Remotely controlled handheld bronchoscope

Abstract

This specification describes embodiments relating to remotely controlled bronchoscopy configurations that use commercially available handheld bronchoscopes to create distance between medical professionals and patients. The bronchoscopy configuration comprises a commercially available handheld bronchoscope that is remotely controlled by a cable that mechanically drives the overall movement of the bronchoscope. The bronchoscope generally comprises an insertion tube extending from a handle, which is bent via an insertion tube joint actuator and rotated by a rotatable insertion tube gear. The rotatable insertion tube gear is configured to rotate the insertion tube about at least an axis to which the insertion tube connects to the handle. The rotatable insertion tube gear angularly positions the tip of the insertion tube about the axis.

Description

Technical Field

[0001] Cross - reference to Related Applications This application claims the priority and benefit of U.S. Provisional Application No. 63 / 460,085, filed on April 18, 2023, entitled "MEDICAL ENDOSCOPE HOLDER WITH REMOTE MECHANICAL CONTROL FUNCTIONS". The entire disclosure of U.S. Provisional Application No. 63 / 460,085 is incorporated herein by reference.

[0002] The present invention generally relates to non - electrically driven mechanical endoscopes.

Background Art

[0003] Flexible endoscopes are indispensable medical devices in modern medicine, revolutionizing diagnostic and therapeutic procedures across various medical specialties. These slender, flexible instruments consist of a long tube equipped with a small camera and lighting system, enabling surgeons to visualize the internal structures of the body with exceptional precision and move within the structures. Unlike rigid endoscopes, flexible endoscopes can bend and navigate complex paths to reach deep within organs such as the gastrointestinal tract, respiratory system, and urinary tract. The flexibility of these endoscopes not only improves the comfort of the patient during the procedure but also enables clinicians to access areas that would otherwise be difficult or impossible to reach.

[0004] Robot-assisted endoscopes are driven by electronically controlled mechanisms to move and advance within the body during diagnostic and therapeutic procedures. These mechanisms typically include a combination of control devices that respond electrically to manual inputs. At the tip of the endoscope control device is an insertion tube, which often features articulated joints that allow for bending and flexing in multiple directions. These articulated joints are electrically controlled by knobs or levers operated by the surgeon, enabling precise movement through the body's internal passages. More specifically, the endoscope may feature a motor-driven control system that allows for remote manipulation of the insertion tube by the surgeon, enabling skillful movement and control during the procedure.

[0005] Embodiments of the present invention generally relate to innovative technologies for controlling flexible endoscopes. [Overview of the project] [Means for solving the problem]

[0006] The present invention generally relates to a non-electrically driven flexible endoscope.

[0007] In this regard, some embodiments of the present invention envision a bronchoscope configuration comprising a handheld bronchoscope, a mounting thread, and a mechanical driver connected to the handheld bronchoscope via a cable. More specifically, the handheld bronchoscope comprises a handle, an insertion tube extending from the handle, an insertion tube articulation actuator configured to bend the insertion tube, and a rotating knob about an axis. The rotating knob is configured to rotate the insertion tube about an axis. An insertion tube gear is fixedly mounted to the rotating knob in a manner that surrounds at least a portion of the rotating knob (i.e., the insertion tube gear is sleeve-connected above at least a portion of the rotating knob). The mounting thread is configured to be driven in a forward and backward direction along the thread frame via a thread screw shaft. The mechanical driver comprises an insertion tube articulation knob configured to actuate the insertion tube articulation actuator via an insertion tube actuation cable. The mechanical driver further comprises an insertion tube rotation knob configured to rotate the insertion tube gear via an insertion tube rotation cable. In addition, the mechanical driver includes thread-pre- and thread-pre-knobs configured to rotate the thread screw axis via thread-pre- and thread-pre-cables. The bronchoscope configuration does not have a motor.

[0008] Another embodiment of the present invention generally envisions a mounting thread configuration comprising a mounting thread, a thread screw shaft, an articular actuator screw shaft, and a drive gear. The mounting thread is slidably engaged with a thread frame via a thread nut housing, and the thread frame extends between a front and a rear portion of the thread frame. The thread screw shaft is captured at either end of the thread screw shaft by the thread frame (which can be rotatably engaged with a thread screw shaft capture bearing sleeve), and the thread nut housing is configured to drive between the front and rear portions of the thread frame when the thread screw shaft is rotated via a thread front-to-rear cable connected thereto. The articular actuator screw shaft includes a retaining cuff extending from the mounting thread. The retaining cuff is configured to traverse along the articular actuator screw shaft when the articular actuator screw shaft is rotated via an insertion tube actuation cable connected thereto. The retaining cuff is configured to engage with the insertion tube articular actuator of the bronchoscope. The drive gear extends from a gear extension shaft connected to the mounting thread. The drive gear is positioned closer to the front of the thread frame than to the rear of the thread frame. The drive gear is configured to engage with the bronchoscope insertion tube gear. The articulated actuator screw shaft is configured to rotate the drive gear via the insertion tube operating cable connected to it.

[0009] A further embodiment of the present invention envisions a method for remotely operating a handheld bronchoscope, comprising the steps of remotely bending an insertion tube, remotely rotating an insertion tube, and remotely moving an insertion tube in a forward-backward direction. The step of bending an insertion tube extending from a handheld bronchoscope is achieved by activating an insertion tube articulation actuator on the handheld bronchoscope by rotating a first cable via a first knob on a mechanical driver. The step of rotating an insertion tube is achieved by rotating an insertion tube mating gear on the handheld bronchoscope by rotating a second cable via a second knob on a mechanical driver. The step of moving an insertion tube in a forward-backward direction is achieved via a thread connected to the handheld bronchoscope by rotating a third cable via a third knob on a mechanical driver. These steps do not involve assistance from an electric motor. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram of a bronchoscope configuration according to an embodiment of the present invention. [Figure 2] This is a diagram showing an enlarged view of a thread configuration connected to a commercially available handheld bronchoscope according to an embodiment of the present invention. [Figure 3] Figures 1 and 2 are top view diagrams of the bronchoscope configuration according to an embodiment of the present invention. [Figure 4A] An illustrative diagram of the front side of a mechanical driver according to an embodiment of the present invention is shown. [Figure 4B] An illustrative diagram of the rear of a mechanical driver according to an embodiment of the present invention is shown. [Figure 5A] This diagram illustrates a thread configuration without a handheld bronchoscope according to an embodiment of the present invention. [Figure 5B] This diagram illustrates a thread configuration without a handheld bronchoscope according to an embodiment of the present invention. [Figure 6]This is a block diagram showing a method for using a bronchoscope configuration according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] First, this disclosure is given as an example, not as an limitation. Therefore, the means described herein are given for illustrative purposes only and are illustrated and described in relation to exemplary embodiments, but it should be understood that the principles of this specification may similarly apply to other similar configurations involving subject matter within the art of the invention. Phrases such as “in one embodiment” or “according to one embodiment” generally mean that a particular feature, structure, or characteristic following this phrase is included in at least one embodiment of the invention and may be included in multiple embodiments of the invention. Importantly, such phrases do not necessarily refer to the same embodiment. Where this specification states that a component or feature “may include,” “may include,” “may contain,” or “may include,” or that a component or feature “may have,” “may have,” “may possess,” or “may possess,” that particular component or feature is not required to include, nor is it required that that particular component or feature possess that characteristic. As used herein, the terms “having” and “have” and “including” are considered open language and are synonymous with “comprising.” Furthermore, as used herein, the term “substantially” is intended to emphasize that any characteristic of something should be interpreted as being within an acceptable tolerance known to those skilled in the art, in accordance with typical, ordinary world tolerances, similar to “approximately.” For example, substantially flat, substantially straight, substantially on time, etc., all indicate that these characteristics are not entirely detached in the sense of their limits. Thus, if there is no specific + / - value assigned to “substantially,” assume that “substantially” means within + / - 2.5% of the exact value. As used herein, the term “connected” should be interpreted as the first element being physically connected to or attached to the second element, and not as “means for attachment,” such as “means plus function.”In other words, unless a term explicitly uses the verbal gerund form followed by “means for,” that term shall not be interpreted under 35 U.S.C. §112(f). Hereafter, the same name may be used to identify similar or identical structures.

[0012] Regarding the drawings, please note that they are not necessarily drawn to scale and are schematic in order to illustrate the features in question. For example, descriptive terms such as top / bottom, apex / bottom, horizontal / vertical, left / right may be adopted with respect to various viewpoints or conventions given to the drawings in a manner that is generally understood by the reader, for the purpose of enhancing the reader's understanding, and are not intended to be limiting. All embodiments described herein are presented as being operable regardless of any overall physical orientation unless specifically described otherwise, such as elements that depend on gravity to operate.

[0013] This specification describes embodiments relating to remotely controlled bronchoscopy configurations that use commercially available handheld bronchoscopes to bring distance between the medical professional and the patient and to provide additional precision, stability, and control of the bronchoscope. The bronchoscopy configuration comprises a commercially available handheld bronchoscope that is remotely controlled by a cable that mechanically drives the overall movement of the bronchoscope. The bronchoscope generally comprises an insertion tube extending from the handle, which is bent via an insertion tube articulation actuator and rotated by a rotatable insertion tube gear. The rotatable insertion tube gear is configured to rotate the insertion tube at least around an axis to which the insertion tube is connected to the handle. The rotatable insertion tube gear angularly positions the tip of the insertion tube around the axis.

[0014] Figure 1 is a diagram of a bronchoscope configuration according to an embodiment of the present invention. The bronchoscope configuration 100 may include a commercially available (existing) handheld bronchoscope 200, which is remotely controlled by cables 412, 438, and 444 that mechanically drive the overall movement of the bronchoscope 200. The cables 412, 438, and 444 are bundled within a cable sleeve 400. The handheld bronchoscope 200 generally includes an insertion tube 204 extending from a handle 202, which is actuated to bend via an insertion tube articulation actuator 244 and rotated by a rotary knob 234 which includes a rotatable insertion tube gear 238. The insertion tube gear 238 slides tightly and fixedly above the rotary knob 234, forming teeth that cooperate with a drive gear 138. The insertion tube joint motion actuator 244 bends the insertion tube 204 via a wire (not shown) inside the insertion tube 204 when the insertion tube joint motion actuator 244 is moved back and forth along the longitudinal direction 105. A rotatable insertion tube gear 238 engages with a drive gear 138 and is configured to rotate the insertion tube 204 at least around an axis 205 to which the insertion tube 204 is connected to a handle 202, which is herein indicated as a handle tube interface 208. The rotatable insertion tube gear 238 positions the insertion tube 204, and more specifically, angularly positions the insertion tube tip 210 around the axis 205, where the insertion tube tip 210 is herein indicated to be separated from the axis 205.

[0015] In this embodiment, a commercially available bronchoscope 200 is fixedly connected to the mounting thread configuration 101 via a cradle 108 and a retaining strap 118. More specifically, as shown herein, the bronchoscope 200 is located inside the cradle 108 and is held in place (tightened) by the elastic retaining strap 118. It should be noted that there are a wide variety of other methods for connecting a commercially available bronchoscope 200 to the thread configuration 101, and such methods may include screws, bolts, quick-release devices, adhesives, magnetic latches, and numerous other methods known to those skilled in the art of mechanical technology. The thread configuration 101 includes a thread motion control element 120 that controls the required movement of the insertion tube 204 through the handheld bronchoscope 200. In this embodiment, the thread motion control element 120 is controlled by a handheld mechanical driver 300, which rotates or otherwise twists the cables 412, 438, and 444 via knobs 312, 338, and 344 in the handheld mechanical driver 300. Since the bronchoscope configuration 100 is mechanically driven by the cables 412, 438, and 444 and not motor-driven, the cost of providing the configuration 100 is low, no power is required to control a motor-driven bronchoscope, and it meets the requirements for using a remotely controlled bronchoscope in low-to-zero power-equipped environments such as developing countries or temporary emergency medical facilities. In this embodiment, for example, the mounted thread configuration 101 can be mounted on a table or platform via an articulated motion stand 150 by a mounting base 156, which is commonly referred to herein as a ramp foot.

[0016] The joint movement stand 150 is connected to the thread configuration 101 to position the thread configuration 101 at a desired position above the patient. In this embodiment, as shown in Figure 2, the joint movement stand 150 is mounted on the bottom 103 of the thread frame. The joint movement stand 150 has an upper ball joint 152 at its top that can freely rotate to position the thread configuration 101 above the patient as desired. An upper locking lever arm 154 is used to lock the thread configuration 101 in place when rotated in the locking direction. The stand 150 can be mounted on a table, bed frame, or any other stable surface near the patient. A lower ball joint 153 can freely angle to raise and lower the thread configuration 101 and can be locked in place via a lower locking lever arm 155 when the thread configuration 101 is moved to the desired position.

[0017] Figure 2 is a diagram of an enlarged view of a thread configuration 101 connected to a commercially available handheld bronchoscope 200 according to an embodiment of the present invention. Figure 2 will be described in consideration of the elements indicated by reference numerals in Figure 1. With respect to the illustrated commercially available handheld bronchoscope 200 shown herein, the handheld bronchoscope 200 generally comprises an insertion tube 204 extending from a handle 202 having the ability to guide the insertion tube 204 along the patient's bronchi. In detail, the insertion tube 204 is usually used with an optical fiber cable to illuminate the portion beyond the tip 210 of the insertion tube in addition to the optical cable, visually indicating what is in front of the tip 210 of the insertion tube. The bronchoscope 200 has a suction groove 214 (which can be connected to a suction tube), a suction valve button 212, and a catheter insertion groove 216, all of which utilize a tubular path within the insertion tube 204. The insertion tube 204 can be articulated (bent) via an internal wire (not shown) by sliding the insertion tube articulation actuator 244 (connected to an internal wire) toward the anterior 220 and posterior 222 of the bronchoscope (sliding along the anterior-posterior direction 105 in this figure). The insertion tube 204 can be rotated around the axis 205 at the handle tube interface 208.

[0018] As previously mentioned, commercially available handheld bronchoscopes 200 are designed and intended to be held in the hands of a medical professional who will use the handheld bronchoscope 200 directly on a patient; that is, the medical professional will be in close proximity to the patient at the patient's bedside or, in other cases, beside the patient and be able to contact the patient throughout essentially the entirety of any procedure using the handheld bronchoscope 200. In contrast, this embodiment illustrates a commercially available handheld bronchoscope 200 that is fixed but detachably mounted to a threaded configuration 101, the threaded configuration 101 comprising elements in a mechanical drive system for remotely controlling bronchial surgery via the bronchoscope 200. In this embodiment, the commercially available handheld bronchoscope 200 is connected to the threaded configuration 101 via a cradle 108 and held in place (tightened) by a retaining strap 118. The retaining strap 118 can be an elastic band that presses the handle 202 tightly against an inner groove of the cradle 108. It should be noted that there are many other methods for connecting a commercially available bronchoscope 200 to the thread configuration 101, and such methods may include screws, bolts, quick-release devices, magnets, and numerous other methods known to those skilled in the art.

[0019] This embodiment shows a thread configuration 101 adapted to a commercially available handheld bronchoscope 200 shown in the illustration, but other bronchoscope drive / operation configurations implemented in any thread configuration can be used for compatibility with other commercially available handheld bronchoscopes, endoscopes, etc., using similar cable and gear concepts exemplified in this embodiment. Here, the thread configuration 101 includes means for remotely moving a mounting thread 110 in a forward-backward direction 105 along a thread frame 102. In this embodiment, the mounting thread 110 is connected to or otherwise slidably engaged with the thread frame 102 via a thread nut housing 116 which can be driven to move in a forward-backward direction 105 via a spinning thread screw shaft 112 (which is a threaded drive shaft), as shown in Figure 5A. Some embodiments intend a thread nut housing 116 which is a ball nut with a ball return system, where a ball nut with a ball return system uses ball bearings inside the ball nut to slide the nut housing along the threads of the thread screw shaft as the thread screw shaft spins. During operation, the thread front / back knob 312 on the mechanical handheld driver 300 is rotated, thereby rotating the thread front / back cable 412, and then the thread screw shaft 112 via the flexible coupling 114. As the thread screw shaft 112 spins, the thread nut housing 116 is driven in a front / back direction 105 defined between the front part 104 and the rear part 106 of the thread frame. In this embodiment, the flexible coupling 114 connects the thread screw shaft 112 to the thread front / back cable 412. Thus, a commercially available handheld bronchoscope 200, more specifically the insertion tube 204, moves in the front / back direction 105 when the mounting thread 110 moves in the front / back direction 105 along the thread frame 102.

[0020] The thread configuration 101 also includes means for remotely rotating the insertion tube serrated gear 238 in the front portion 220 of the bronchoscope. The front portion 220 of the bronchoscope is fixedly fitted to at least a part of the rotation knob 234 of the bronchoscope 200 or is cuff-connected in other ways. The rotation knob 234 is used to rotate the insertion tube 204 when the operator grips and rotates the rotation knob 234 while using the hand-held bronchoscope 200 independently of the thread configuration 101. The insertion tube serrated gear is fitted into the rotation knob 234 and forms teeth that interact and cooperate with the drive serrated gear 138, enabling the remotely controlled drive system of the drive serrated gear 138 to rotate the rotation knob 234. In this embodiment, the insertion tube serrated gear 238 is driven by the drive serrated gear 138 that meshes with the insertion tube serrated gear 238, and the insertion tube serrated gear 238 forms a gear with the drive serrated gear 138. During operation, the insertion tube rotation knob 338 on the mechanical hand-held driver 300 is rotated, thereby rotating the insertion tube rotation cable 438. Next, the serrated gear extension shaft 132, and thus the drive serrated gear 138 attached to the distal end of the serrated gear extension shaft 132, rotates. Here, the serrated gear extension shaft 132 is supported by the cradle 108 via a bearing sleeve 136 bolted to the cradle 108. The serrated gear extension shaft 132 is connected to the insertion tube rotation cable 438 via a flexible coupling 134. Therefore, when the drive serrated gear 138 drives the insertion tube serrated gear 238, the insertion tube 204 is moved clockwise or counterclockwise 215 around the axis 205.

[0021] The thread configuration 101 further comprises means for remotely acting an insertion tube articulation actuator 244 located at the bottom of the handle 108. In this embodiment, the insertion tube articulation actuator 244 is driven by a retaining cuff 144, which comprises a pair of plates that capture or otherwise confine the insertion tube articulation actuator 244. The pair of plates are adjustable to compress each other and fit snugly onto the insertion tube articulation actuator 244. In any embodiment, the retaining cuff is not a pair of plates but a grooved nut, a cooperating mechanical gripper, or any other retainer that accepts the insertion tube articulation actuator 244 so as to be able to hold and move the insertion tube articulation actuator 244. Here, the retaining cuff 144 is threaded along the articulation actuator screw shaft 142, and when the articulation actuator screw shaft 142 spins, it moves the retaining cuff 144 essentially in a forward-backward direction 105, thereby acting or otherwise moving the insertion tube articulation actuator 244. The joint motion actuator screw shaft 142 is rotatably held at either end by a bearing 148 when coupled to the insertion tube actuation cable 444 via a coupling 146. During operation, the insertion tube joint motion knob 344 on the mechanical handheld driver 300 is rotated, thereby rotating the insertion tube actuation cable 444, which in turn rotates / spins the joint motion actuator screw shaft 142, driving the retaining cuff 144 back and forth in the forward / backward direction 105. Thus, the insertion tube joint motion actuator 244 can be remotely actuated back and forth by remotely driving the retaining cuff 144 along the joint motion actuator screw shaft 142 via the insertion tube actuation cable 444.

[0022] Some embodiments of the present invention contemplate a stand 150 connected to the thread configuration 101 to position the thread configuration 101 at a desired position above the patient. In this embodiment, only a portion of the stand 150 attached to the bottom of the thread frame 103 is shown. As described above, the thread frame stand 150 includes a ball joint 152 that can freely rotate angularly as desired to position the thread configuration 101 above the patient. The locking lever arm 154 is used to lock the thread configuration 101 in a predetermined position when moved in a locking direction. The stand 150 can be attached to a table, a bed frame, or some other stable surface near the patient.

[0023] Figure 3 is a top view of the bronchoscope configuration 100 of FIGS. 1 and 2 according to an embodiment of the present invention. This is another perspective view of the hand-held bronchoscope 200 that is located inside the cradle 108 and clamped to the cradle 108 via a retaining strap 118 that extends around the bronchoscope handle 202. The spline gear extension shaft 132 is also shown, which extends from the flexible coupling 134, passes through the bearing sleeve 136, and terminates at the drive spline gear 138, which meshes in a gear relationship with the insertion tube spline gear 238. The top of the mounting thread 110 is shown above the thread frame 102. The cable sleeve 400 bundles and protects the cables 412, 438, and 444, and is also shown with reference numerals together with the insertion tube actuating cable 444 and the coupling 146.

[0024] Figures 4A and 4B illustrate front and rear diagrams of a mechanical driver according to an embodiment of the present invention. Figure 4A is a front view of a handheld mechanical driver 300 showing knobs 312, 338, and 344 extending from the front surface 302 of the driver 300. Here, the driver 300 has no motor and is rather driven strictly by the force of a human hand that rotates the knobs 312, 338, and 344. The driver 300 is located away from the thread configuration 101, and this distance may be, for example, 6 inches (15.24 cm), 3 feet (0.91 m), 5 feet (1.52 m), 20 feet (6.10 m) or more. One advantage of the driver 300 is that the knobs 312, 338, and 344 provide tactile feedback to the medical professional when they operate the handheld bronchoscope 200 via the thread configuration 101. More specifically, if the insertion tube tip 210 encounters an obstacle while moving along the patient's bronchi, such as bumping into the patient's tissue, the resistance of the knob in use will inherently increase, indicating a problem to the medical professional. This feedback immediately and intuitively prompts the medical professional to retreat, reverse, or try something different. Thus, feedback through the resistance felt by the medical professional when rotating the knobs 312, 338, and 344 can reduce the potential for harm to the patient. Furthermore, remote operation prevents harm to the medical professional when the patient is at risk. Therefore, the professional can use the bronchoscope configuration 100 without being in close proximity to the patient, such as being in the same room as the patient and only a few feet away from the patient, for example, 2 to 3 feet (61.00 cm to 91.44 cm). As shown in the illustration, the cable sleeve 400 extends from the rear of the driver 304, which houses the mechanical cables 412, 438, and 444 connected to the knobs 312, 338, and 344. The mechanical driver 300 may include a battery-powered light, other indicators, a computer chip, a screen used with a camera, and the like.

[0025] Figure 4B illustrates a driver rear section 304 having cables 412, 438, and 444 extending from the rear of knobs 312, 338, and 344. More specifically, the thread front / rear cable 412 is shown to be fixedly connected to and extending from the thread front / rear knob coupler 314, the inlet tube rotation cable 438 is shown to be fixedly connected to and extending from the inlet tube rotation knob coupler 336, and the inlet tube actuation cable 444 is shown to be fixedly connected to and extending from the inlet tube articulation knob coupler 342. This is an embodiment of an inlet tube rotation drive system. As shown, cables 412, 438, and 444 are all fed into the cable sleeve 400. Therefore, during operation, when the thread front / back knob 312 spins to the left or right, the thread front / back cable 412 spins together with the thread front / back knob 312, thereby spinning the thread screw shaft 112 and driving the mounting thread 110 forward / backward 105. This is an embodiment of a thread front / back drive system. Similarly, when the insertion tube rotation knob 338 spins to the left or right, the insertion tube rotation cable 438 spins together with the insertion tube rotation knob 338, thereby spinning the hemming gear extension shaft 132 and rotating the drive hemming gear 138. Likewise, when the insertion tube joint movement knob 344 spins to the left or right, the insertion tube actuation cable 444 spins together with the insertion tube joint movement knob 344, thereby spinning the joint movement actuator screw shaft 142 and moving the retaining cuff 144. This is an embodiment of an insertion tube joint movement drive system.

[0026] Figures 5A and 5B are illustrative diagrams showing a thread configuration 101 without a handheld bronchoscope 200 according to an embodiment of the present invention. From the viewpoint shown in both Figures 5A and 5B, the reader can see the cradle groove 109 in the cradle 108 configured to receive the handheld bronchoscope 200. Other elements that cooperate directly with the handheld bronchoscope 200 are shown, and these elements include a retaining strap 118 fastened to a retaining hook 119 on the side of the cradle 108 (used to hold the handheld bronchoscope 200 in place), a drive helical gear 138, a helical gear extension shaft 132, and a flexible coupling 134, as well as an articulation actuator screw shaft 142, a retaining cuff 144, and a coupling 146. Figure 5A shows the thread screw shaft 112 connected in a cooperative relationship to the thread nut housing 116. The thread screw shaft 112 is rotatably held by thread screw shaft retention sleeves 115 at the front 104 and rear 106 of the thread frame, respectively, and the thread screw shaft retention sleeves 115 are bearing sleeves in some embodiments. Figures 5A and 5B both show the mounted thread 110 and thread frame 102. The thread screw shaft 112 is shown here to be connected to a flexible coupling 114, which helps in adapting to the positioning of the thread frame 102. To clarify the figures, the thread configuration 101 does not include the articulation stand 150, and the articulation stand 150 is not defined in the thread configuration 101. The articulation stand 150 is another potential component of the bronchoscope configuration 100.

[0027] Figure 6 is a block diagram illustrating a method of using the bronchoscope configuration 100 according to an embodiment of the present invention. Figure 6 will be described with reference to at least Figure 1. As shown in block diagram 600, several embodiments of the present invention are envisioned to be performed by the surgeon first inserting an insertion tube 204 extending from a handheld bronchoscope 200 along the patient's bronchus (step 602). After the insertion tube 204 has been deployed within the patient, the surgeon connects the handheld bronchoscope 200 to the thread configuration 101 via the cradle 108, locks the handheld bronchoscope 200 to the cradle 108 via the retaining strap 118 by extending the retaining strap 118 above the top of the bronchoscope handle 202 and looping the retaining strap 118 above the hook 119 on the side of the cradle 108 (step 204). When the handheld bronchoscope 200 is connected to the cradle 108, a bronchoscope configuration 100 is formed, which combines the bronchoscope 200, the thread configuration 101, and the handheld mechanical driver 300 connected to the thread configuration 101 via cables 412, 438, and 444 (step 606). When the articulation stand 150 is attached to the thread configuration 101, the thread configuration 101 can be stabilized when the articulation stand 150 is attached to a table, bed, wall, or the ground, for example, by mounting or other connections (step 608). It should be noted that other means for stabilizing the thread configuration 101, known to those skilled in the art, can be used instead of the articulation stand 150. The surgeon can then remotely guide the insertion tube 204 without using an electric motor, in this embodiment the guidance is performed only three feet (91.44 cm) from the patient, and is achieved by rotating mechanical knobs 312, 338, and 344 on a mechanical driver 300 that operates the handheld bronchoscope 200 via mechanical cables 412, 438, and 444 (step 610).More specifically, the bronchoscope configuration 100 can be described by the surgeon bending the insertion tube 204 by activating the insertion tube joint movement actuator 244 on the handheld bronchoscope 200 by rotating the first cable 444 via the first knob 344 on the mechanical driver 300 (step 612), rotating the insertion tube 204 by rotating the insertion tube mating gear 238 on the handheld bronchoscope 200 by rotating the second cable 438 via the second knob 338 on the mechanical driver 300 (step 614), and moving the insertion tube 204 in the anterior-posterior direction 105 via the thread 110 connected to the handheld bronchoscope 200 by rotating the third cable 412 via the third knob 312 on the mechanical driver 300 (step 616).

[0028] It should be understood that the exemplary method relating to the handheld bronchoscope 200 in Figure 1 can be conceptually achieved using different handheld bronchoscopes (or other flexible endoscopes) having various means for articulating and rotating the insertion tubes of different handheld bronchoscopes (or endoscopes). In this scenario, any threaded configuration can be provided with suitable elements for operating the various means for articulating and rotating the insertion tubes of different handheld bronchoscopes (or endoscopes). Thus, although the arrangement and structure of the suitable elements used to operate the various means for articulating and rotating the insertion tubes on the threaded configuration may differ, it is conceivable that the suitable elements are driven, within the scope and spirit of the invention, by rotating at least cables 412, 438, and 444 using at least knobs 312, 338, and 344 on a mechanical driver 300.

[0029] With this description in mind, the following are some examples of several embodiments that illustratively supplement some of the apparatus embodiments discussed above and presented in the figures to assist the reader. Therefore, the elements referenced below are provided as examples to aid the understanding of the invention and should not be considered limiting. The reader will understand that within the scope and spirit of the invention, the following elements and configurations may be interchangeable. Exemplary embodiments may include elements from the figures.

[0030] With that in mind, some embodiments of the present invention envision a bronchoscope configuration 100 comprising a handheld bronchoscope 200, a mounting thread 110, and a mechanical driver 300 connected to the handheld bronchoscope 200 via cables 412, 438, and 444. More specifically, the handheld bronchoscope 200 comprises a handle 202, an insertion tube 204 extending from the handle 202, an insertion tube articulation actuator 244 configured to bend the insertion tube 204, and a rotary knob 234 about an axis 205. The rotary knob 234 is configured to rotate the insertion tube 204 about the axis 205. An insertion tube gear 238 is fixedly attached to the rotary knob 234 in a manner that surrounds at least a portion of the rotary knob 234 (i.e., the insertion tube gear 238 is sleeve-connected above at least a portion of the rotary knob 234). The mounting thread 110 is configured to be driven in the front-rear direction 105 along the thread frame 102 via the thread screw shaft 112. The mechanical driver 300 includes an insertion tube joint movement knob 344 configured to actuate an insertion tube joint movement actuator 244 via an insertion tube actuation cable 444. The mechanical driver 300 further includes an insertion tube rotation knob 338 configured to rotate an insertion tube mating gear 238 via an insertion tube rotation cable 438. In addition, the mechanical driver 300 includes a thread front-rear knob 312 configured to rotate the thread screw shaft 112 via a thread front-rear cable 412. The bronchoscope configuration 100 does not have a motor.

[0031] In the embodiment of the bronchoscope configuration 100, the handle 202 is designed to be mounted to the mounting thread 110 via the cradle 108.

[0032] In the bronchoscope configuration 100, it is further envisioned that an insertion tube operating cable 444 is connected to an articular movement actuator screw shaft 142, the articular movement actuator screw shaft 142 engages with a retaining cuff 144, the retaining cuff 144 engages with an insertion tube articular movement actuator 244, and an insertion tube articular movement knob 344 is configured to move the retaining cuff 144 linearly along the articular movement actuator screw shaft 142 when rotated.

[0033] The insertion tube gear 238 of the bronchoscope configuration 100 is further designed to mesh with a drive gear 138, which is configured to rotate by pivoting the insertion tube rotation cable 438 via a rotary knob 338.

[0034] In the bronchoscopy configuration 100, it is further intended that the handheld bronchoscope 200 is an existing (commercially available) handheld bronchoscope that is manufactured and sold as a retail device on the market.

[0035] In the bronchoscope configuration 100, the knobs 312, 338, and 344 are configured to be rotated by human hands without motor or any other electronic assistance, or otherwise operated by some other means, and it is further envisioned that the knobs 312, 338, and 344 are configured to provide resistance feedback to the surgeon when rotated by the surgeon's hands.

[0036] The mechanical driver 300 of the bronchoscope configuration 100 can be handheld.

[0037] The bronchoscope configuration 100 may further comprise a stand 150 for mounting the thread frame 102 to a table, wall, or bed. Some embodiments of the stand 150 envision a stand comprising at least one joint 152 configured to adjust the position of the thread frame 102.

[0038] Another embodiment of the present invention envisions a mounting thread configuration 101, generally comprising a mounting thread 110, a thread screw shaft 112, an articulated actuator screw shaft 142, and a drive sheave gear 138. The mounting thread 110 is slidably engaged with a thread frame 102 via a thread nut housing 116, the thread frame 102 extending between a front portion 104 and a rear portion 106 of the thread frame. The thread screw shaft 112 is captured at either end 114 of the thread screw shaft 112 by the thread frame 102 (which can be rotatably engaged with a thread screw shaft capture bearing sleeve 115), and the thread nut housing 116 is configured to be driven between the front portion 104 and the rear portion 106 of the thread frame as the thread screw shaft 112 rotates via a thread front-to-rear cable 412 to which it is connected. The articulated actuator screw shaft 142 includes a retaining cuff 144 extending from the mounting thread 110. The retaining cuff 144 is configured to traverse along the joint motion actuator screw shaft 142 when the joint motion actuator screw shaft 142 is rotated via the insertion tube actuation cable 444 connected thereto. The retaining cuff 144 is configured to engage with the insertion tube joint motion actuator 244 of the bronchoscope 200. The drive gear 138 extends from the gear extension shaft 132 connected to the mounting thread 110. The drive gear 138 is positioned closer to the front of the thread frame 104 than to the rear of the thread frame 106. The drive gear 138 is configured to engage with the insertion tube gear 238 of the bronchoscope 200. The gear extension shaft 142 is configured to rotate the drive gear 138 via the insertion tube actuation cable 444 connected thereto.

[0039] In the mounting thread configuration 101, it is further envisioned that cables 412, 438, and 444 are connected to a mechanical driver 300 that does not have a motor.

[0040] In the mounting thread configuration 101, an embodiment is envisioned in which a mechanical driver 300 is configured to actuate an insertion tube joint movement actuator 244 via an insertion tube actuation cable 444, an insertion tube rotation knob 338 configured to rotate an insertion tube mating gear 238 via an insertion tube rotation cable 438, and a thread front / back knob 312 configured to rotate a thread screw shaft 112 via a thread front / back cable 412. In this embodiment, it is further envisioned that the knobs 312, 338, and 344 are rotated by human hands, thereby providing resistance feedback to the surgeon when the knobs 312, 338, and 344 are rotated by the surgeon's hands.

[0041] In the mounting thread configuration 101, a mounting thread 110 to which a bronchoscope 200 is attached is further envisioned, and the bronchoscope 200 comprises a handle 202 and an insertion tube 204 extending from the handle 202. A bronchoscope insertion tube joint movement actuator 244 is configured to bend the insertion tube 204. An insertion tube gear 238 is positioned around an axis. The insertion tube gear 238 is fixedly attached to a rotation knob 234 of the bronchoscope 200 and is configured to rotate the insertion tube 204 around an axis 205.

[0042] A further embodiment of the present invention envisions a method for remotely operating a handheld bronchoscope 200, comprising the steps of remotely bending an insertion tube 204, remotely rotating the insertion tube 204, and remotely moving the insertion tube 204 in a forward-backward direction 105. The step of bending the insertion tube 204 extending from the handheld bronchoscope 200 is achieved by activating an insertion tube joint actuator 244 on the handheld bronchoscope 200 by rotating a first cable 444 via a first knob 344 on a mechanical driver 300. The step of rotating the insertion tube 204 is achieved by rotating an insertion tube gear 238 on the handheld bronchoscope 200 by rotating a second cable 438 via a second knob 338 on the mechanical driver 300. The step of moving the insertion tube 204 in the anterior-posterior direction 105 is achieved via the thread 110 connected to the handheld bronchoscope 200 by rotating the third cable 412 via a third knob 312 on a mechanical driver 300. These steps do not involve assistance from an electric motor.

[0043] In this method, it is further conceivable that resistance feedback is received when the surgeon rotates the first knob 312, the second knob 338, or the third knob 344, and the resistance feedback may be an indicator that the insertion tube tip 210 of the insertion tube 204 is hitting an obstacle, for example, by attempting to compress tissue that is otherwise unharmed along the patient's bronchi.

[0044] In this method, it is envisioned that the cable separates the surgeon from the handheld bronchoscope 200 by a distance of at least 6 inches (15.24 cm), but preferably more than 3 feet (91.44 cm). It should be understood that the knob can be placed anywhere along the chain of rotation (drive system) to assist or test the function of the drive system. More specifically, when any part of a particular drive system is rotated, the entire drive system rotates, since the entire drive system is connected. Thus, with respect to rotating the insertion tube 204, for example, this can be done by rotating the insertion tube gear 238 on the handheld bronchoscope 200, or by hand, or by rotating the second cable 438 via a knob attached to the second cable 438, or by the second knob 338 on the mechanical driver 300, or by the gear extension shaft 132, or by any part along the drive system of the insertion tube gear 238, since the entire drive system is connected and rotates together.

[0045] These exemplary embodiments do not encompass all embodiments presented throughout this description, but rather represent a selection of the intended chain of embodiments according to the embodiments of the present invention. In other words, there are numerous other implementations described herein that are not necessarily shown in the examples of embodiments presented above, and this will be understood by those who understand the concepts disclosed in this description.

[0046] Although the above description includes numerous characteristics and advantages of various embodiments of the present invention, along with details of the structure and function of various embodiments, it should be understood that this disclosure is illustrative only, and modifications to the details may be made, particularly with respect to the structure and arrangement of components within the principles of the present invention, across the broad general meaning of the terms used to express the additional embodiments. For example, the orientation of elements such as elements in the insertion tube articular motion chain, elements in the insertion tube rotation chain, and elements in the thread front-to-back chain may maintain essentially the same function without departing from the scope and spirit of the invention, while including other geometric characteristics not explicitly shown in the above embodiments. Similarly, the materials and construction of mounting threads, cables, and mechanical drivers may include various material types without departing from the object, scope, and spirit of the present invention. It should be further understood that, while remaining within the scope of the primary ideas presented without departing from the scope and spirit of the present invention, teeth and gears may be replaced with other suitable mechanical motion transmission elements having different shapes and / or structures, but maintaining the rotation chain described above to drive a remotely driven handheld bronchoscope. It should be further understood that, without departing from the scope and spirit of the present invention, other types of commercially available endoscopes can be used similarly with the various structures of the mounting thread configuration disclosed above. Furthermore, although a motor is not used to drive the drive system within the mounting thread configuration, lights, batteries, and other electronic elements can be incorporated into the bronchoscope configuration without departing from the scope and spirit of the present invention.

[0047] It will become clear that the present invention is well adapted to achieve the above-described objectives and advantages, as well as objectives and advantages specific to the present invention. While currently preferred embodiments have been described for the purposes of this disclosure, numerous modifications are possible that will be readily apparent to those skilled in the art and will be encompassed within the spirit of the disclosed invention. [Explanation of Symbols]

[0048] 100 Bronchoscope Configurations 101-thread configuration 103 Thread frame bottom 104 Thread Frame Front 105 Anteroposterior direction 106 Thread frame rear 108 Cradle 109 Cradle groove 110 mounting threads 112 Spinning Thread Screw Shank 114 Flexible Coupling 115 Thread Screw Shaft Capture Sleeve 116 Threaded Nut Housing 118 Retention strap 119 Retaining hook 120 Thread Motion Control Elements 132 Hexagonal gear extension shaft 134 Flexible Coupling 136 Bearing sleeve 138 Drive Hooked Gear 142 Joint motion actuator screw axis 144 Retaining cuff 146 Coupling 148 Bearings 150 Joint Movement Stand 152 Upper ball joint 153 Lower ball joint 154 Upper locking lever arm 155 Lower locking lever arm 156 Mounting base 200 Handheld Bronchoscopes 202 Handle 204 Insertion tube 205 axis 208 Handle Tube Interface 210 Insertion tube tip 212 Suction valve button 214 Suction groove 215 Clockwise or counterclockwise 216 Catheter insertion groove 220 Bronchoscope Anterior 222 Posterior bronchoscope 234 Rotary knob 238 Insertion tube gear 244 Insertion tube joint motion actuator 300 Handheld Mechanical Screwdrivers 302 Front 304 Rear of driver 312, 338, 344 Knobs 336 Insertion tube rotating knob coupler 342 Insertion tube joint movement knob coupler 344 Insertion tube joint movement knob 400 Cable Sleeves 412, 438, 444 cables

Claims

1. Bronchoscope configuration, handle, An insertion tube extending from the handle, An insertion tube joint movement actuator configured to bend the aforementioned insertion tube, A rotating knob with an axis, configured to rotate the insertion tube about the axis, and A gear with an insertion tube that is fixedly attached to the aforementioned rotating knob and surrounds at least a portion of the aforementioned rotating knob, A handheld bronchoscope equipped with, Mounting threads configured to be driven in the front-to-back direction along the thread frame via a thread screw axis, An insertion tube joint movement knob configured to operate the insertion tube joint movement actuator via an insertion tube operating cable, An insertion tube rotation knob configured to rotate the insertion tube fitting gear via an insertion tube rotation cable, and A thread front / back knob configured to rotate the thread screw shaft via a thread front / back cable, A mechanical driver equipped with, It is equipped with, A bronchoscope configuration without a motor.

2. The bronchoscope configuration according to claim 1, wherein the handle is attached to the mounting thread via a cradle.

3. The bronchoscope configuration according to claim 1, wherein the insertion tube operating cable is connected to the joint movement actuator screw shaft, the joint movement actuator screw shaft engages with a retaining cuff, the retaining cuff engages with the insertion tube joint movement actuator, and the insertion tube joint movement knob is configured to move the retaining cuff linearly along the joint movement actuator screw shaft when rotated.

4. The bronchoscope configuration according to claim 1, wherein the insertion tube gear meshes with a drive gear configured to rotate by rotating the insertion tube rotation cable via the rotation knob.

5. The bronchoscope configuration according to claim 1, wherein the handheld bronchoscope is an existing handheld bronchoscope.

6. The bronchoscope configuration according to claim 1, wherein the knob is configured to be rotated by the surgeon's hand.

7. The bronchoscope configuration according to claim 6, wherein the knob is configured to provide resistance feedback to the surgeon when rotated by the human hand.

8. The bronchoscope configuration according to claim 1, wherein the mechanical driver is of the handheld type.

9. The bronchoscope configuration according to claim 1, further comprising a stand for mounting the thread frame to a table, wall, or bed.

10. The bronchoscope configuration according to claim 9, wherein the stand comprises at least one joint configured to adjust the position of the thread frame.

11. The mounting thread configuration is, Mounting threads that slide into the thread frame via a thread nut housing and extend between the front and rear of the thread frame, A thread screw shaft, which is captured at one end of the thread screw shaft by the thread frame, wherein the thread nut housing is configured to be driven between the front and rear of the thread frame when the thread screw shaft is rotated via the thread front and rear cables connected thereto, An articular motion actuator screw shaft comprising a retaining cuff extending from the mounting thread, wherein the retaining cuff is configured to traverse the articular motion actuator screw shaft when the articular motion actuator screw shaft is rotated via an insertion tube operating cable connected thereto, and the retaining cuff is configured to engage with the insertion tube articular motion actuator of a bronchoscope, A drive gear extending from a gear extension shaft connected to the mounting thread, disposed closer to the front of the thread frame than to the rear of the thread frame, configured to engage with the bronchoscope insertion tube gear, the gear extension shaft is configured to rotate the drive gear via an insertion tube operating cable connected thereto, and A mounting thread configuration that includes the following features.

12. The mounting thread configuration according to claim 11, wherein the cable is connected to a mechanical driver that does not have a motor.

13. Mechanical drivers are, An insertion tube joint movement knob configured to operate the insertion tube joint movement actuator via the insertion tube operating cable, An insertion tube rotation knob configured to rotate the insertion tube fitting gear via an insertion tube rotation cable, A thread front / back knob configured to rotate the thread screw shaft via the thread front / back cable, The mounting thread configuration according to claim 11, comprising:

14. The mounting thread configuration according to claim 13, wherein the knob is configured to be rotated by a human hand.

15. The mounting thread configuration according to claim 14, wherein the knob is configured to provide resistance feedback to the surgeon when rotated by the surgeon's human hand.

16. The mounting thread configuration according to claim 11, wherein the bronchoscope is attached to the mounting thread.

17. The bronchoscope mentioned above is The handlebars and An insertion tube extending from the handle, Equipped with, The bronchoscope insertion tube joint movement actuator is configured to bend the insertion tube. The mounting thread configuration according to claim 16, wherein the insertion tube fitting gear is centered on an axis, is fixedly attached to the rotation knob of the bronchoscope, and is configured to rotate the insertion tube around the axis.

18. A method for remotely operating a handheld bronchoscope, The steps include: bending the insertion tube extending from the handheld bronchoscope by rotating the first cable via a first knob on a mechanical driver, thereby activating an insertion tube joint movement actuator on the handheld bronchoscope; The steps include: rotating the insertion tube by rotating the second cable via the second knob on the mechanical driver, thereby rotating the insertion tube fitting gear on the handheld bronchoscope; The steps include: rotating the third cable via a third knob on the mechanical driver to move the insertion tube in the forward and backward direction via a thread connected to the handheld bronchoscope; Includes, The aforementioned step is a method that does not involve assistance from an electric motor.

19. The method according to claim 18, wherein the cable separates the surgeon at least 3 feet (91.44 cm) from the handheld bronchoscope.

20. The method according to claim 18, wherein the operator receives resistance feedback when the first knob, the second knob, or the third knob is rotated.

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