Connecting Devices and Related Systems

Abstract

The present invention relates to a coupling device, and related systems and methods, that can simultaneously a) attach to a robotically controlled endoscopic system and b) secure a cable connected to a generator (e.g., capable of providing microwave energy) and a medical treatment device (e.g., a microwave energy delivery device).

Description

[Technical field]

[0001] The present invention relates to a coupling device, and related systems and methods, that can simultaneously a) attach to a robotically controlled endoscopic system and b) secure a cable connected to a generator (e.g., capable of providing microwave energy) and a medical treatment device (e.g., a microwave energy delivery device). [Background technology]

[0002] Medical procedures involving the delivery of ablative energy by a robotically controlled endoscopic system require the organization of several items (e.g., an energy generator, a microwave ablation device, a robotically controlled endoscopic system) and associated accessory cords. The organization of such items and associated accessory cords can be difficult. Disassembly of such items can compromise the intended outcome of the medical procedure. Summary of the Invention [Problem to be solved by the invention]

[0003] The present invention addresses this problem. [Means for solving the problem]

[0004] Ablation procedures involving robotically controlled endoscope systems require careful coordination with microwave ablation energy delivery devices, microwave energy generators, and accessory cables. Optimization of such medical procedures requires close positioning of the robotically controlled endoscope arms, microwave ablation energy delivery devices, and accessory cables connecting the generator and microwave ablation energy delivery devices. Ensuring such close proximity can be cumbersome. The present invention provides a coupling device that can solve these problems.

[0005] Indeed, the present invention relates to a coupling device, and related systems and methods, that can simultaneously a) attach to a robotically controlled endoscopic system and b) secure a cable connected to a generator (e.g., capable of providing microwave energy) and a medical treatment device (e.g., a microwave energy delivery device).

[0006] In certain embodiments, the present invention provides a coupling device configured to be mounted on an endoscopic system and configured to secure a cable, the cable having a cable proximal end and a cable distal end, the coupling device configured to secure the cable distal end, and the coupling device configured to be mounted on the endoscopic system and secure the cable distal end such that the coupling device, the endoscopic system, and the cable distal end are in proximity.

[0007] The coupling device is not limited to a particular proximity due to the proximity of the coupling device, the endoscopic system, and the cable distal end, in some embodiments, the proximity is within a range of 24 inches or less (e.g., within a range of 12 inches or less, within a range of 6 inches or less, within a range of 3 inches or less, within a range of 1 inch or less).

[0008] In some embodiments, the coupling device is configured to be mounted on the endoscopic system such that the coupling device is fixed relative to the endoscopic system. In some embodiments, the coupling device is configured to secure the cable distal end such that the cable distal end is fixed relative to the coupling device.

[0009] In some embodiments, the coupling device is configured to secure the cable distal end to enable the cable distal end to securely connect with the proximal end of the medical treatment device such that one or more materials can be provided to and / or received from the medical treatment device, and the cable proximal end is configured to connect with a generator such that the generator can provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an imaging acquisition means. In some embodiments, the fluid is a pressurized gas or liquid. In some embodiments, the fluid is carbon dioxide. In some embodiments, the fluid is water.

[0010] In some embodiments, the medical treatment device is selected from a microwave energy delivery device, a radio frequency energy delivery device, a refrigeration energy delivery device, an imaging device, a temperature monitoring device, and a temperature regulation device. In some embodiments, the microwave energy delivery device comprises a coaxial or triaxial design. In some embodiments, the energy delivery device is configured to circulate a coolant received from a cable.

[0011] In some embodiments, the endoscopic system is a robotically controlled endoscopic system, the robotically controlled endoscopic system including one or more robotically controlled endoscopic system arms configured to assist in manipulation of a medical procedure device connected to a cable distal end secured within a coupling device, each robotically controlled endoscopic system arm having a robotically controlled endoscopic system arm proximal end, a robotically controlled endoscopic system arm distal end, and a robotically controlled endoscopic system arm body.

[0012] In some embodiments, the coupling device is configured to be mounted on one of the robotically controlled endoscopic system arms such that the coupling device is fixed relative to the robotically controlled endoscopic system arm. In some embodiments, the coupling device is configured to be mounted to one of the robotically controlled endoscopic system arms distal ends such that the coupling device is fixed relative to the robotically controlled endoscopic system arm distal ends. In some embodiments, the coupling device is configured to be mounted on one of the robotically controlled endoscopic system arms via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro attachment, and an adhesive attachment.

[0013] In some embodiments, the coupling device has an open hollow shape and has a coupling device inner surface configured to contact a robotically controlled endoscopic system arm distal end, and the coupling device has a coupling device outer surface having a coupling device outer surface mounting region configured to secure the cable distal end such that the cable distal end is fixed relative to the coupling device.

[0014] In some embodiments, the open hollow shape of the coupling device is configured to match at least a portion of the shape of the distal end of the robotically controlled endoscopic system arm such that the coupling device can fit over and around the distal end of the robotically controlled endoscopic system arm and be mounted on the distal end of the robotically controlled endoscopic system arm such that the coupling device is secured to the distal end of the robotically controlled endoscopic system arm.

[0015] In some embodiments, the coupling device can be attached onto the distal end of the robotically controlled endoscopic system arm by passing the distal end of the robotically controlled endoscopic system arm through the open hollow profile of the coupling device until an inner surface of the coupling device contacts the distal end of the robotically controlled endoscopic system arm, resulting in fixation of the coupling device to the distal end of the robotically controlled endoscopic system arm.

[0016] In some embodiments, the coupling device, once secured onto the robotically controlled endoscopic system arm distal end, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device relative to the robotically controlled endoscopic system arm distal end. In some embodiments, the coupling device, once secured onto the robotically controlled endoscopic system arm distal end, is configured to be loosened to release the coupling device from the robotically controlled endoscopic system arm distal end.

[0017] In some embodiments, the coupling device has an open hollow uniform ring shape or an open hollow oval shape.

[0018] In some embodiments, the coupling device outer surface attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro® attachment, and an adhesive attachment.

[0019] In some embodiments, the coupling device includes a coupling device first arm having a coupling device first arm proximal end, a coupling device first arm body, and a coupling device first arm distal end.

[0020] In some embodiments, the coupling device includes a coupling device second arm having a coupling device second arm proximal end, a coupling device second arm body, and a coupling device second arm distal end.

[0021] In some embodiments, the coupling device first arm proximal end and the coupling device second arm proximal end are connected via a coupling device hinge, the coupling device first arm and the coupling device second arm are each configured to rotate linearly about the coupling device hinge such that an expandable or retractable opening exists between the coupling device first arm proximal end and the coupling device second arm proximal end, and the coupling device first arm distal end is configured to lockingly connect with the coupling device second arm distal end such that the coupling device first arm, the coupling device second arm, and the coupling device hinge form a closed loop.

[0022] In some embodiments, the connecting device first arm and the connecting device second arm are configured to rotate linearly about the connecting device hinge such that an opening is created between the connecting device first arm distal end and the connecting device second arm distal end, the opening being of a sufficient size such that at least a portion of the robotically controlled endoscopic system arm distal end can be positioned within the opening, and the connecting device first arm distal end is configured to lockingly connect with the connecting device second arm distal end, such that the robotically controlled endoscopic system arm distal end is positioned within the opening, thereby forming a closed loop around the robotically controlled endoscopic system arm distal end such that the connecting device is fixed relative to the robotically controlled endoscopic system arm distal end.

[0023] In some embodiments, when the coupling device is secured onto the robotically controlled endoscopic system arm distal end, the coupling device is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device to the robotically controlled endoscopic system arm distal end, and the coupling device first arm distal end is configured to be separated from the coupling device second arm distal end to release the coupling device from the robotically controlled endoscopic system arm distal end.

[0024] In some embodiments, the coupling device first arm distal end has a coupling device first arm distal end opening configured to receive a screw and the coupling device second arm distal end has a coupling device second arm distal end opening configured to receive a screw, and the coupling device, when secured onto the robotically controlled endoscopic system arm distal end, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device to the robotically controlled endoscopic system arm distal end via screws disposed in both the coupling device first arm distal end opening and the coupling device second arm distal end opening. In some embodiments, the screw is a thumbscrew.

[0025] In some embodiments, the coupling device exterior mounting region is disposed along a coupling device first arm body or the coupling device exterior mounting region is disposed along a coupling device second arm body.

[0026] In some embodiments, the coupling device outer surface attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro® attachment, and an adhesive attachment.

[0027] In some embodiments, the coupling device comprises a plastic composition, a metal composition, a ceramic composition, or any mixture thereof.

[0028] In certain embodiments, the present invention provides a system comprising a connecting device as described herein, a cable having a cable proximal end and a cable distal end, a medical treatment device, and a robotically controlled endoscopic system, the robotically controlled endoscopic system comprising one or more robotically controlled endoscopic system arms configured to assist in placement of or provide a conduit for the medical treatment device connected to the cable distal end secured within the connecting device, each robotically controlled endoscopic system arm having a robotically controlled endoscopic system arm proximal end, a robotically controlled endoscopic system arm distal end, and a robotically controlled endoscopic system arm body.

[0029] In some embodiments, the medical treatment device is selected from a microwave energy delivery device, a radio frequency energy delivery device, a cryoenergy delivery device, an imaging device, a temperature monitoring device, and a temperature regulating device. In some embodiments, the microwave energy delivery device comprises a coaxial or triaxial design.

[0030] In some embodiments, the system further comprises a generator configured to connect to the cable proximal end, the generator configured to provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an image acquisition means.

[0031] In certain embodiments, the present invention provides a method of performing a medical procedure, the method including providing a system as described herein, securing a cable proximal end to a generator, securing a coupling device onto one of the distal ends of the robotically controlled endoscopic system arms such that the coupling device is fixed relative to the robotically controlled endoscopic system distal arm, securing a cable distal end to the coupling device attachment region such that the cable distal end is fixed relative to the coupling device, connecting a medical treatment device to the cable distal end, contacting the medical treatment device connected to the cable distal end with a subject, and performing a medical procedure on the subject using the medical treatment device connected to the cable distal end.

[0032] In some embodiments, the medical treatment device is a microwave energy delivery device.

[0033] In some embodiments, the medical procedure is a microwave ablation procedure.

[0034] In some embodiments, the subject is a human subject.

[0035] In some embodiments, the generator is configured to provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an imaging acquisition means.

[0036] Additional embodiments are described herein. [Brief description of the drawings]

[0037] [Figure 1] 1 shows a schematic diagram of a coupling device. [Diagram 2] 1 shows a schematic diagram of a coupling device. [Diagram 3] 1 illustrates an exemplary embodiment of a coupling device. [Figure 4] 1 illustrates an exemplary embodiment of a coupling device. [Diagram 5] 1 illustrates an exemplary embodiment of a coupling device. [Figure 6] 1 illustrates an exemplary coupling device coupled to a robotic arm. [Figure 7] 1 illustrates an exemplary coupling device coupled to a robotic arm. [Figure 8] 1 illustrates another exemplary embodiment of a coupling device. [Figure 9] 1 illustrates another exemplary embodiment of a coupling device. [Figure 10] The coupling device embodied in Figures 8-9 is shown coupled to a robotic arm. [Figure 11] The coupling device embodied in Figures 8-9 is shown coupled to a robotic arm. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] The present invention relates to a coupling device, and related systems and methods, that can simultaneously a) attach to a robotically controlled endoscopic system and b) secure a cable connected to a generator (e.g., capable of providing microwave energy) and a medical treatment device (e.g., a microwave energy delivery device).

[0039] The coupling devices of the present invention are not limited to any particular size dimensions, and in some embodiments, the size dimensions of the coupling device are such that they can be mounted on an endoscopic system (e.g., a robotically controlled endoscopic system) and secure cables connected to the medical procedure device without interfering with the function of the endoscopic system and the medical procedure device.

[0040] 1 shows a schematic diagram of a coupling device 1 having a coupling device attachment region 2, a cable 3 having a cable proximal end 4, a cable body 5, and a cable distal end 6, an endoscopic system 7 having an endoscopic system coupling device attachment region 8, a generator 9, and a medical treatment device 10. As shown, the coupling device 1 is mounted on the endoscopic system 7 at the endoscopic system coupling device attachment region 8. As shown, the cable distal end 6 is secured to the coupling device 1 at the coupling device attachment region 2. As shown, the cable proximal end 4 is connected with the generator 9 at the generator cable proximal end connection region 12. As shown, the cable 3 is engaged with the medical treatment device 10 at the cable distal end 6.

[0041] 1 , the size dimensions of the coupling device 1 are such that it can be mounted on the endoscope system 7 (e.g., a robotically controlled endoscope system) and secure the cable 3 connected to the generator 9 and the medical treatment device 10 such that the coupling device 1, the endoscope system 7 (e.g., a robotically controlled endoscope system), and the cable 3 are all in close proximity. Such embodiments are not limited to a particular proximity. In some embodiments, the coupling device 1 can be mounted on the endoscope system 7 and secure the cable 3 connected to the endoscope system 7 and the medical treatment device 10 such that the coupling device 1, the endoscope system 7 (e.g., a robotically controlled endoscope system), and the cable 3 are within a range of 24 inches or less (e.g., a range of 20 inches or less, a range of 15 inches or less, a range of 10 inches or less, a range of 9 inches or less, a range of 5 inches or less, a range of 4 inches or less, a range of 3 inches or less, a range of 2 inches or less, a range of 1 inch or less).

[0042] 1 , the coupling device 1 is not limited to a particular method of attachment to the endoscopic system 7. In some embodiments, the coupling device 1 is configured to be mounted on the endoscopic system 7 at the endoscopic system coupling device mounting region 8 such that the coupling device 1 is fixed relative to the endoscopic system coupling device mounting region 8. The coupling device 1 is not limited to a particular method of attachment to the endoscopic system coupling device mounting region 8. In some embodiments, the coupling device 1 is attached to the endoscopic system coupling device mounting region 8 via one or more of a magnetic based attachment, a form lock attachment, a suction based attachment, a Velcro® attachment, and an adhesive attachment.

[0043] 1, the coupling device 1 is not limited to a particular manner of securing the cable 3. In some embodiments, the coupling device 1 secures the cable distal end 6 such that the cable distal end 6 is fixed relative to the coupling device 1.

[0044] 1 , the generator 9 is not limited to a particular manner of connection to the cable 3. In some embodiments, the generator 9 connects to the cable proximal end 4 at a generator cable proximal end connection region 12 such that the cable proximal end 4 is fixed relative to the generator 9.

[0045] 1, the medical treatment device 10 is not limited to a particular manner of connection to the cable 3. In some embodiments, the medical treatment device 10 is releasably connected to the cable distal end 6.

[0046] 1 , the simultaneous connection of 1) cable proximal end 4 and generator 9, and 2) cable distal end 6 and medical treatment device 10, allows for the provision and retrieval of one or more materials between the generator 9 and medical treatment device 10 via cable 3. Such embodiments are not limited to any particular type of material that can be transferred between the generator 9 and medical treatment device 10 via cable 3. In some embodiments, the materials include, but are not limited to, microwave energy, radio frequency energy, fluids, temperature acquisition means (e.g., temperature sensors), and imaging acquisition means (e.g., devices capable of acquiring image information).

[0047] Such embodiments are not limited to the use of any particular type or kind of fluid. In some embodiments, the fluid is selected from water, glycol, air, inert gases, carbon dioxide (CO2), nitrogen, helium, sulfur hexafluoride, ionic solutions (e.g., sodium chloride with or without potassium and other ions), dextrose in water, lactated Ringer's solution, organic chemical solutions (e.g., ethylene glycol, diethylene glycol, or propylene glycol), oils (e.g., mineral oil, silicone oil, fluorocarbon oil), liquid metals, Freon, halomethanes, liquefied propane, other haloalkanes, anhydrous ammonia, sulfur dioxide, and refrigerant gases compressed at or near their critical points.

[0048] Such embodiments are not limited to a particular type or kind of generator 9. In some embodiments, the generator 9 can provide to the cable 3 one or more of microwave energy, radio frequency energy, a fluid, a temperature acquisition means (e.g., a temperature sensor), and an image acquisition means (e.g., a device capable of acquiring image information).

[0049] Such embodiments are not limited to any particular type or kind of medical treatment device 10. In some embodiments, the medical treatment device 10 is selected from an energy delivery device, a microwave energy delivery device, a cryoenergy delivery device, a radio frequency energy delivery device, an imaging device, a temperature monitoring device, and a temperature regulating device.

[0050] Such embodiments are not limited to a particular type or variety of energy delivery device (e.g., ablation device, surgical device, etc.) (see, e.g., U.S. Pat. Nos. 7,101,369; 7,033,352; 6,893,436; 6,878,147; 6,823,218; 6,817,999; 6,635,055; 6,471,696; Nos. 6,383,182, 6,312,427, 6,287,302, 6,277,113, 6,251,128, 6,245,062, 6,026,331, 6,016,811, 5,810,803, 5,800,494, 5,788,692, 5,405,346, 4,494,539, and U.S. Patent Application No. Nos. 11 / 728,460, 11 / 728,457, 11 / 728,428, 11 / 237,136, 11 / 236,985, 10 / 980,699, 10 / 961,994, 10 / 961,761, 10 / 834,802, 10 / 370,179, 09 / 847,181, UK Patent Application Nos. 2,406,521, 2,388, (See, for example, European Patent No. 039, European Patent No. 1395190, and International Publication Nos. WO 06 / 008481, WO 06 / 002943, WO 05 / 034783, WO 04 / 112628, WO 04 / 033039, WO 04 / 026122, WO 03 / 088858, WO 03 / 039385, WO 95 / 04385, each of which is incorporated herein by reference in its entirety). Such energy delivery devices are not limited to emitting a particular type of energy. In some embodiments, the energy delivery device can emit radio frequency energy. In some embodiments, the energy delivery device can emit microwave energy. Such devices include any and all medical, veterinary, and research application devices configured for energy emission, as well as devices used in agricultural settings, manufacturing settings, mechanical settings, or any other application in which energy is delivered.

[0051] Such embodiments are not limited to a particular type or kind of endoscopic system. In some embodiments, the endoscopic system is a robotically controlled endoscopic system. FIG. 2 shows a schematic diagram of a coupling device 1 having a coupling device attachment region 2, a cable 3 having a cable proximal end 4, a cable body 5, and a cable distal end 6, a generator 9, a medical procedure device 10, and a robotically controlled endoscopic system 11 having a robotically controlled endoscopic system coupling device attachment region 13. FIG. 2 further shows that the robotically controlled endoscopic system 11 has a robotically controlled endoscopic system arm 14, each arm having a robotically controlled endoscopic system arm proximal end 15, a robotically controlled endoscopic system arm body 16, and a robotically controlled endoscopic system distal end 17. As shown, the coupling device 1 is mounted on the robotically controlled endoscopic system 11 at the robotically controlled endoscopic system coupling device attachment region 13. As shown, the cable distal end 6 is secured to the coupling device 1 at the coupling device attachment region 2. As shown, the cable proximal end 4 is connected to the generator 9 at the generator cable proximal end connection region 12. As shown, the cable 3 is engaged with a medical treatment device 10 at the cable distal end 6 .

[0052] Such embodiments are not limited to a particular type of robotically controlled endoscopic system 11. In some embodiments, the robotically controlled endoscopic system 11 is selected from Monarch® (Auris™), Ion® (Intuitive®), and Galaxy System™ (Noah Medical™).

[0053] Such embodiments are not limited to any particular function of the robotically controlled endoscopic system arm 14. In some embodiments, the robotically controlled endoscopic system arm 14 is configured to assist in positioning the medical treatment device 10, manipulating the medical treatment device 10, and / or providing a conduit for the medical treatment device 10 connected to a cable distal end 6 secured within the coupling device 1.

[0054] 2 , the coupling device 1 is not limited to a particular method of attachment to the robotically controlled endoscopic system 11. In some embodiments, the coupling device 1 is configured to be mounted on the robotically controlled endoscopic system 11 at the robotically controlled endoscopic system coupling device mounting region 13 such that the coupling device 1 is fixed relative to the robotically controlled endoscopic system coupling device mounting region 13. The coupling device 1 is not limited to a particular method of attachment on the robotically controlled endoscopic system coupling device mounting region 13. In some embodiments, the coupling device 1 is attached to the robotically controlled endoscopic system coupling device mounting region 13 via one or more of a magnet-based attachment, a form-lock attachment, a suction-based attachment, a Velcro attachment, and an adhesive attachment.

[0055] 2, the coupling device 1 is not limited to a particular manner of securing the cable 3. In some embodiments, the coupling device 1 secures the cable distal end 6 such that the cable distal end 6 is fixed relative to the coupling device 1.

[0056] 2 , the robotically controlled endoscopic system 11 is not limited to a particular method of connection with the cable 3. In some embodiments, the robotically controlled endoscopic system cable proximal end connection region 12 connects with the cable proximal end 4 such that the cable proximal end 4 is fixed relative to the robotically controlled endoscopic system cable proximal end connection region 12.

[0057] 2, the medical treatment device 10 is not limited to a particular manner of connection to the cable 3. In some embodiments, the medical treatment device 10 is releasably connected to the cable distal end 6.

[0058] Figure 3 illustrates one embodiment of a coupling device 1. The shape of the coupling device 1 illustrated in Figure 3 is circular or oval, however, the coupling device 1 is not limited to a particular shape or design. In some embodiments as illustrated in Figure 3, the coupling device 1 has an open hollow shape such that any item with a diameter smaller than the diameter of the coupling device 1 can fit through the open hollow shape. As shown, the coupling device has a coupling device inner surface 18, a coupling device outer surface 19, and a coupling device outer surface attachment area 20.

[0059] The coupling device is not limited to a particular size. In some embodiments, the size of the coupling device is such that it can be mounted on an endoscope system (e.g., a robotically controlled endoscope system) without affecting the functionality of the endoscope system (e.g., a robotically controlled endoscope system). In some embodiments, the size of the coupling device is such that it can secure a cable (e.g., a cable distal end) without affecting the functionality of the cable (e.g., the cable distal end). In some embodiments, the size of the coupling device is such that it can be mounted on an endoscope system (e.g., a robotically controlled endoscope system) without affecting the functionality of the endoscope system (e.g., a robotically controlled endoscope system) and can secure a cable (e.g., a cable distal end) without affecting the functionality of the cable (e.g., the cable distal end).

[0060] In some embodiments, the width of the coupling device is 36 inches or less (e.g., 36 inches or less, 35 inches or less, 34 inches or less, 33 inches or less, 32 inches or less, 31 inches or less, 30 inches or less, 29 inches or less, 28 inches or less, 27 inches or less, 26 inches or less, 25 inches or less, 24 inches or less, 23 inches or less, 22 inches or less, 21 inches or less, 20 inches or less, 19 inches or less, 18 inches or less, 17 inches or less, 16 inches or less, 15 inches or less, 14 inches or less, 13 inches or less, 12 inches or less, 11 inches or less, 10 inches or less, 9 inches or less, 8 inches or less, 7 inches or less, 6 inches or less, 5 inches or less, 4 inches or less, 3 inches or less, 2 inches or less, 1 inch or less).

[0061] In some embodiments, the height of the outer surface and the inner surface of the coupling device are the same. In some embodiments, the height of the outer surface and the inner surface of the coupling device are different. In some embodiments, the height of the outer surface of the coupling device is greater than the height of the inner surface of the coupling device. In some embodiments, the height of the inner surface of the coupling device is greater than the height of the outer surface of the coupling device. In some embodiments, the height of the inner surface of the coupling device and / or the height of the outer surface of the coupling device is 36 inches or less (e.g., 36 inches or less, 35 inches or less, 34 inches or less, 33 inches or less, 32 inches or less, 31 inches or less, 30 inches or less, 29 inches or less, 28 inches or less, 27 inches or less, 26 inches or less, 25 inches or less, 24 inches or less, 23 inches or less, 22 inches or less, 21 inches or less, 20 inches or less, 19 inches or less, 18 inches or less, 17 inches or less, 16 inches or less, 15 inches or less, 14 inches or less, 13 inches or less, 12 inches or less, 11 inches or less, 10 inches or less, 9 inches or less, 8 inches or less, 7 inches or less, 6 inches or less, 5 inches or less, 4 inches or less, 3 inches or less, 2 inches or less, 1 inch or less).

[0062] In some embodiments, the coupling device is not limited to a particular composition. In some embodiments, the composition of the coupling device is plastic, metal, graphite, ceramic, and / or any combination thereof. In some embodiments, at least a portion of the coupling device is plastic (e.g., PEEK). In some embodiments, at least a portion of the coupling device comprises a thermoplastic polymer having a suitable glass transition temperature of about 15-25 degrees Celsius. In some embodiments, at least a portion of the coupling device comprises a copolymer of lactic acid and caprolactone, and the thermoplastic polymer comprises a copolymer of L-lactide and caprolactone, such as poly(L-lactide-co-caprolactone) having an L-lactide to caprolactone monomer ratio of 70:30 or less.

[0063] In some embodiments, the coupling device inner surface is configured to contact the distal end of the robotically controlled endoscopic system arm such that it can engage an endoscopic system coupling device attachment region (e.g., a robotically controlled endoscopic system coupling device attachment region).

[0064] In some embodiments, the coupling device attachment region and / or the coupling device outer attachment region are configured to secure the cable distal end such that the cable distal end is fixed relative to the coupling device. In some embodiments, the coupling device is configured to be mounted on one of the robotically controlled endoscopic system arms such that the coupling device is fixed relative to the robotically controlled endoscopic system arm. In some embodiments, the coupling device is configured to be mounted on one of the robotically controlled endoscopic system arm distal ends such that the coupling device is fixed relative to the robotically controlled endoscopic system arm distal end.

[0065] The coupling device is not limited to a particular method or mechanism of attachment to the distal end of the robotically controlled endoscopic system arms. In some embodiments, the coupling device is configured to be attached onto one of the robotically controlled endoscopic system arms via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro attachment, and an adhesive attachment.

[0066] In some embodiments, the endoscopic system coupling device attachment region is not limited to a particular location. In some embodiments, the endoscopic system coupling device attachment region is located along the body of the robotically controlled endoscopic system. In some embodiments, the endoscopic system coupling device attachment region is located along the distal end of the robotically controlled endoscopic system.

[0067] As mentioned above, the coupling device is not limited to a particular shape. In some embodiments, the coupling device has an open hollow shape. In some embodiments, the shape of the coupling device is such that it can fit at least a portion of the shape of the distal end of the robotically controlled endoscopic system arm (e.g., the coupling device can fit over and around the distal end of the robotically controlled endoscopic system arm and be mounted on the distal end of the robotically controlled endoscopic system arm so as to be fixed relative to the distal end of the robotically controlled endoscopic system arm). Indeed, in some embodiments, the coupling device can be mounted on the distal end of the robotically controlled endoscopic system arm by threading the distal end of the robotically controlled endoscopic system arm through the open hollow shape of the coupling device until an inner surface of the coupling device contacts the distal end of the robotically controlled endoscopic system arm, resulting in the fixing of the coupling device relative to the distal end of the robotically controlled endoscopic system arm.

[0068] In some embodiments, the coupling device, once secured onto the endoscopic system coupling device attachment region, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device relative to the robotically controlled endoscopic system arm distal end. In some embodiments, the coupling device, once secured onto the robotically controlled endoscopic system arm distal end, is configured to be loosened to release the coupling device from the robotically controlled endoscopic arm system distal end.

[0069] The coupling device outer attachment region is not limited to a particular method of securing the cable distal end, in some embodiments, the coupling device outer attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro attachment, and an adhesive attachment.

[0070] 4-5 show different perspective views of an embodiment of a connecting device 1. As shown, connecting device 1 has an open hollow shape such that any item with a diameter smaller than the diameter of connecting device 1 can fit through the open hollow shape. As shown, connecting device 1 has a connecting device inner surface 18, a connecting device outer surface 19, and a connecting device outer surface attachment area 20.

[0071] 6 shows a coupling device 1 attached to a robotically controlled endoscopic system arm distal end 17 and a cable distal end 6 secured to the coupling device 1. As shown in FIG. 11, the cable distal end 6 is not connected to a medical procedure device.

[0072] 7 shows a coupling device 1 attached to a robotically controlled endoscopic system arm distal end 17 and a cable distal end 6 secured to the coupling device 1. The cable distal end 6 is connected to a medical procedure device 10 as shown in FIG.

[0073] 8-9 show additional embodiments of the coupling device 1. As shown, the coupling device 1 is configured to be in an open hollow closed loop shape or in a non-loop shape. As shown, the coupling device 1 has a coupling device first arm 21 having a coupling device first arm proximal end 22, a coupling device first arm body 23, and a coupling device first arm distal end 24. As shown, the coupling device 1 has a coupling device second arm 25 having a coupling device second arm proximal end 26, a coupling device second arm body 27, and a coupling device second arm distal end 28. As shown, the coupling device first arm 21 and the coupling device second arm 25 are connected via a coupling device hinge 29. Indeed, as shown, the coupling device hinge 29 connects the coupling device first arm proximal end 22 and the coupling device second arm proximal end 26. As shown, connecting device 1 further illustrates connecting device inner surface 18, connecting device outer surface 19, and connecting device outer surface attachment region 20. As shown, connecting device first arm distal end 24 is configured to lockingly connect with connecting device second arm distal end 28 such that connecting device first arm 21, connecting device second arm 25, and connecting device hinge 29 form a loop that can be opened and closed.

[0074] With further reference to FIGS. 8-9, coupling device 1 is not limited to any particular type or variety of coupling device hinge 29.

[0075] In some embodiments, the coupling device hinge 29 operates in such a manner that it does not affect the function of the endoscopic system (e.g., a robotically controlled endoscopic system). In some embodiments, the coupling device hinge 29 operates to secure the cable (e.g., the cable distal end) without affecting the function of the coupling device 1 capabilities and without affecting the function of the cable (e.g., the cable distal end). In some embodiments, the coupling device hinge 29 operates in such a manner that it does not affect the function of the endoscopic system (e.g., a robotically controlled endoscopic system) and secures the cable (e.g., the cable distal end) without affecting the function of the cable (e.g., the cable distal end).

[0076] In some embodiments, coupling device 1 has a coupling device hinge 29 as shown in Figures 8-9. As shown, coupling device first arm proximal end 22 has a coupling device first arm proximal end knuckle 30 and coupling device second arm proximal end 25 has a coupling device second arm proximal end knuckle 31 and a coupling device hinge pin 32. As shown, coupling device first arm proximal end knuckle 30 and coupling device second arm proximal end knuckle 31 are configured to interlockingly receive coupling device hinge pin 32, thereby forming coupling device hinge 29.

[0077] In some embodiments, the coupling device hinge 29 is configured such that the connected coupling device first arm 21 and coupling device second arm 25 (connected at the coupling device first arm proximal end 22 and the coupling device second arm proximal end 26) can rotate linearly about the coupling device hinge 29 such that there is an expandable or retractable opening between the coupling devices 1. Indeed, when the coupling device first arm distal end 24 and the coupling device second arm distal end 28 are connected, the coupling device first arm 21 and the coupling device second arm 25 cannot rotate linearly about the coupling device hinge 29, resulting in a closed loop of the coupling device 1. Alternatively, when the coupling device first arm distal end 24 and the coupling device second arm distal end 28 are not connected, the coupling device hinge 29 allows the coupling device first arm 21 and the coupling device second arm 25 to rotate linearly about the coupling device hinge 29 such that there is an expandable or retractable opening between the coupling devices 1. In some embodiments, such openings may be adjustable and of sufficient size such that at least a portion of the distal end of the robotically controlled endoscopic system arm may be positioned within the opening.

[0078] In some embodiments, when the robotically controlled endoscope arm system distal end is positioned within such an opening, the coupling device first arm 21 and the coupling device second arm 25 can be linearly rotated about the coupling device hinge 29, resulting in connection of the coupling device first arm distal end 24 and the coupling device second arm distal end 28, and further resulting in the formation of a closed loop around the robotically controlled endoscope system arm distal end. In such embodiments, the coupling device 1 is thereby mounted on the robotically controlled endoscope system arm distal end. Further adjustment of the coupling device 1 (e.g., tightening of the closed loop formed around the robotically controlled endoscope system arm distal end) can result in the fixing of the coupling device 1 to the robotically controlled endoscope system arm distal end. Further adjustment of the coupling device 1 (e.g., loosening and then tightening of the closed loop formed around the robotically controlled endoscope system arm distal end) can result in re-engagement and subsequent fixing of the coupling device 1 to the robotically controlled endoscope system arm distal end. Further adjustment of the connecting device 1 (e.g., loosening of the closed loop formed around the distal end of the robotically controlled endoscopic system arm and separation between the connecting device first arm distal end 24 and the connecting device second arm distal end 28) may result in removal of the connecting device 1 from the distal end of the robotically controlled endoscopic system arm.

[0079] Coupling device 1 is not limited to a particular manner in which it tightens or loosens itself when coupling device first arm distal end 24 and coupling device second arm distal end 28 are connected. In some embodiments, coupling device first arm distal end 24 has coupling device first arm distal end opening 33 and coupling device second arm distal end 28 has coupling device second arm distal end opening 34, as shown in Figures 8-9. In some embodiments, coupling device first arm distal end opening 33 and coupling device second arm distal end opening 34 are each configured to linearly align to receive coupling device thumbscrew 35. In embodiments in which coupling device first arm distal end opening 33 and coupling device second arm distal end opening 34 receive coupling device thumbscrew 35, coupling device thumbscrew 35 can be tightened (e.g., thereby tightening coupling device 1 closed loop) or loosened (e.g., thereby loosening coupling device 1 closed loop).

[0080] Coupling device exterior mounting region 20 is not limited to any particular positioning along coupling device exterior surface 19. In some embodiments, coupling device exterior mounting region 20 is located along either the exterior surface of coupling device first arm exterior body 23 or the exterior surface of coupling device second arm exterior body 27, as shown in Figures 8-9.

[0081] The coupling device outer attachment region is not limited to a particular method of securing the cable distal end, in some embodiments, the coupling device outer attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro attachment, and an adhesive attachment.

[0082] 10 and 11 show coupling device 1 mounted on robotically controlled endoscopic system arm distal end 17. As shown, coupling device first arm proximal end knuckle 30 and coupling device second arm proximal end knuckle 31 are intertwined and connected via coupling device hinge pin 32, thereby forming coupling device hinge 29. As shown, the cable distal end is secured to coupling device outer mounting area 20.

[0083] In some embodiments, the present invention provides a system for medical treatment providing a coupling device as described herein, an endoscopic system (e.g., a robotically controlled endoscopic system as described herein), a cable as described herein, and a medical treatment device (e.g., a microwave ablation device) (e.g., any type or kind of ablation device) (e.g., any energy delivery device as described herein).

[0084] The coupling devices described herein are not limited to any particular application. Indeed, such coupling devices and systems of the present invention are designed for use in any setting where the use of an endoscopic system (e.g., a robotically controlled endoscopic system) is applicable. For example, the coupling devices and systems are useful for open surgery, percutaneous, intravascular, intracardiac, intracavitary, endoscopic, laparoscopic, or surgical energy delivery. Such uses include any and all medical, veterinary, and research applications. In addition, the systems and coupling devices of the present invention may be used in agricultural settings, manufacturing settings, mechanical settings, or any other application where energy is delivered.

[0085] The present invention is not limited by the nature of the target tissue or region. Applications include, but are not limited to, treatment of cardiac arrhythmias, tumor resection (benign and malignant), bleeding control during surgery, after trauma, for any other control of bleeding, removal of soft tissue, tissue extraction and harvesting, treatment of varicose veins, intraluminal tissue resection (e.g., to treat esophageal pathologies such as Barrett's esophagus and esophageal adenocarcinoma), treatment of bone tumors, normal bone, and benign bone conditions, intraocular applications, applications in orthopedic surgery, treatment of central nervous system pathologies including brain tumors and electrical disturbances, sterilization surgery (e.g., removal of fallopian tubes), and cauterization of blood vessels or tissues for any purpose. In some embodiments, surgical applications include ablative therapy (e.g., achieving coagulation necrosis). In some embodiments, surgical applications include tumor resection, for example, targeting metastatic tumors. In some embodiments, the system including the flexible sheath described herein is configured for movement and positioning with minimal trauma to tissue or organisms in any desired location, including, but not limited to, the lungs, brain, neck, chest, abdomen, and pelvis. In some embodiments, the system is configured for guided delivery, e.g., by computed tomography, ultrasound, magnetic resonance imaging, fluoroscopy, etc. Indeed, in some embodiments, all inserted components of such a system are configured for travel along narrow and circuitous paths through the subject (e.g., through branching structures, through the bronchial tree, etc.).

[0086] In certain embodiments, the present invention provides a method of treating a tissue region, the method including providing a tissue region and a system described herein (e.g., a coupling device described herein, a robotically controlled endoscopic system described herein, and a medical treatment device (e.g., a microwave ablation device) (e.g., any type or kind of ablation device) (e.g., any energy delivery device described herein)), securing a cable proximal end to the robotically controlled endoscopic system, securing the coupling device onto one of the robotically controlled endoscopic system arm distal ends such that the coupling device is fixed relative to the robotically controlled endoscopic system distal arm, securing a cable distal end to the coupling device attachment region such that the cable distal end is fixed relative to the coupling device, connecting a medical treatment device to the cable distal end, contacting a subject (e.g., a human subject) with the medical treatment device connected to the cable distal end, and administering a medical treatment to the subject using the medical treatment device connected to the cable distal end. In some embodiments, the medical treatment is delivery of microwave ablation therapy to a specific tissue region. In some embodiments, the tissue region is a tumor. In some embodiments, the medical procedure is performed, for example, to ablate a thrombosis in a tissue region and / or blood vessel and / or to electroporate a tissue region, hi some embodiments, the tissue region includes one or more of the lung, heart, liver, reproductive organs, stomach, lung, large intestine, small intestine, brain, neck, bone, kidney, muscle, tendon, blood vessel, prostate, bladder, and spinal cord.

[0087] All publications and patents mentioned in the above specification are incorporated herein by reference in their entirety and in their entirety. Various modifications and alterations of the described compositions, methods and uses of the technology will become apparent to those skilled in the art without departing from the scope and spirit of the technology described. Although the technology has been described in connection with certain exemplary embodiments, it should be understood that the claimed invention should not be unduly limited to such specific embodiments. Indeed, various modifications of the described methods for carrying out the invention that are apparent to those skilled in the art are intended to be within the scope of the following "claims".

[0088] [Embodiment] (1) A coupling device configured: a) to be mounted on an endoscope system; and b) to secure a cable, the coupling device comprising: the cable having a cable proximal end and a cable distal end, the coupling device configured to secure the cable distal end; The coupling device is configured to be mounted on the endoscopic system and secure the cable distal end such that the coupling device, the endoscopic system, and the cable distal end are in close proximity. (2) The connection device of embodiment 1, wherein the proximity is within a range of 24 inches or less. (3) The connection device of embodiment 2, wherein the range of 24 inches or less is a range of 12 inches or less. (4) The connection device of embodiment 2, wherein the range of 24 inches or less is a range of 6 inches or less. (5) The connection device of embodiment 2, wherein the range of 24 inches or less is a range of 3 inches or less.

[0089] (6) The coupling device of embodiment 2, wherein the range of 24 inches or less is a range of 1 inch or less. (7) The connecting device of embodiment 1, wherein the connecting device is configured to be mounted on the endoscopic system such that the connecting device is fixed relative to the endoscopic system. (8) The connection device of embodiment 1, wherein the connection device is configured to secure the cable distal end such that the cable distal end is fixed relative to the connection device. (9) the coupling device is configured to secure the cable distal end to enable the cable distal end to be securely connected to a proximal end of the medical treatment device such that one or more materials can be provided to and / or received from the medical treatment device; the cable proximal end is configured to interface with a generator such that the generator can provide one or more materials to the cable proximal end; The connection device of embodiment 1, wherein the one or more materials are microwave energy, radio frequency energy, fluid, temperature acquisition means, and imaging acquisition means. (10) The connection device of embodiment 9, wherein the fluid is a pressurized gas or liquid.

[0090] (11) The connection device of claim 10, wherein the fluid is carbon dioxide. (12) The connection device of embodiment 10, wherein the fluid is water. (13) The coupling device of embodiment 9, wherein the medical treatment device is selected from a microwave energy delivery device, a radio frequency energy delivery device, a cryoenergy delivery device, an imaging device, a temperature monitoring device, and a temperature regulating device. (14) The coupling device of embodiment 13, wherein the microwave energy delivery device has a coaxial or triaxial design. (15) The coupling device of embodiment 14, wherein the energy delivery device is configured to circulate coolant received from the cable.

[0091] (16) The connection device of embodiment 1, wherein the endoscopic system is a robotically controlled endoscopic system. (17) The coupling device of claim 13, wherein the robotically controlled endoscopic system is selected from Monarch® (Auris®), Ion® (Intuitive®), and Galaxy System® (Noah Medical®). (18) The robotically controlled endoscopic system includes one or more robotically controlled endoscopic system arms configured to assist in manipulation of a medical procedure device connected to the cable distal end secured within the coupling device; A coupling device as described in embodiment 16, wherein each robotically controlled endoscope system arm has a robotically controlled endoscope system arm proximal end, a robotically controlled endoscope system arm distal end, and a robotically controlled endoscope system arm body. (19) The coupling device of embodiment 18, wherein the coupling device is configured to be mounted on one of the robotically controlled endoscopic system arms such that the coupling device is fixed relative to the robotically controlled endoscopic system arm. (20) The coupling device of embodiment 19, wherein the coupling device is configured to be mounted on one of the distal ends of the robotically controlled endoscopic system arms such that the coupling device is fixed relative to the distal end of the robotically controlled endoscopic system arm.

[0092] (21) The coupling device of embodiment 19, wherein the coupling device is configured to be attached onto one of the robotically controlled endoscopic system arms via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro® attachment, and an adhesive attachment. (22) The connection device has an open hollow shape, the coupling device having a coupling device inner surface; the coupling device inner surface is configured to contact the robotically controlled endoscopic system arm distal end; the coupling device having a coupling device outer surface; 20. The coupling device of embodiment 19, wherein the coupling device outer surface has a coupling device outer surface mounting region configured to secure the cable distal end such that the cable distal end is fixed relative to the coupling device. (23) The connecting device of embodiment 22, wherein the open hollow shape of the connecting device is configured to match at least a portion of the shape of the distal end of the robotically controlled endoscopic system arm such that the connecting device can fit over and around the distal end of the robotically controlled endoscopic system arm and be mounted on the distal end of the robotically controlled endoscopic system arm such that the connecting device is secured to the distal end of the robotically controlled endoscopic system arm. (24) The coupling device of embodiment 23, wherein the coupling device can be attached onto the distal end of the robotically controlled endoscopic system arm by passing the distal end of the robotically controlled endoscopic system arm through the open hollow configuration of the coupling device until an inner surface of the coupling device contacts the distal end of the robotically controlled endoscopic system arm, resulting in fixation of the coupling device to the distal end of the robotically controlled endoscopic system arm. (25) The coupling device is configured, when secured onto the robotically controlled endoscopic system arm distal end, to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device to the robotically controlled endoscopic system arm distal end; The coupling device of embodiment 24, wherein the coupling device, when secured onto the distal end of the robotically controlled endoscopic system arm, is configured to be loosened for the purpose of releasing the coupling device from the distal end of the robotically controlled endoscopic system arm.

[0093] (26) The connection device of embodiment 24, wherein the connection device has an open, hollow, uniform ring shape or an open, hollow, oval shape. (27) The coupling device of embodiment 22, wherein the coupling device outer surface attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic based attachment, a shape lock attachment, a suction based attachment, a Velcro® attachment, and an adhesive attachment. (28) The connection device includes a connection device first arm, the coupling device first arm has a coupling device first arm proximal end, a coupling device first arm body, and a coupling device first arm distal end; the coupling device comprises a coupling device second arm; the coupling device second arm has a coupling device second arm proximal end, a coupling device second arm body, and a coupling device second arm distal end; the coupling device first arm proximal end and the coupling device second arm proximal end are connected via a coupling device hinge; the coupling device first arm and the coupling device second arm are each configured to rotate linearly about the coupling device hinge such that an expandable or retractable opening exists between the coupling device first arm proximal end and the coupling device second arm proximal end; A connecting device as described in embodiment 23, wherein the distal end of the connecting device first arm is configured to lock into connection with the distal end of the connecting device second arm so that the connecting device first arm, the connecting device second arm, and the connecting device hinge form a closed loop. (29) The coupling device first arm and the coupling device second arm are configured to rotate linearly about the coupling device hinge such that an opening is created between the coupling device first arm distal end and the coupling device second arm distal end; the opening is of a sufficient size such that at least a portion of the distal end of the robotically controlled endoscopic system arm can be positioned within the opening; A connecting device as described in embodiment 28, wherein the connecting device first arm distal end is configured to lockingly connect with the connecting device second arm distal end, and the robotically controlled endoscopic system arm distal end is positioned within the opening, thereby forming a closed loop around the robotically controlled endoscopic system arm distal end such that the connecting device is fixed relative to the robotically controlled endoscopic system arm distal end. (30) The coupling device, when secured onto the robotically controlled endoscopic system arm distal end, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device to the robotically controlled endoscopic system arm distal end; A connecting device as described in embodiment 29, wherein the connecting device first arm distal end is configured to be separated from the connecting device second arm distal end for the purpose of releasing the connecting device from the robotically controlled endoscopic system arm distal end.

[0094] (31) The connecting device first arm distal end has a connecting device first arm distal end opening configured to receive a screw; the coupling device second arm distal end having a coupling device second arm distal end opening configured to receive a screw; The connecting device of embodiment 30, wherein when the connecting device is secured onto the distal end of the robotically controlled endoscopic system arm, the connecting device is configured to be tightened around the distal end of the robotically controlled endoscopic system arm for the purpose of further securing the connecting device to the distal end of the robotically controlled endoscopic system arm via screws disposed in both the connecting device first arm distal end opening and the connecting device second arm distal end opening. (32) The connection device of embodiment 31, wherein the screw is a thumbscrew. (33) The connecting device outer surface mounting region is disposed along the connecting device first arm body; or 29. The connection device of embodiment 28, wherein the connection device outer surface mounting region is disposed along the connection device second arm body. (34) The coupling device of embodiment 33, wherein the coupling device outer attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro® attachment, and an adhesive attachment. 35. The coupling device of claim 1, wherein the coupling device comprises a plastic composition, a metal composition, a ceramic composition, or any mixture thereof.

[0095] (36) A coupling device according to embodiment 1, a cable having a cable proximal end and a cable distal end; A medical treatment device; a robotically controlled endoscopy system, the robotically controlled endoscopic system comprises one or more robotically controlled endoscopic system arms configured to assist in placement of or provide a conduit for a medical procedure device connected to the cable distal end secured within the coupling device; A system in which each robotically controlled endoscope system arm has a robotically controlled endoscope system arm proximal end, a robotically controlled endoscope system arm distal end, and a robotically controlled endoscope system arm body. (37) The system of embodiment 36, wherein the robotically controlled endoscopic system is selected from Monarch® (Auris®), Ion® (Intuitive®), and Galaxy System® (Noah Medical®). (38) The system of embodiment 36, wherein the medical treatment device is selected from a microwave energy delivery device, a radio frequency energy delivery device, a cryoenergy delivery device, an imaging device, a temperature monitoring device, and a temperature regulation device. (39) The system of embodiment 38, wherein the microwave energy delivery device has a coaxial or triaxial design. (40) The system of embodiment 36, further comprising a generator configured to connect to the cable proximal end, the generator configured to provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an imaging acquisition means.

[0096] (41) A method of performing a medical procedure, comprising: Providing a system according to claim 36; and securing the cable proximal end to a generator; securing the coupling device onto one of the robotically controlled endoscopic system arm distal ends such that the coupling device is fixed relative to the robotically controlled endoscopic system distal arms; securing the cable distal end to the coupling device attachment region such that the cable distal end is fixed relative to the coupling device; connecting the medical treatment device to the cable distal end; contacting a subject with the medical treatment device connected to the cable distal end; and performing a medical procedure on the subject using the medical procedure device connected to the cable distal end. (42) The method of embodiment 41, wherein the medical treatment device is a microwave energy delivery device. (43) The method of embodiment 42, wherein the medical procedure is a microwave ablation procedure. (44) The method of embodiment 41, wherein the subject is a human subject. (45) The method of embodiment 41, wherein the generator is configured to provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an imaging acquisition means.

Claims

1. 1. A coupling device configured: a) to be mounted on an endoscope system; and b) to secure a cable, the coupling device comprising: the cable having a cable proximal end and a cable distal end, the coupling device configured to secure the cable distal end; The coupling device is configured to be mounted on the endoscopic system and secure the cable distal end such that the coupling device, the endoscopic system, and the cable distal end are in close proximity.

2. The coupling device of claim 1 , wherein the proximity is within 24 inches or less.

3. 3. The coupling device of claim 2, wherein the range of 24 inches or less is a range of 12 inches or less.

4. 3. The coupling device of claim 2, wherein the range of 24 inches or less is a range of 6 inches or less.

5. 3. The coupling device of claim 2, wherein the range of 24 inches or less is a range of 3 inches or less.

6. 3. The coupling device of claim 2, wherein the range of 24 inches or less is a range of 1 inch or less.

7. The coupling device of claim 1 , wherein the coupling device is configured to be mounted on the endoscopic system such that the coupling device is fixed relative to the endoscopic system.

8. The coupling device of claim 1 , wherein the coupling device is configured to secure the cable distal end such that the cable distal end is fixed relative to the coupling device.

9. the coupling device is configured to secure the cable distal end to enable the cable distal end to be securely connected to the proximal end of the medical treatment device such that one or more materials can be provided to and / or received from the medical treatment device; the cable proximal end is configured to interface with a generator such that the generator can provide one or more materials to the cable proximal end; The coupling device of claim 1 , wherein the one or more materials are microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an image acquisition means.

10. The coupling device of claim 9 , wherein the fluid is a pressurized gas or a liquid.

11. The coupling device of claim 10 , wherein the fluid is carbon dioxide.

12. The coupling device of claim 10 , wherein the fluid is water.

13. 10. The coupling device of claim 9, wherein the medical treatment device is selected from a microwave energy delivery device, a radio frequency energy delivery device, a cryoenergy delivery device, an imaging device, a temperature monitoring device, and a temperature regulating device.

14. The coupling device of claim 13 , wherein the microwave energy delivery device comprises a coaxial or triaxial design.

15. The coupling device of claim 14 , wherein the energy delivery device is configured to circulate coolant received from the cable.

16. The coupling device of claim 1 , wherein the endoscopic system is a robotically controlled endoscopic system.

17. 14. The coupling device of claim 13, wherein the robotically controlled endoscopic system is selected from Monarch® (Auris™), Ion® (Intuitive®), and Galaxy System™ (Noah Medical™).

18. the robotically controlled endoscopic system comprising one or more robotically controlled endoscopic system arms configured to assist in manipulation of a medical procedure device connected to the cable distal end secured within the coupling device; The coupling device of claim 16 , wherein each robotically controlled endoscope system arm has a robotically controlled endoscope system arm proximal end, a robotically controlled endoscope system arm distal end, and a robotically controlled endoscope system arm body.

19. 20. The coupling device of claim 18, wherein the coupling device is configured to be mounted on one of the robotically controlled endoscope system arms such that the coupling device is fixed relative to the robotically controlled endoscope system arm.

20. 20. The coupling device of claim 19, wherein the coupling device is configured to be mounted on one of the robotically controlled endoscopic system arm distal ends such that the coupling device is fixed relative to the robotically controlled endoscopic system arm distal end.

21. 20. The coupling device of claim 19, wherein the coupling device is configured to be mounted onto one of the robotically controlled endoscope system arms via one or more of a magnetic-based attachment, a shape-lock attachment, a suction-based attachment, a Velcro® attachment, and an adhesive attachment.

22. the coupling device has an open hollow shape; the coupling device having a coupling device inner surface; the coupling device inner surface is configured to contact the robotically controlled endoscopic system arm distal end; the coupling device having a coupling device outer surface; 20. The coupling device of claim 19, wherein the coupling device outer surface has a coupling device outer surface attachment region configured to secure the cable distal end such that the cable distal end is fixed relative to the coupling device.

23. 23. The coupling device of claim 22, wherein the open hollow shape of the coupling device is configured to match at least a portion of a shape of the distal end of the robotically controlled endoscopic system arm such that the coupling device can fit over and around and be mounted on the distal end of the robotically controlled endoscopic system arm such that the coupling device is secured relative to the distal end of the robotically controlled endoscopic system arm.

24. 24. The coupling device of claim 23, wherein the coupling device can be mounted onto the robotically controlled endoscopic system arm distal end by passing the robotically controlled endoscopic system arm distal end through the open hollow feature of the coupling device until the coupling device inner surface contacts the robotically controlled endoscopic system arm distal end, resulting in locking of the coupling device relative to the robotically controlled endoscopic system arm distal end.

25. the coupling device, when secured onto the robotically controlled endoscopic system arm distal end, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device relative to the robotically controlled endoscopic system arm distal end; 25. The coupling device of claim 24, wherein the coupling device, when secured onto the distal end of the robotically controlled endoscopic system arm, is configured to be loosened for purposes of releasing the coupling device from the distal end of the robotically controlled endoscopic system arm.

26. 25. The coupling device of claim 24, wherein the coupling device has an open hollow uniform ring shape or an open hollow oval shape.

27. 23. The coupling device of claim 22, wherein the coupling device outer surface attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic based attachment, a shape lock attachment, a suction based attachment, a Velcro® attachment, and an adhesive attachment.

28. the coupling device comprises a coupling device first arm; the coupling device first arm has a coupling device first arm proximal end, a coupling device first arm body, and a coupling device first arm distal end; the coupling device comprises a coupling device second arm; the coupling device second arm has a coupling device second arm proximal end, a coupling device second arm body, and a coupling device second arm distal end; the coupling device first arm proximal end and the coupling device second arm proximal end are connected via a coupling device hinge; the coupling device first arm and the coupling device second arm are each configured to rotate linearly about the coupling device hinge such that an expandable or retractable opening exists between the coupling device first arm proximal end and the coupling device second arm proximal end; 24. The coupling device of claim 23, wherein the coupling device first arm distal end is configured to lockingly connect with the coupling device second arm distal end such that the coupling device first arm, the coupling device second arm, and the coupling device hinge form a closed loop.

29. the coupling device first arm and the coupling device second arm are configured to rotate linearly about the coupling device hinge such that an opening is created between the coupling device first arm distal end and the coupling device second arm distal end; the opening is of a sufficient size such that at least a portion of the distal end of the robotically controlled endoscopic system arm can be positioned within the opening; 30. The coupling device of claim 28, wherein the coupling device first arm distal end is configured to lockingly connect with the coupling device second arm distal end, and the robotically controlled endoscopic system arm distal end is disposed within the opening, thereby forming a closed loop around the robotically controlled endoscopic system arm distal end such that the coupling device is fixed relative to the robotically controlled endoscopic system arm distal end.

30. the coupling device, when secured onto the robotically controlled endoscopic system arm distal end, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device relative to the robotically controlled endoscopic system arm distal end; 30. The coupling device of claim 29, wherein the coupling device first arm distal end is configured to separate from the coupling device second arm distal end for purposes of releasing the coupling device from the robotically controlled endoscopic system arm distal end.

31. the coupling device first arm distal end having a coupling device first arm distal end opening configured to receive a screw; the coupling device second arm distal end having a coupling device second arm distal end opening configured to receive a screw; 31. The coupling device of claim 30, wherein the coupling device, when secured onto the robotically controlled endoscopic system arm distal end, is configured to be tightened around the robotically controlled endoscopic system arm distal end to further secure the coupling device to the robotically controlled endoscopic system arm distal end via screws disposed in both the coupling device first arm distal end opening and the coupling device second arm distal end opening.

32. The coupling device of claim 31 , wherein the screw is a thumbscrew.

33. the coupling device outer mounting region is disposed along the coupling device first arm body; or 30. The coupling device of claim 28, wherein the coupling device outer mounting region is disposed along the coupling device second arm body.

34. 34. The coupling device of claim 33, wherein the coupling device outer surface attachment region is configured to secure the cable distal end such that the cable distal end is secured to the coupling device via one or more of a magnetic based attachment, a shape lock attachment, a suction based attachment, a Velcro® attachment, and an adhesive attachment.

35. The coupling device of claim 1 , wherein the coupling device comprises a plastic composition, a metal composition, a ceramic composition, or any mixture thereof.

36. A coupling device according to claim 1 ; a cable having a cable proximal end and a cable distal end; A medical treatment device; a robotically controlled endoscopy system, the robotically controlled endoscopic system comprises one or more robotically controlled endoscopic system arms configured to assist in placement of or provide a conduit for a medical procedure device connected to the cable distal end secured within the coupling device; A system in which each robotically controlled endoscope system arm has a robotically controlled endoscope system arm proximal end, a robotically controlled endoscope system arm distal end, and a robotically controlled endoscope system arm body.

37. 37. The system of claim 36, wherein the robotically controlled endoscopic system is selected from Monarch® (Auris™), Ion® (Intuitive®), and Galaxy System™ (Noah Medical™).

38. 37. The system of claim 36, wherein the medical treatment device is selected from a microwave energy delivery device, a radio frequency energy delivery device, a cryoenergy delivery device, an imaging device, a temperature monitoring device, and a temperature regulating device.

39. 40. The system of claim 38, wherein the microwave energy delivery device comprises a coaxial or triaxial design.

40. 37. The system of claim 36, further comprising a generator configured to connect to the cable proximal end, the generator configured to provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an image acquisition means.

41. 1. A method of performing a medical procedure, comprising: Providing a system according to claim 36; securing the cable proximal end to a generator; securing the coupling device onto one of the robotically controlled endoscopic system arm distal ends such that the coupling device is fixed relative to the robotically controlled endoscopic system distal arms; securing the cable distal end to the coupling device attachment region such that the cable distal end is fixed relative to the coupling device; connecting the medical treatment device to the cable distal end; contacting a subject with the medical treatment device connected to the cable distal end; and performing a medical procedure on the subject using the medical procedure device connected to the cable distal end.

42. 42. The method of claim 41, wherein the medical treatment device is a microwave energy delivery device.

43. 43. The method of claim 42, wherein the medical procedure is a microwave ablation procedure.

44. 42. The method of claim 41 , wherein the subject is a human subject.

45. 42. The method of claim 41, wherein the generator is configured to provide one or more materials to the cable proximal end, the one or more materials being microwave energy, radio frequency energy, a fluid, a temperature acquisition means, and an image acquisition means.

Images