magnetic implant assembly increases, so as to apply a non-uniform compressive force to the first lumen tissue region and the second lumen tissue region.

[0256] In some exemplary embodiments, the magnet disposed within the first housing of the first magnetic implant assembly (i.e., the first magnet) and the magnet disposed within the second housing of the second magnetic implant assembly (i.e., the second magnet) are both solid, disk-shaped permanent magnets. Thus, when the first and second magnetic implant assemblies are magnetically aligned, the centerlines of the first and second magnetic implant assemblies, even if they are offset by a certain distance, can automatically adjust to an aligned state, wherein the magnetic poles of the adjacent ends of the first and second magnets are opposite.

[0257] Figure 16F Two magnetic implant components 511 (with magnets 5117 in the form of magnets) are provided for one embodiment of this application. Figure 16C A schematic diagram showing the magnetic field interaction between solid disks (as shown). Figure 16G In some cases, two magnetic implant components 511 (whose magnets 5117 are in the form of magnets) Figure 16E The diagram shows the magnetic field interaction between hollow rings. Figure 16H Two magnetic implant components 511 (with magnets 5117 in the form of magnets) are provided for one embodiment of this application. Figure 16C The diagram shows the relationship between the magnetic field force and the distance between the two solid disc-shaped components (where the horizontal axis represents the distance between the two magnetic implant components and the vertical axis represents the lateral magnetic field force between the two magnetic implant components). Figure 16I In some cases, two magnetic implant components 511 (whose magnets 5117 are in the form of magnets) Figure 16E The diagram illustrates the relationship between the magnetic field force and distance between two hollow ring-shaped implants (where the horizontal axis represents the distance between the two magnetic implants, and the vertical axis represents the transverse magnetic field force between them). According to... Figures 16F to 16I As shown, compared to setting the magnet 5117 of the magnetic implantation component 511 as Figure 16E The hollow ring shape shown is used to set the magnet 5117 of the magnetic implantation component 511 as... Figure 16C The solid disc shape shown allows the center lines of the two magnetic implant components 511 to automatically adjust to an aligned state when they are off by a certain distance. This gives the magnetic implant component 511 a unique self-alignment performance, which can better improve the alignment performance of the magnetic implant components 511 of the two endoscopes 51, so that the magnetic implant components 511 of the two endoscopes 51 can be better aligned to form an anastomosis.

[0258] Some exemplary implementations, such as Figure 16C As shown, the outer diameter D of the magnetic implant component 511 is 8mm-30mm, such as 15mm-23mm; the height H of the outer surface of the magnetic implant component 511 is 4mm-8mm.

[0259] In some exemplary embodiments, the width of the magnetic implant component 511 is greater than the width of the lasso channel of the endoscope 51. For example, Figure 16C In the illustrated embodiment, the outer diameter D of the magnetic implant component 511 (i.e., the width of the magnetic implant component 511) is greater than the diameter of the lasso channel (i.e., the width of the lasso channel, not shown) to prevent the magnetic implant component 511 from entering or passing through the lasso channel.

[0260] In some exemplary embodiments, the magnet 5117 of the magnetic implant component 511 may be a strong neodymium magnet, and the shell 5111 of the magnetic implant component 511 may be a biocompatible shell 5111 (e.g., polycarbonate or other materials).

[0261] In some exemplary embodiments, the endoscopic magnetic anastomosis system also includes a magnet detector 600 configured to detect the position of the magnetic implantation component 511 of the endoscope 51 within the human body.

[0262] The magnet detector 600 can detect the position of the magnetic implant component 511 of the endoscope 51 in the human body, so that medical staff can know whether the magnetic implant component 511 is in the proper position, and if the magnetic implant component 511 is not in the proper position, the magnetic implant component 511 can be easily located and moved to the proper position.

[0263] Some exemplary implementations, such as Figures 17A to 17F As shown, the magnet detector 600 includes a detector body 61, a first circuit board 62, a second circuit board 63, and a processing unit. The first circuit board 62 is disposed at a first end of the detector body 61 and has a first set of magnetometers 621 thereon. The second circuit board 63 is disposed at a second end of the detector body 61 opposite to the first end of the detector body 61 and has a second set of magnetometers 631 thereon. The processing unit is configured to receive measurement data from the first set of magnetometers 621 and the second set of magnetometers 631, and determine the position of the magnetic implantation component 511 of the endoscope 51 within the human body based on the data.

[0264] The magnet detector 600 can be a portable magnet detector 600. Its detector body 61 can be provided with a grip for picking up and carrying the detector. The detector body 61 has a first circuit board 62 and a second circuit board 63 at its two ends (e.g., the top and bottom ends). The first circuit board 62 and the second circuit board 63 are respectively provided with a first set of magnetometers 621 and a second set of magnetometers 631. The first set of magnetometers 621 and the second set of magnetometers 631 can be used to measure the external magnetic field (e.g., the strength and direction of the magnetic field). The processing unit can be installed on the detector body 61 and receive the measurement data from the first set of magnetometers 621 and the second set of magnetometers 631 so as to determine the position of the magnetic implantation component 511 of the endoscope 51 in the human body based on the data.

[0265] Some exemplary implementations, such as Figure 17D As shown, the first group of magnetometers 621 includes four magnetometers arranged in a square array, and the center of this square array coincides with the center of the first circuit board 62. Figure 17FAs shown, the second set of magnetometers 631 includes four magnetometers arranged in a square array, with the center of the square array coinciding with the center of the second circuit board 63. In an exemplary embodiment, the interval between the first circuit board 62 and the second circuit board 63 can be 15 cm, and the four magnetometers in the first set of magnetometers 621 can be spaced 2.5 cm apart in both the horizontal and vertical directions, as can the four magnetometers in the second set of magnetometers 631.

[0266] The magnet detector 600 of this application embodiment has a first circuit board (upper PCB) 62 and a second circuit board (lower PCB) 63, which are vertically spaced 15 cm apart and can be horizontally arranged and parallel to each other. The first circuit board 62 has a first set of magnetometers 621, which includes four magnetometers symmetrically positioned in a square and have an equal spacing of 2.5 cm along both the width and length directions of the square. The second circuit board 63 has a second set of magnetometers 631, which includes four magnetometers symmetrically positioned in a square and have an equal spacing of 2.5 cm along both the width and length directions of the square.

[0267] The magnet detector 600 includes multiple layers of magnetometers arranged in a grid pattern (e.g., two layers of magnetometers – a first set of magnetometers 621 and a second set of magnetometers 631 respectively disposed on a first circuit board 62 and a second circuit board 63), allowing for long-distance spatial magnetic field measurement. The magnet detector 600 can be used to detect the position of a magnet 5117 on the side of the second circuit board 63 away from the first circuit board 62, such as detecting a magnet 5117 below it. For example, the magnet detector 600 can provide precise magnet 5117 sensing within a range of 3 cm to 15 cm below the second circuit board 63. In use, the magnet detector 600 can be moved above a human body (e.g., the abdomen) to detect the position of a magnetic implanted component 511 within the human body.

[0268] The magnet detector 600 has a calibration function to eliminate background noise. The magnet detector 600 undergoes an initial zero-point calibration, setting all magnetometers to a baseline value of zero. The magnetic field above the first circuit board 62 serves as a background noise reference, and the first set of magnetometers 621 continuously measures magnetic field interference from external sources; then, the background noise reading is subtracted from the lower magnetic field measurement (detected by the second set of magnetometers 631), which includes both background noise and any target magnetic signal, to obtain the target magnetic signal.

[0269] The magnet detector 600 can perform signal preprocessing for long-distance detection, and the first set of magnetometers 621 and the second set of magnetometers 631 can use a high-resolution magnetic field measurement magnetometer MMC56x3 for noise reduction.

[0270] When processing the measurement data from the first set of magnetometers 621 and the second set of magnetometers 631, a weighted average method can be used. A weighted average is used to combine the signals from the first set of magnetometers 621 and the second set of magnetometers 631, where a more reliable or noise-free measurement contributes more significantly to the final result.

[0271] The processing unit can use artificial intelligence (AI) driven signals to: achieve accurate detection even when the signal strength is low (e.g., within 10-15 cm below the second circuit board 63); and learn to use spatial data across multiple magnetometers to distinguish between real magnetic signals and interference signals.

[0272] The processing unit can integrate AI—neural network processing functions.

[0273] Input to the neural network structure: The neural network structure receives preprocessed magnetic field data (x, y, z axes) from all the first set of magnetometers 621 and the second set of magnetometers 631 as multidimensional feature vectors. Each of the first set of magnetometers 621 and the second set of magnetometers 631 contributes to the neural network structure's perception of the magnetic environment.

[0274] The output of the neural network structure: The neural network structure uses a sigmoid activation function in the output layer to generate probabilities between 0 and 1. This represents the probability of the presence of a magnetic target.

[0275] The execution pipeline for neural network processing is as follows: read data from the first set of magnetometers 621 and the second set of magnetometers 631 → preprocess → run deep neural network (DNN) inference → output the detection results on the LED.

[0276] Edge AI optimization for neural network processing: The model is quantized (INT8) using TensorFlow Lite on the microcontroller and unnecessary complexity is removed, allowing it to fit within the MCU’s limited memory and computational budget.

[0277] In some exemplary embodiments, the magnet detector 600 further includes an indicator 622 electrically connected to the processing unit and configured to indicate whether the magnetic implanted component 511 of the endoscope 51 has been detected. In exemplary embodiments, such as... Figure 17B and Figure 17C As shown, the indicator 622 is an LED mounted on the first circuit board 62, and the first end of the detector body 61 is also provided with a transparent cover 64 covering the first circuit board 62.

[0278] The detection status of the magnet detector 600 is visually indicated by LEDs on the top first circuit board 62. Whether the LEDs are lit indicates whether the magnetic implanted component 511 in the human body has been detected. For example, if the LEDs are lit, it indicates that the magnetic implanted component 511 in the human body has been detected; if the LEDs are not lit, it indicates that the magnetic implanted component 511 in the human body has not been detected.

[0279] Other exemplary implementations, such as Figure 18A and Figure 18B As shown, the magnet detector 600 includes a mounting base 65, at least one sensor module 66, and a processing module 67. Each sensor module 66 may include eight magnetic sensors 661. The eight magnetic sensors 661 are regularly distributed in four rows, with two magnetic sensors 661 in each row. These two magnetic sensors 661 are respectively the first magnetic sensor 661 and the second magnetic sensor 661, and the two magnetic sensors 661 in each row are staggered from the two magnetic sensors 661 in the adjacent row. An inertial measurement unit (IMU) 5118 may be embedded in the magnetic implant component 511 of the endoscope 51. The processing module 67 is configured to receive data from the sensor modules 66 and data from the IMU 5118 embedded in the magnetic implant component 511, and determine the position of the magnetic implant component 511 of the endoscope 51 in the human body based on the data.

[0280] In an exemplary embodiment, the number of sensor modules 66 is between 1 and 32. In an exemplary embodiment, the interval S3 between two magnetic sensors 661 located in the same row is 5 cm, the lateral misalignment distance between the first magnetic sensor 661 in each row and the first magnetic sensor 661 in the adjacent row is 2.5 cm, the lateral misalignment distance between the second magnetic sensor 661 in each row and the second magnetic sensor 661 in the adjacent row is 2.5 cm, and the longitudinal interval between any two adjacent rows of magnetic sensors 661 is 2.5 cm, such that the interval S4 between two rows of magnetic sensors 661 separated by one row is 5 cm.

[0281] The magnet detector 600 features a modular sensor matrix comprising n (e.g., 1-32) 10cm × 10cm sensor modules 66. Each sensor module 66 houses eight magnetic sensors 661, arranged in a 4x4 checkerboard pattern and positioned at alternating nodes of the grid. Each magnetic sensor 661 outputs a 3D magnetic field vector (B0). x B y B z Each sampling interval generates a total of 8N×3 data matrices.

[0282] An IMU 5118 may be embedded within the magnetic implantation assembly 511 of the endoscope 51. In an exemplary embodiment having two endoscopes 51, each of the magnetic implantation assemblies 511 of the two endoscopes 51 has an IMU 5118 embedded within it. Each IMU 5118 can measure 3D acceleration (A / D). x A y A z ) and three-dimensional angular velocity (W x W y W z ).

[0283] The processing module 67 can host a trained artificial intelligence model to process the data from the sensor matrix and the input data from the IMU 5118, and can output the real-time (x,y) coordinates of the magnetic implant component 511 relative to the sensor matrix.

[0284] The magnet detector 600 of this application is a modular real-time magnetic positioning system with a configurable sensor module 66 and AI-driven tracking. This system introduces a novel magnetic positioning architecture that combines a modular sensor matrix, a magnetic implant component 511 equipped with an IMU 5118 (whose magnet 5117 is a permanent magnet), and an AI processing unit (processing module 67) to achieve real-time position tracking. In use, the magnet detector 600 can be placed under or behind the human body to detect the position of the magnetic implant component 511 within the body above or in front of it.

[0285] The configurable sensor matrix is ​​a user-deployable array consisting of 1-32 sensor modules 66, each sensor module 66 embedding 8 magnetic sensors 661 to measure 3D magnetic fields, thereby achieving adaptive spatial coverage.

[0286] The AI ​​processing unit enables sensor fusion: it can integrate 3D magnetic field data (from the sensor matrix) and 6-DOF inertial data (from the IMU 5118) to enhance position and dynamic tracking.

[0287] The AI ​​model of the AI ​​processing unit: The deep learning model is trained and, by utilizing both magnetic and inertial inputs, can predict in real time the position of a pair of magnetic implanted components 511 of the two endoscope components 500 relative to the (x, y) of the sensor matrix.

[0288] According to such Figure 18B The AI ​​model architecture shown indicates that: The input data for the AI ​​processing unit includes: 1) Data from the sensor matrix: (B x,1 B y,1 B z,1 ), (Bx,2 B y,2 B z,2 ), ... (B) x,n B y,n B z,n ); 2) Data from an IMU 5118: (A x A y A z ), (W x W y W z );and 3) Data from another IMU 5118: (A) x A y A z ), (W x W y W z ) The output data of the AI ​​processing unit includes: the (x, y) position of the magnetic implant component 511 relative to the sensor matrix. In some exemplary embodiments, the endoscopic magnetic anastomosis system also includes a magnetic navigation console 700, which is configured to move the magnetic implantation component 511 of the endoscope 51 to a predetermined position within the body via a magnetic field.

[0289] If the magnetic implant component 511 is not in the correct position (set position) during the delivery of the endoscope 51 into the human body, the magnetic navigation control console 700 can be used to move the magnetic implant component 511 into the human body so that the magnetic implant component 511 reaches the correct position.

[0290] Some exemplary implementations, such as Figures 19A to 19B As shown, the magnetic navigation console 700 includes a mounting bracket 71, a first magnetic actuator 72, and a second magnetic actuator 73.

[0291] The mounting bracket 71 includes a movable first mounting arm 711 and a movable second mounting arm 712. A first magnetic actuator 72 is mounted to the first mounting arm 711 and configured to move the magnetic implant component 511 of one of the two endoscope assemblies 500 within the body via a magnetic field. A second magnetic actuator 73 is mounted to the second mounting arm 712 and configured to move the magnetic implant component 511 of the other endoscope assembly 500 within the body via a magnetic field. The first magnetic actuator 72 and the second magnetic actuator 73 are configured to move to a state where they coincide in the vertical direction (e.g., ...). Figure 19C(as shown in state (g3)) so that the magnetic implantation assembly 511 of the two endoscopes 51 moves within the human body to a state in which they overlap in the vertical direction (as shown in state (g3)). Figure 16D (As shown). In an exemplary embodiment, the second magnetic actuator 73 is configured such that the magnetic field strength it generates is greater than the magnetic field strength generated by the first magnetic actuator 72, and when the first magnetic actuator 72 and the second magnetic actuator 73 coincide in the vertical direction, the first magnetic actuator 72 is located below the second magnetic actuator 73.

[0292] The magnetic navigation console 700 is a dual-magnetic actuator system with a first magnetic actuator 72 and a second magnetic actuator 73. The first magnetic actuator 72 and the second magnetic actuator 73 are supported by a first mounting arm 711 and a second mounting arm 712, respectively. The first mounting arm 711 and the second mounting arm 712 are movable to allow the first magnetic actuator 72 and the second magnetic actuator 73 to move, thereby driving the magnetic implanted components 511 of the two endoscopes 51 to move within the human body. The first magnetic actuator 72 and the second magnetic actuator 73 can be moved to a vertically overlapping state, which allows the two magnetic implanted components 511 within the human body to be brought close enough to cooperate remotely.

[0293] Therefore, when the first magnetic actuator 72 and the second magnetic actuator 73 coincide in the vertical direction, the first magnetic actuator 72 is located below the second magnetic actuator 73, making the first magnetic actuator 72 closer to the magnetic implant component 511 it drives, and the second magnetic actuator 73 farther away from the magnetic implant component 511 it drives. However, since the magnetic field strength generated by the second magnetic actuator 73 is greater than the magnetic field strength generated by the first magnetic actuator 72, the first magnetic actuator 72 can still drive the corresponding magnetic implant component 511 to move through the magnetic field, and the second magnetic actuator 73 can still drive the corresponding magnetic implant component 511 to move through the magnetic field.

[0294] The size of the second magnetic actuator 73 can be set to be larger than that of the first magnetic actuator 72, so that the magnetic field strength generated by the second magnetic actuator 73 is greater than that generated by the first magnetic actuator 72. Of course, in addition to size, the magnetic field strength generated by the second magnetic actuator 73 can also be made greater than that generated by the first magnetic actuator 72 by means of material selection, structural settings, etc.

[0295] Some exemplary implementations, such as Figure 19E As shown, the first magnetic actuator 72 includes a permanent magnet 721, and the permanent magnet 721 of the first magnetic actuator 72 includes a tapered section 7211 with a lower cross-sectional dimension smaller than the upper cross-sectional dimension.

[0296] The permanent magnet 721 of the first magnetic actuator 72 includes a tapered section 7211, the arrangement of which can be used to establish magnetic flux concentration (e.g., Figure 19FAs shown in rectangle B), this helps the first magnetic actuator 72 to move the corresponding magnetic implant component 511 within the human body, thereby facilitating that the two magnetic implant components 511 within the human body are close enough to cooperate.

[0297] Some exemplary implementations, such as Figure 19E As shown, the permanent magnet 721 of the first magnetic actuator 72 also includes a cylindrical section 7212 extending upward from the upper end of the conical section 7211, and the cross-sectional dimension of the cylindrical section 7212 is equal to the cross-sectional dimension of the upper end of the conical section 7211.

[0298] The permanent magnet 721 of the first magnetic actuator 72 also includes a cylindrical section 7212 extending upward from the upper end of the conical section 7211. The cylindrical section 7212 allows the first magnetic actuator 72 to have a larger overall size, thereby enabling the first magnetic actuator 72 to generate a larger magnetic field strength. Figure 19F It can be seen that, compared to the magnetic field generated by the cylindrical section 7212 (such as...), Figure 19F As shown in rectangle A), the magnetic field generated by the conical section 7211 can achieve magnetic flux concentration (such as...). Figure 19F (As shown in rectangle B).

[0299] Some exemplary implementations, such as Figure 19E As shown, the diameter D1 of the bottom surface of the conical section 7211 is 20mm-60mm, and the diameter of the upper end of the conical section 7211 is equal to the diameter D2 of the cylindrical section 7212, both being 60mm-100mm. The sum of the heights H1 of the conical section 7211 and the cylindrical section 7212, H2, is 10mm-50mm. For example, in one example, the diameter D1 of the bottom surface of the conical section 7211 is 40mm, the diameter of the upper end of the conical section 7211 and the diameter D2 of the cylindrical section 7212 are both 80mm, the sum of the heights H2 of the conical section 7211 and the cylindrical section 7212 is 30mm, the height of the conical section 7211 can be 20mm, and the height H1 of the cylindrical section 7212 can be 10mm.

[0300] It should be understood that the size of the permanent magnet 721 of the first magnetic actuator 72 is not limited to the above range and can be adjusted according to actual needs.

[0301] In some exemplary embodiments, the second magnetic actuator 73 includes a permanent magnet; or, the second magnetic actuator 73 includes an electromagnetic coil; or, the second magnetic actuator 73 includes a permanent magnet and an electromagnetic coil disposed above or below the permanent magnet.

[0302] The second magnetic actuator 73 can drive the magnetic implant component 511 to move within the human body through the magnetic field generated by a permanent magnet and / or an electromagnetic coil.

[0303] Some exemplary implementations, such as Figures 19A to 19B As shown, the first mounting arm 711 is longitudinally slidably mounted to the mounting bracket 71 and hinged to the mounting bracket 71, and the first mounting arm 711 includes a plurality of connecting arms 7111 that are hinged in sequence; the second mounting arm 712 is longitudinally slidably mounted to the mounting bracket 71 and hinged to the mounting bracket 71, and the second mounting arm 712 includes a plurality of connecting arms 7121 that are hinged in sequence.

[0304] The first mounting arm 711 and the second mounting arm 712 are slidably mounted to the mounting bracket 71 in the longitudinal (vertical direction), so that the first magnetic actuator 72 and the second magnetic actuator 73 mounted to the first mounting arm 711 and the second mounting arm 712 can move up and down in the vertical direction; the first mounting arm 711 includes a plurality of connecting arms 7111 that are hinged in sequence, and the plurality of connecting arms 7111 of the first mounting arm 711 can rotate along the longitudinal axis, so that the first magnetic actuator 72 mounted to the first mounting arm 711 can move in the horizontal plane; the second mounting arm 712 includes a plurality of connecting arms 7121 that are hinged in sequence, and the plurality of connecting arms 7121 of the second mounting arm 712 can rotate along the longitudinal axis, so that the second magnetic actuator 73 mounted to the second mounting arm 712 can move in the horizontal plane.

[0305] The structure of the plurality of connecting arms 7121 of the first mounting arm 711 and the plurality of connecting arms 7121 of the second mounting arm 712 is configured such that the first magnetic actuator 72 and the second magnetic actuator 73 can move in three-dimensional space so that the first magnetic actuator 72 and the second magnetic actuator 73 move to a vertically overlapping state.

[0306] In some exemplary embodiments, since the first magnetic actuator 72 is located below the second magnetic actuator 73 when the first magnetic actuator 72 and the second magnetic actuator 73 coincide in the vertical direction, an anti-friction coating 722 (e.g., ...) can be provided on the upper end of the first magnetic actuator 72. Figure 19C (as shown), and / or, a friction-reducing coating may be provided at the lower end of the second magnetic actuator 73.

[0307] By providing a friction-reducing coating 722 at the upper end of the first magnetic actuator 72 and / or providing a friction-reducing coating at the lower end of the second magnetic actuator 73, the friction between the first magnetic actuator 72 and the second magnetic actuator 73 can be reduced during the process of moving to a vertically overlapping state or separating from the vertically overlapping state.

[0308] In some exemplary embodiments, the thickness of the anti-friction coating 722 at the upper end of the first magnetic actuator 72 may be 5mm-20mm, and the material of the anti-friction coating may be Teflon (polytetrafluoroethylene) / acetal; and / or, the thickness of the anti-friction coating at the lower end of the second magnetic actuator 73 may be 5mm-20mm, and the material of the anti-friction coating may be Teflon (polytetrafluoroethylene) / acetal.

[0309] It should be understood that the thickness and material of the anti-friction coating 722 at the upper end of the first magnetic actuator 72 and the thickness and material of the anti-friction coating at the lower end of the second magnetic actuator 73 are not limited to the above range and can be adjusted according to actual needs.

[0310] Some exemplary implementations, such as Figures 19A to 19D As shown, the magnetic navigation console 700 also includes a push rod mechanism 74, which is configured to be telescopic and capable of actuating one of the first magnetic actuator 72 and the second magnetic actuator 73 to move the first magnetic actuator 72 and the second magnetic actuator 73 away from each other. In an exemplary embodiment, the push rod mechanism 74 may be mounted to a first mounting arm 711 and may actuate the second magnetic actuator 73. It should be understood that the push rod mechanism 74 may also be mounted to a second mounting arm 712 and may actuate the first magnetic actuator 72.

[0311] During the process of the first magnetic actuator 72 and the second magnetic actuator 73 moving to a vertically overlapping state (such as by...) Figure 19C The motion in state (g1) passes through state (g2) and reaches state (g3). The push rod mechanism 74 can retract (as if by...). Figure 19D The state (h1) changes to state (h2) to avoid hindering the movement of the first magnetic actuator 72 and the second magnetic actuator 73 to the vertically overlapping state; during the separation of the first magnetic actuator 72 and the second magnetic actuator 73 from the vertically overlapping state (such as from Figure 19C The motion in state (g3) passes through state (g2) and reaches state (g1). The push rod mechanism 74 can be extended (e.g., by...). Figure 19D The state (h2) in the middle changes to the state (h1) to drive one of the first magnetic actuator 72 and the second magnetic actuator 73 to move, so that the first magnetic actuator 72 and the second magnetic actuator 73 move away from each other.

[0312] Some exemplary implementations, such as Figure 19D As shown, the push rod mechanism 74 includes a second linear actuator 741 and a push rod 742. The second linear actuator 741 is mounted to the end of the first mounting arm 711 near the first magnetic actuator 72. The push rod 742 is connected to the drive end of the second linear actuator 741 and is configured to extend and retract under the drive of the second linear actuator 741.

[0313] The driving end of the second linear actuator 741 can move linearly and extend and retract, and can drive the push rod 742 to extend and retract, so that during the process of the first magnetic actuator 72 and the second magnetic actuator 73 moving to a vertically overlapping state, the driving end of the second linear actuator 741 can drive the push rod 742 to retract (as if by...). Figure 19D (as shown in state (h2)) to avoid the second magnetic actuator 73; during the separation of the first magnetic actuator 72 and the second magnetic actuator 73 from the vertically overlapping state, the driving end of the second linear actuator 741 can drive the push rod 742 to extend (as shown by...). Figure 19D (as shown in state (h1)) to drive one of the first magnetic actuator 72 and the second magnetic actuator 73 to move, so that the first magnetic actuator 72 and the second magnetic actuator 73 move away from each other.

[0314] The magnetic navigation console 700 of this application is an innovative electrically powered dual-magnetic actuator system for remotely navigating magnetic implant components 511 (e.g., two magnetic implant components 511) within the human body. The dual-magnetic actuator system primarily comprises a small secondary magnetic actuator (first magnetic actuator 72) and a large primary magnetic actuator (second magnetic actuator 73), which are supported by a first mounting arm 711 and a second mounting arm 712 (e.g., two biplane articulated arms), respectively, to allow the first magnetic actuator 72 and the second magnetic actuator 73 to vertically overlap, which allows the two magnetic implant components 511 to be brought sufficiently close for engagement remotely. The dual-magnetic actuator system also includes an electrically powered actuator (push rod mechanism 74) for pushing the first magnetic actuator 72 and the second magnetic actuator 73 apart. The permanent magnet 721 of the first magnetic actuator 72 includes a tapered section 7211 for establishing magnetic flux concentration to aid in engagement of the two magnetic implant components 511. The second magnetic actuator 73 may include a permanent magnet and an electromagnetic coil. The electromagnetic force of the second magnetic actuator 73 can be output in continuous and pulsed modes (100V, 60A). The magnetic navigation console 700 can be designed as a compact single-cart design to enhance mobility and ease of use.

[0315] In summary, such as Figure 11 As shown, the endoscopic magnetic anastomosis system of the present application embodiment may include two endoscope assemblies 500 and two video processors 56 and an external pressure source 553 used in conjunction with the two endoscope assemblies 500, and may also include a magnet detector 600 and a magnetic navigation console 700.

[0316] The embodiments of this application also provide an adjustable lasso mechanism, such as Figures 12A to 12DAs shown, the device includes a lasso assembly 52 and a lasso guide assembly 53. The lasso assembly 52 includes a lasso tube 521 and a lasso 522 passing through the lasso tube 521. The lasso guide assembly 53 includes a base 531, a first movable member 532 and a second movable member 533. Both the first movable member 532 and the second movable member 533 are movably mounted on the base 531. The first movable member 532 is connected to the lasso 522 and is configured to move the lasso 522. The second movable member 533 is connected to the lasso tube 521 and is configured to move the lasso tube 521. The lasso 522 is configured to move relative to the lasso tube 521 when at least one of the first movable member 532 and the second movable member 533 moves, so that the lasso 522 retracts into the lasso tube 521 and extends out of the lasso tube 521.

[0317] The adjustable lasso mechanism of the embodiments of this application may be the adjustable lasso mechanism of the aforementioned endoscopic magnetic anastomosis system, and may have some or all of the features of the aforementioned adjustable lasso mechanism.

[0318] The embodiments of this application also provide an outer sleeve 55, such as Figures 13A to 13I As shown, the device includes a body tube having a first end and an opposing second end, and a tube locking mechanism 552 mounted at the first end of the body tube. The body tube has an endoscope channel 5519 extending from the first end of the body tube to the second end for the endoscope 51 to pass through. The tube locking mechanism 552 is configured to engage with the endoscope 51 passing through the endoscope channel 5519 to secure the endoscope 51 to the body tube, and to disengage from the endoscope 51 passing through the endoscope channel 5519 to allow the endoscope 51 to slide and rotate relative to the body tube.

[0319] The outer sleeve 55 of the embodiment of this application may be the outer sleeve 55 of the aforementioned endoscopic magnetic anastomosis system, and may have some or all of the features of the aforementioned outer sleeve 55.

[0320] The embodiments of this application also provide a plug-in connection structure, such as Figures 15A to 15I As shown, it includes a main connector socket 561 and a main connector 571, which are plugged into each other. A locking structure is provided between the main connector socket 561 and the main connector 571 to lock the plugged-in main connector socket 561 and the main connector 571.

[0321] The main connector socket 561 includes a base 5611 and a rotatable locking ring 5612, which is rotatably mounted to the base 5611 so that the main connector socket 561 can switch between an initial state and a locked state.

[0322] One of the locking ring 5612 and the main connector 571 is provided with a positioning key 5711, and the other of the locking ring 5612 and the main connector 571 is provided with a locking groove 5613 extending in the circumferential direction. One end of the locking groove 5613 is an insertion end 5614. The positioning key 5711 is configured to be inserted into the locking groove 5613 from the insertion end 5614 when the main connector 571 is plugged into the main connector socket 561 in the initial state, and is configured to slide in the locking groove 5613 during the rotation of the locking ring 5612, so that the positioning key 5711 is misaligned with the insertion end 5614 of the locking groove 5613 and the main connector socket 561 is switched to the locked state.

[0323] The plug-in connection structure of this application embodiment can be the plug-in connection structure between the video processor 56 and the cable 57 of the aforementioned endoscopic magnetic anastomosis system, and can have some or all of the features of the aforementioned outer sleeve 55. Of course, this plug-in connection structure can also be used for plug-in connection between the main connector 571 and the main connector socket 561 of other devices.

[0324] The embodiments of this application also provide a magnet detector 600, such as Figures 17A to 17F As shown, the magnet detector 600 is configured to locate the magnet 5117. The magnet detector 600 includes a detector body 61, a first circuit board 62, a second circuit board 63, and a processing unit. The first circuit board 62 is located at a first end of the detector body 61 and has a first set of magnetometers 621 mounted thereon. The second circuit board 63 is located at a second end of the detector body 61 opposite to the first end and has a second set of magnetometers 631 mounted thereon. The processing unit is configured to receive measurement data from the first set of magnetometers 621 and the second set of magnetometers 631 and determine the location of the magnet 5117 based on the data.

[0325] The magnet detector 600 in this embodiment can be the magnet detector 600 of the aforementioned endoscopic magnetic anastomosis system, and can have some or all of the features of the aforementioned magnet detector 600. Of course, the magnet detector 600 can also be used to drive the position of other magnets outside the magnetic implantation component 511 of the endoscopic magnetic anastomosis system.

[0326] The implementation scheme of this application also provides another magnet detector 600, such as Figure 18A and Figure 18BAs shown, the magnet detector 600 is configured to detect the position of the magnet 5117. The magnet detector 600 includes a mounting base 65, at least one sensor module 66, and a processing module 67. Each sensor module 66 includes eight magnetic sensors 661, which are regularly distributed in four rows, with two magnetic sensors 661 in each row. The two magnetic sensors 661 in each row are staggered from the two magnetic sensors 661 in the adjacent row. The processing module 67 is configured to receive data from the sensor modules 66 and data from the IMU 5118 embedded in the magnet 5117, and determine the position of the magnet 5117 based on the data.

[0327] The magnet detector 600 in this embodiment can be the magnet detector 600 of the aforementioned endoscopic magnetic anastomosis system, and can have some or all of the features of the aforementioned magnet detector 600. Of course, the magnet detector 600 can also be used to drive the position of other magnets outside the magnetic implantation component 511 of the endoscopic magnetic anastomosis system.

[0328] The implementation scheme of this application also provides a magnetic navigation console 700, such as... Figures 19A to 19F As shown, the magnetic navigation control console 700 is configured to move the magnet 5117 through the action of a magnetic field. The magnetic navigation control console 700 includes a mounting bracket 71, a first magnetic actuator 72, and a second magnetic actuator 73. The mounting bracket 71 includes a movable first mounting arm 711 and a second mounting arm 712. The first magnetic actuator 72 is mounted to the first mounting arm 711, and the second magnetic actuator 73 is mounted to the second mounting arm 712. The first magnetic actuator 72 and the second magnetic actuator 73 are configured to move to a state where they coincide in the vertical direction.

[0329] The magnetic navigation console 700 of this application embodiment can be the magnetic navigation console 700 of the aforementioned endoscopic magnetic anastomosis system, and can have some or all of the features of the aforementioned magnetic navigation console 700. Of course, the magnetic navigation console 700 can also be used to drive the movement of other magnets outside the magnetic implantation component 511 of the endoscopic magnetic anastomosis system.

[0330] This application describes several embodiments, but this description is exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may substitute for, any feature or element of any other embodiment.

[0331] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and alterations may be made within the scope of the appended claims.

[0332] Furthermore, in describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims relating to the method and / or process should not be limited to the steps performed in the order written, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0333] While various embodiments based on the disclosed principles have been described above, it should be understood that they are presented merely as examples and not as limitations. Therefore, the breadth and scope of the exemplary embodiments described in this disclosure should not be limited to any of the foregoing exemplary embodiments, but should be defined solely by the claims published from this disclosure and their equivalents. Furthermore, while the foregoing advantages and features are provided in the described embodiments, the application of such published claims should not be limited to treatments and structures that achieve any or all of the foregoing advantages.

[0334] For example, terms such as “component,” “device,” “part,” “segment,” “component,” “body,” or other similar terms should generally be interpreted broadly as comprising one part or more parts attached to or connected together.

[0335] The various terms used herein have specific meanings within the art. Whether a particular term should be interpreted as such a “technical term” depends on the context in which it is used. Terms such as “connected,” “linked,” “attached,” “anchored,” “communicating with,” “associated with,” or other similar terms should generally be interpreted broadly to include cases where the attachment, connection, or anchoring is direct between the mentioned elements or between the mentioned elements through one or more intermediaries. These and other terms will be interpreted according to the context in which they are used in this disclosure and as would be understood by one of ordinary skill in the art in the context of the disclosure. The foregoing limitations do not preclude other meanings that these terms may be given based on the context of the disclosure.

[0336] As mentioned in this disclosure, the computing device, controller, manipulator, main input device, processor, and / or system can be a device in a virtual machine, computer, node, instance, host, and / or networked or non-networked computing environment. A networked computing environment can be a collection of devices connected by communication channels that facilitate communication between devices and allow devices to share resources. Similarly, as mentioned in this disclosure, a computing device can be a device deployed to execute a program that operates as a socket listener and can contain software instances.

[0337] Resources can include any type of resources used to run the instance, including hardware (such as servers, clients, mainframes, networks, network storage, data sources, memory, central processing unit time, scientific instruments and other computing devices), as well as software, software licenses, available network services, and other non-hardware resources, or combinations thereof.

[0338] Networked computing environments can include, but are not limited to, computing grid systems, distributed computing environments, and cloud computing environments. Such networked computing environments comprise the hardware and software infrastructure configured to form virtual organizations consisting of multiple resources that can be located in geographically dispersed locations.

[0339] Furthermore, the scope of this application and any patents published from this application may be extended to one or more communication protocols, including TCP / IP.

[0340] The terms for comparison, measurement, and timing, such as “at this time,” “equivalent form,” “during,” and “completely,” should be understood to mean “basically at this time,” “basically equivalent form,” “basically during,” and “basically completely,” where “basically” means that such comparison, measurement, and timing are practically feasible for achieving the implicitly or explicitly stated desired result.

[0341] Furthermore, the paragraph headings herein are provided to align with the recommendations of 37 CFR 1.77 or to provide structural clues for this document. These headings should not limit or characterize one or more utility models that can be set forth from any of the claims disclosed in this publication. Specifically, the description of the technology in the “Background Art” section is not to be interpreted as an admission that the technology is prior art to any one or more utility models in this disclosure. Additionally, any reference to the singular “utility model” in this disclosure should not be used to prove that there is only one novel point in this disclosure. Multiple utility models can be set forth according to the multiple claims disclosed in this disclosure, and these claims accordingly define one or more utility models protected by them, as well as their equivalents. In all instances, the scope of these claims should be understood according to the substance of the claims themselves, and not limited by the headings herein.

Claims

1. An endoscopic magnetic anastomosis system, characterized in that, The endoscopic magnetic anastomosis system includes at least one endoscopic component, the endoscopic component comprising: An endoscope having a first end and an opposing second end, the endoscope including a lasso channel extending from the first end to the second end and a magnetic implantation assembly disposed at the second end; and An adjustable lasso mechanism includes a lasso assembly passing through the lasso channel, and includes a lasso tube and a lasso passing through the lasso tube for selectively fastening and releasing the magnetic implantation assembly.

2. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The adjustable lasso mechanism further includes a lasso guide assembly comprising a base and a motion mechanism movably mounted on the base, wherein the motion mechanism is connected to at least one of the lasso and the lasso tube and is configured to move the at least one of the lasso and the lasso tube such that there is relative movement between the lasso and the lasso tube to allow the lasso to selectively extend and retract relative to the lasso tube.

3. The endoscopic magnetic anastomosis system according to claim 2, characterized in that, The motion mechanism includes a first movable member and a second movable member, wherein the first movable member is connected to the lasso and configured to drive the lasso to move, and the second movable member is connected to the lasso tube and configured to drive the lasso tube to move, such that when at least one of the first movable member and the second movable member moves, there is relative movement between the lasso and the lasso tube.

4. The endoscopic magnetic anastomosis system according to claim 3, characterized in that, The base of the lasso guide assembly is provided with a first slide rail and a second slide rail extending along the length direction of the base. The first movable member is configured to slide along the first slide rail, and the second movable member is configured to slide along the second slide rail.

5. The endoscopic magnetic anastomosis system according to claim 3, characterized in that, The lasso guiding assembly further includes a releasable locking mechanism mounted to the first movable member, the releasable locking mechanism being configured to engage with the base to secure the first movable member to the base, and to disengage from the base to allow the first movable member to move relative to the base; and / or The lasso guiding assembly further includes an unlockable locking device mounted to the second movable member. The unlockable locking device is configured to lock into the base to fix the second movable member to the base, and to disengage from the base to allow the second movable member to move relative to the base. Alternatively, the second movable member is frictionally engaged with the base, such that the second movable member remains fixed relative to the base under the action of friction between it and the base, and can also overcome the friction under the action of an external force to move relative to the base.

6. The endoscopic magnetic anastomosis system according to claim 5, characterized in that, The releasable locking mechanism includes a rotary locking mechanism comprising a knob and a clamping member, wherein the knob is connected to the clamping member, and wherein the knob is configured to rotate in opposite directions to cause the clamping member to clamp and release the base accordingly.

7. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The endoscope assembly also includes: The outer tube includes a body tube having a first end and an opposing second end, and a tube locking mechanism mounted at the first end of the body tube. The body tube also has an endoscope channel extending from the first end of the body tube to the second end of the body tube for the endoscope to pass through. The tube locking mechanism is configured to engage with the endoscope to secure the endoscope to the body tube, and to disengage from the endoscope to allow the endoscope to slide and rotate relative to the body tube.

8. The endoscopic magnetic anastomosis system according to claim 7, characterized in that, The pipe locking mechanism includes: A locking seat is installed at the first end of the main body tube; A rotatable component, rotatably mounted to the locking seat, and provided with a helical drive portion, wherein the helical center line of the helical drive portion coincides with the rotation center line of the rotatable component; and Multiple locking blocks are movably mounted to the locking seat and configured to drive and engage with the helical drive unit so as to translate along the radial direction of the helical drive unit as the helical drive unit rotates. The adjacent ends of the multiple locking blocks together define an opening for the endoscope to pass through. The plurality of locking blocks are configured such that when the rotatable member rotates along a first direction, the plurality of locking blocks translate radially inward toward the spiral centerline of the spiral drive portion to narrow the opening and clamp the endoscope, and when the rotatable member rotates along a second direction opposite to the first direction, the plurality of locking blocks translate radially outward away from the spiral centerline of the spiral drive portion to widen the opening and release the endoscope.

9. The endoscopic magnetic anastomosis system according to claim 7, characterized in that, The outer sleeve also includes: A first seal is disposed at the first end of the body tube to form a seal between the body tube and the outer surface of the endoscope; and A second seal is disposed at the second end of the body tube to form a seal between the body tube and the outer surface of the endoscope; The gap between the inner surface of the main tube and the outer surface of the endoscope forms a suction channel. The main tube has one or more suction openings arranged along the circumferential direction at the second end of the main tube and a suction connector arranged at the first end of the main tube. The suction openings and the suction connector are located between the first seal and the second seal. The two ends of the suction channel are respectively connected to the suction openings and the suction connector, and the suction connector is configured to be connected to a suction device for providing negative pressure.

10. The endoscopic magnetic anastomosis system according to claim 9, characterized in that, The second seal is positioned near the suction opening, and the first seal is positioned near the suction connector; and The first sealing member has a first sealing rib that seals with the outer surface of the endoscope; the second sealing member has a tapered portion at one end away from the first sealing member, and the tapered end of the tapered portion seals with the outer surface of the endoscope; the second sealing member also has a second sealing rib, which is closer to the first sealing member than the tapered portion, and the second sealing rib seals with the outer surface of the endoscope.

11. The endoscopic magnetic anastomosis system according to claim 7, characterized in that, The outer sleeve also includes: A deployable component is sleeved on the outer surface of the body tube at the second end of the body tube. The body tube has a gas channel extending between the inner and outer surfaces of the body tube along the axial direction of the body tube. The gas channel communicates with the deployable component at the second end of the body tube and with an external pressure source at the first end of the body tube, so that the deployable component can expand outward from a non-deployed state to a deployed state along the radial direction of the body tube or retract from the deployed state to the non-deployed state in response to the action of the external pressure source.

12. The endoscopic magnetic anastomosis system according to claim 11, characterized in that, The endoscope assembly also includes: The external pressure source is configured to provide a fixed volume of gas to the deployable member so that the deployable member expands outward along the radial direction of the body tube.

13. The endoscopic magnetic anastomosis system according to claim 12, characterized in that, The external pressure source includes: case; A first linear actuator is installed within the housing, the first linear actuator having a drive end configured to move between a first position and a second position; A syringe installed within the housing, the syringe including a syringe barrel and a syringe plunger movably mounted in the syringe barrel, the syringe barrel having an injection port communicating with the gas passage, the drive end of the first linear actuator being connected to the syringe plunger and configured to drive the syringe plunger to reciprocate relative to the syringe barrel, so as to supply gas to or draw gas from the deployable member through the injection port accordingly; and Two position sensors installed inside the housing are configured to detect the position of the drive end of the first linear actuator.

14. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The endoscope further includes a head assembly disposed at the second end of the endoscope. The head assembly includes a head assembly body. One end surface of the head assembly body is provided with a support portion and a limiting portion disposed opposite to each other for clamping the magnetic implantation component between the limiting portion and the support portion. The bottom of the magnetic implantation component is supported on the support portion, and the top of the magnetic implantation component abuts against the limiting portion.

15. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The endoscope assembly further includes an image capture assembly disposed at the second end of the endoscope, wherein the endoscope magnetic anastomosis system further includes a video processor electrically connected to the image capture assembly via a cable and a main connector disposed at one end of the cable for electrical connection to the video processor, wherein the video processor has a main connector socket for plugging into the main connector, and a locking structure is provided between the main connector socket and the main connector to lock the plugged-in main connector socket and the main connector.

16. The endoscopic magnetic anastomosis system according to claim 15, characterized in that, The main connector socket includes a base and a rotatable locking ring, the locking ring being rotatably mounted to the base to allow the main connector socket to switch between an initial state and a locked state; and The locking structure includes a positioning key disposed on one of the locking ring and the main connector, and a locking groove disposed on the other of the locking ring and the main connector and extending circumferentially. One end of the locking groove is an insertion end, and the positioning key is configured to be inserted into the locking groove from the insertion end when the main connector is plugged into the main connector socket in the initial state, and is configured to slide relative to the locking groove during the rotation of the locking ring, so that the positioning key is misaligned with the insertion end of the locking groove, thereby switching the main connector socket to the locked state.

17. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The at least one endoscope assembly includes two endoscope assemblies, wherein the magnetic implantation components of the two endoscope assemblies are respectively a first magnetic implantation component configured to be located in a first lumen tissue region and a second magnetic implantation component configured to be located in a second lumen tissue region; The first magnetic implantation assembly includes a first housing and a first magnet disposed within the first housing. The first housing has a first fixing annular groove on its circumferential side surface for receiving the lasso of the lasso assembly of one of the two endoscope assemblies, and the first housing has a first engagement surface. The second magnetic implantation assembly includes a second housing and a second magnet disposed within the second housing. The second housing has a second fixing annular groove on its circumferential side surface for receiving the lasso of the lasso assembly of the other of the two endoscope assemblies, and the second housing has a second engagement surface. Wherein, the first and second mating surfaces are configured such that, when the first magnetic implantation assembly and the second magnetic implantation assembly are magnetically abutted with the first lumen tissue region and the second lumen tissue region therebetween, they face each other and are capable of applying non-uniform compressive forces to the first lumen tissue region and the second lumen tissue region; and Both the first magnet and the second magnet are solid, disk-shaped permanent magnets, which allows the center lines of the first and second magnetic implantation components to automatically adjust to alignment when they are magnetically matched, even if they are offset by a certain distance.

18. The endoscopic magnetic anastomosis system according to claim 17, characterized in that, The first mating surface is a concave surface with a first radius of curvature, and the second mating surface is a convex surface with a second radius of curvature, wherein the radius of curvature of the convex surface is smaller than the radius of curvature of the concave surface. and The convex and concave surfaces are configured such that when the first magnetic implant assembly and the second magnetic implant assembly are magnetically abutted, the convex surface protrudes toward the concave surface, and the axial distance between the convex and concave surfaces along the centerline of the first magnetic implant assembly increases with the increase of the radial distance from the centerline of the first magnetic implant assembly, so as to apply a non-uniform compressive force to the first and second lumen tissue regions.

19. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The endoscopic magnetic anastomosis system also includes: A magnet detector is configured to detect the position of the magnetic implanted component of the endoscope within the human body.

20. The endoscopic magnetic anastomosis system according to claim 19, characterized in that, The magnet detector includes: Detector body; A first circuit board is disposed at the first end of the detector body and is provided with a first set of magnetometers; A second circuit board is disposed at the second end of the detector body opposite to the first end of the detector body, and is provided with a second set of magnetometers; and The processing unit is configured to receive measurement data from the first set of magnetometers and the second set of magnetometers, and determine the position of the magnetic implantation component of the endoscope in the human body based on the received data.

21. The endoscopic magnetic anastomosis system according to claim 20, characterized in that, The first set of magnetometers includes four magnetometers arranged in a square array, and the center of the square array coincides with the center of the first circuit board; The second set of magnetometers includes four magnetometers arranged in a square array, and the center of the square array coincides with the center of the second circuit board.

22. The endoscopic magnetic anastomosis system according to claim 19, characterized in that, An IMU is embedded within the magnetic implantation assembly of the endoscope, and the magnetic detector comprises: Mounting substrate; At least one sensor module, each sensor module including eight magnetic sensors, the eight magnetic sensors being regularly distributed in four rows with two magnetic sensors in each row, the two magnetic sensors being a first magnetic sensor and a second magnetic sensor, and the two magnetic sensors in each row being staggered from the two magnetic sensors in the adjacent row; and The processing module is configured to receive data from the sensor module and data from the IMU embedded in the magnetic implant component, and determine the position of the magnetic implant component of the endoscope in the human body based on the received data.

23. The endoscopic magnetic anastomosis system according to claim 22, characterized in that, The number of the at least one sensor module is between 1 and 32.

24. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The endoscopic magnetic anastomosis system also includes: The magnetic navigation control console is configured to move the magnetic implantation component of the endoscope to a set position within the human body via the action of a magnetic field.

25. The endoscopic magnetic anastomosis system according to claim 24, characterized in that, The at least one endoscope assembly includes two endoscope assemblies, and the magnetic navigation console includes: The mounting bracket includes a movable first mounting arm and a movable second mounting arm; A first magnetic actuator is mounted to the first mounting arm and configured to move the magnetic implanted component of one of the two endoscope assemblies within the human body via a magnetic field; and A second magnetic actuator is mounted to the second mounting arm and configured to move the magnetic implant component of the other endoscope assembly within the human body via a magnetic field. The first and second magnetic actuators are configured to move to a state of vertical overlap, so that the magnetic implant components of the two endoscopes move within the human body to a state of vertical overlap.

26. The endoscopic magnetic anastomosis system according to claim 25, characterized in that, The first magnetic actuator includes a permanent magnet, and the permanent magnet of the first magnetic actuator includes a tapered section, wherein the lower end cross-sectional dimension of the tapered section is smaller than the upper end cross-sectional dimension of the tapered section.

27. The endoscopic magnetic anastomosis system according to claim 26, characterized in that, The permanent magnet of the first magnetic actuator further includes a cylindrical section extending upward from the upper end of the conical section, and the cross-sectional dimension of the cylindrical section is equal to the cross-sectional dimension of the upper end of the conical section.

28. The endoscopic magnetic anastomosis system according to claim 25, characterized in that, The second magnetic actuator includes a permanent magnet; or The second magnetic actuator includes an electromagnetic coil; or The second magnetic actuator includes a permanent magnet and an electromagnetic coil disposed above or below the permanent magnet.

29. The endoscopic magnetic anastomosis system according to claim 25, characterized in that, The first mounting arm is longitudinally slidably mounted to and hinged to the mounting bracket, and the first mounting arm includes a plurality of connecting arms that are hinged sequentially; and / or The second mounting arm is longitudinally slidably mounted to and hinged to the mounting bracket, the second mounting arm comprising a plurality of sequentially hinged connecting arms; and / or The second magnetic actuator is configured such that the magnetic field strength it generates is greater than the magnetic field strength generated by the first magnetic actuator, and when the first magnetic actuator and the second magnetic actuator coincide in the vertical direction, the first magnetic actuator is located below the second magnetic actuator; and at least one of the upper end of the first magnetic actuator and the lower end of the second magnetic actuator is provided with a friction-reducing coating.

30. The endoscopic magnetic anastomosis system according to claim 25, characterized in that, The magnetic navigation console also includes: The push rod mechanism is configured to be telescopic and capable of moving one of the first magnetic actuator and the second magnetic actuator to move the first magnetic actuator and the second magnetic actuator away from each other.

31. The endoscopic magnetic anastomosis system according to claim 1, characterized in that, The at least one endoscope assembly includes two endoscope assemblies, which may have the same or different structures.

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