Automatic articulating camera for diagnostic examination

Abstract

An automated medical camera system and method are configured for either single use or multiple-uses. It includes a capture sensor on an articulating distal end of an elongated probe unit, with movement of the distal end accomplished via wire drive system that is controlled by a programmable and / or autonomous control unit. The controller unit may include memory and frame processing capabilities that, when augmented by machine learning (model), provide a system that is capable of operating partially or completely without the need for constant human intervention. The use of selected fluids and / or patient-specific records can further enhance the operation and utility of the system / method.

Description

TITLEAUTOMATIC ARTICULATING CAMERA FOR DIAGNOSTIC EXAMINATIONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 678,574 filed August 2, 2024, which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0001] This disclosure contemplates an apparatus, system, and related methods for cystocopic and hysteroscopic examinations and, more specifically, to an articulating probe having a camera that can be controlled remotely and / or automatically to conduct various diagnostic procedures to identify anatomical anomalies.BACKGROUND OF INVENTION

[0002] Current diagnostic procedures such as cystoscopy or hysteroscopy utilize either rigid cameras or articulating cameras. Typically, medical doctor must physically hold the camera system and rely on one or a series of levers so as to control the articulation and direct the entire course of the examination. As a result, the doctor must devote considerable time and effort to conduct these procedures.

[0003] These examinations tend to proceed according to the same, routine sequence of events, with the probe following a regular path so to provide views of the entire cavity. In the event an anomaly is detected, further inspection or even a completely separate, and more in-depth, examination may be required.

[0004] The comparative ubiquity of bladder cancers and other conditions / diseases require tens of thousands of procedures to be overseen by urologists every year. Particularly with aging populations and a prospective shortage of trained medical professionals, physician availability for preliminary diagnostic procedures is a concern, as the need for urologists is expected to grow 45% by 2035.

[0005] Use of a motorized articulating camera and system could result in faster procedures, thereby freeing up availability of urologists. Similarly, to the extent such a camera and system could at least initially operate autonomously to capture and analyze preliminary data, the need for active professional monitoring would be significantly reduced. Lastly, such a camera and system could potentially reduce the chance for human error.

[0006] Generally speaking, robotic endoscope manipulators have been developed at the Institut National de Recherche en Informatique et en Automatiqueinria (“INRIA”) and / or as described in Japanese Patent 2000175865A and United States patent 4,651,201. Still other large scale, surgical devices can be found in United States patents 9,33,957; 9,393,076; and 9,730,761 and United States publications 2002 / 0042562; 2005 / 0288555; and 2008 / 0312500. However, all of these previous systems tend to be bulky, often require surgical incisions and procedures for use, and possess limited range of motion. As such, these previous systems are not generally well-suited to the specific exigencies of cystoscopy and hysteroscopy.

[0007] Similarly, “pill cameras” and other specialized devices for investigating the intestinal tract can be found in United States patent 5,604,531 and 6,428,469. However, these systems are limited by their ingestion and they do not generally include means for orienting the camera or otherwise allowing for independent movement that is critical to some examination procedures.

[0008] United States patent publication 2022 / 0031296 and United States patent 11,172,914 describe flexible laparoscopic suction devices, while United States patent 11,337,603 discloses a laparoscopic implantation and fixation device. These patents and publication are incorporated by reference, as are any earlier documents identified or incorporated by reference into those patents and the publication.BRIEF SUMMARY OF THE INVENTION

[0009] In one general aspect, automated articulating medical camera system may include a probe, a controller unit and a frame sensing system; said probe having an elongated probe member having an articulating distal end, said distal end having a capture sensor of said frame sensing system; said distal end being articulated by a drive mechanism; and said drive mechanism and said capture sensor of said frame sensing system being automatically controllable by an artificial intelligence generated model of a cavity of interest of a patient to be examined, thereby permitting said automated articulating medical camera system to perform an autonomous examination of said cavity of interest of said patient. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0010] Implementations may include one or more of the following features. Automated articulating medical camera system where said probe and said controller unit are connectable; saidprobe having a probe coupler that is selectively connectable to a controller unit coupler of said controller unit; and said probe coupler and said controller unit coupler are located along a length of a connecting cable, thereby permitting said probe to be disconnected from said controller unit and discarded, while said controller unit may be reused with another probe; and where a predetermined navigation path for the autonomous examination of said cavity of interest is developed using said model. Automated articulating medical camera system where said drive mechanism is located in said controller unit, where articulation cables for said distal end travel from said drive mechanism to said distal end through said connecting cable, when said probe is connected to said controller unit; where said articulation cables have a probe portion spanning from said articulating distal end to said probe coupler, and said articulation cables have a controller unit portion spanning from said drive mechanism in said controller unit to said controller unit coupler; and where said probe portion of said articulation cables are a first predetermined length and may include from a first probe to a second probe, thereby a predetermined input to said drive mechanism at said controller unit will result in a corresponding predetermined movement output at said distal end. Automated articulating medical camera system where said drive mechanism is may include of one or more servo motors, which permit said controller unit to know and dictate a position of said distal end. Automated articulating medical camera system where said model controls an articulation of said articulating distal end and capturing of frames of said cavity of interest, where said model is trained using about 500-1000 frames of anatomical anomalies of said cavity of interest that have been previously identified by a trained professional, thereby permitting said medical camera system to identify and highlight anomalies on said captured frames. Automated articulating medical camera system where said automated articulating medical camera system alerts said trained professional to further examine said anomaly and / or automaticallycaptures additional frames of said anomaly; where said automated articulating medical camera system alerts said trained professional using an user interface; where said anomaly includes one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; and where said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end. Automated articulating medical camera system where said autonomous examination is performed by said probe navigating said cavity of interest using landmarks identified by said capture sensor that correspond with landmarks in the frames on which said model was trained. Automated articulating medical camera system where said system performs movements corresponding to those performed during a manual navigation of said probe on which said model was trained, when said capture sensor identifies said landmarks. Automated articulating medical camera system where said fluid output from said administration port of said distal end is one or more of dyes and / or substances visible to said capture sensor delivered to a tissue of said cavity of interest during said examination, said fluid may be visible to said capture sensor when said fluid is illuminated by a directed radiation source. Automated articulating medical camera system where said model is stored in a memory of said controller unit. Automated articulating medical camera system where said model is trained using results of a previous examination of said patient, thereby permitting a direct comparison of anomalies identified in said cavity of interest during said examination with anomalies identified during said previous examination. Implementations of the described techniques may include hardware, a method or process, or a computer tangible medium.

[0011] In one general aspect, probe may include an elongated probe member having an articulating distal end, said distal end having a capture sensor connectable to a frame sensing system. Probemay also include said distal end being articulatable when connected to a drive mechanism in a controller unit; and said distal end and said capture sensor being automatically controllable by an artificial intelligence generated model of a cavity of interest of a patient to be examined, thereby permitting said probe to perform an autonomous examination of said cavity of interest of said patient. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0012] Implementations may include one or more of the following features. Probe where said probe and said controller unit are connectable; said probe having a probe coupler that is selectively connectable to a controller unit coupler of said controller unit, thereby permitting said probe to be disconnected from said controller unit and discarded, while said controller unit may be reused with another probe; and where a predetermined navigation path for the autonomous examination of said cavity of interest is developed using said model; said automated articulating medical camera system having said frame sensing system. Probe where said drive mechanism is located in said controller unit, where articulation cables for said distal end travel from said drive mechanism to said distal end through a connecting cable, when said probe is connected to said controller unit; where said articulation cables have a probe portion spanning from said articulating distal end to said probe coupler, and said articulation cables have a controller unit portion spanning from said drive mechanism in said controller unit to said controller unit coupler; where said probe portion of said articulation cables are a first predetermined length and may include from a first probe to a second probe, and thereby a predetermined input to said drive mechanism at said controller unit will result in a corresponding predetermined movement output at said distal end. Probe where said drive mechanism is may include of one or more servo motors, which permit said controller unit toknow and dictate a position of said distal end. Probe where said model controls an articulation of said articulating distal end and capturing of frames of said cavity of interest, where said model is trained using about 500-1000 frames of anatomical anomalies of said cavity of interest that have been previously identified by a trained professional, thereby permitting said medical camera system to identify and highlight anomalies on said captured frames. Probe where said automated articulating medical camera system alerts said trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; where said automated articulating medical camera system alerts said trained professional using an user interface; and where said anomaly includes one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; where said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end. Probe where said autonomous examination is performed by said probe navigating said cavity of interest using landmarks identified by said capture sensor that correspond with landmarks in the frames on which said model was trained. Probe where said system performs movements corresponding to those performed during a manual navigation of said probe on which said model was trained, when said capture sensor identifies said landmarks. Probe where said fluid output from said administration port of said distal end is one or more of dyes and / or substances visible to said capture sensor delivered to a tissue of said cavity of interest during said examination, said fluid may be visible to said capture sensor when said fluid is illuminated by a directed radiation source. Probe where said model is stored in a memory of said controller unit. Probe where said model is trained using results of a previous examination of said patient, thereby permitting a direct comparison of anomalies identified in said cavity of interest during said examination with anomalies identified during said previous examination.Implementations of the described techniques may include hardware, a method or process, or a computer tangible medium.

[0013] In one general aspect, controller unit may include a controller unit coupler selectively connectable to a probe coupler of a probe, thereby permitting said probe to be disconnected from said controller unit and discarded, while said controller unit may be reused with another probe. Controller unit may also include said controller unit having a drive mechanism, where articulation cables for a distal end of said probe travel from said distal end to said drive mechanism; where a predetermined input to said drive mechanism at said controller unit will result in a corresponding predetermined movement output at said distal end. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0014] Implementations may include one or more of the following features. Controller unit where said probe has an elongated probe member having an articulating distal end, said distal end having a capture sensor connectable to a frame sensing system; said distal end being articulatable when connected to said drive mechanism of said controller unit; and said distal end and said capture sensor being automatically controllable by an artificial intelligence generated model of a cavity of interest of a patient to be examined, thereby permitting said probe to perform an autonomous examination of said cavity of interest of said patient. Controller unit where said drive mechanism is may include of one or more servo motors, which permit said controller unit to know and dictate a position of said distal end. Controller unit where said model controls an articulation of said articulating distal end and capturing of frames of said cavity of interest, where said model is trained using about 500-1000 frames of anatomical anomalies of said cavity of interest that have been previously identified by a trained professional, thereby permitting said medical camera system toidentify and highlight anomalies on said captured frames. Controller unit where said automated articulating medical camera system alerts said trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; where said automated articulating medical camera system alerts said trained professional using an user interface; and where said anomaly includes one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; where said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end. Controller unit where said autonomous examination is performed by said probe navigating said cavity of interest using landmarks identified by said capture sensor that correspond with landmarks in the frames on which said model was trained. Controller unit where said system performs movements corresponding to those performed during a manual navigation of said probe on which said model was trained, when said capture sensor identifies said landmarks. Controller unit where said fluid output from said administration port of said distal end is one or more of dyes and / or substances visible to said capture sensor delivered to a tissue of said cavity of interest during said examination, said fluid may be visible to said capture sensor when said fluid is illuminated by a directed radiation source. Controller unit where said model is trained using results of a previous examination of said patient, thereby permitting a direct comparison of anomalies identified in said cavity of interest during a current examination with anomalies identified during said previous examination. Controller unit where said model is stored in a memory of said controller unit. Implementations of the described techniques may include hardware, a method or process, or a computer tangible medium.

[0015] In one general aspect, the method may include obtaining data and parameters for training said model. The method may also include training said model using said obtained data andparameters. The method may furthermore include storing said model in memory of said articulating camera system. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0016] Implementations may include one or more of the following features. The method where said obtained data and parameters are may include of about 500-1000 frames of anatomical anomalies containing areas of concern of a cavity of interest previously identified by a trained professional. The method where said frames were acquired using one or more data collection sensors and / or a capture sensor of a frame sensing system 200 of said automated articulating camera system. The method where said anomalies include one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; and these anomalies being previously identified by trained professionals and properly coded and / or categorized by type of anomaly and the cavity of interest. The method where said data and parameters further may include frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements in relation to said landmarks of a distal end of a probe of said automated articulating camera system during a previous examination. Implementations of the described techniques may include hardware, a method or process, or a computer tangible medium.

[0017] In one general aspect, the method may include providing said automated articulating camera system and an artificial intelligence generated model for autonomously navigating said automated articulating camera system. The method may also include prompting an user of said automated articulating camera system for information related to an examination of a cavity of interest and receiving said information from said user. The method may furthermore includeprompting said user to perform an initiation sequence of said automated articulating camera system. The method may in addition include commencing an automated examination along a navigation path predetermined using said model. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0018] Implementations may include one or more of the following features. The method further may include of generating a report of said examination upon completion of said examination of said cavity of interest. The method may include updating said model of using frames, data, and / or other information acquired during said examination of said cavity of interest. The method where said navigation by said model is based on frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements in relation to said landmarks of a distal end of a probe of said automated articulating camera system during a previous examination; and where during said examination of said cavity of interest, said automated articulating camera system identifies anomalies in said cavity of interest, said anomalies include one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma. The method where said automated articulating medical camera system alerts a trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; and where said automated articulated medical camera system alerts said trained professional using an user interface; where said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end. Implementations of the described techniques may include hardware, a method or process, or a computer tangible medium.

[0019] In one general aspect, automated articulating camera system may include an automated articulating camera system and an artificial intelligence generated model for autonomously navigating said automated articulating camera system. Automated articulating camera system may also include said automated articulating camera system may include of a controller unit having a processor and memory. System may furthermore include said memory storing executable code when executed by the processor performs actions having: prompting an user of said automated articulating camera system for information related to an examination of a cavity of interest and receiving said information from said user; prompting said user to perform an initiation sequence of said automated articulating camera system; and commencing an automated examination along a navigation path predetermined using said model. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0020] Implementations may include one or more of the following features. Automated articulating camera system where said executable code when executed by the processor performs actions may include, generating a report of said examination upon completion of said examination of said cavity of interest. Automated articulating camera system where said executable code when executed by the processor performs actions may include, updating said model using frames, data, and / or other information acquired during said examination of said cavity of interest. Automated articulating camera system where said navigation by said model is based on frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements in relation to said landmarks of a distal end of a probe of said automated articulating camera system during a previous examination; and where during said examination of said cavity of interest, said automated articulating camera system identifies anomalies in said cavity ofinterest, said anomalies include one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma. Automated articulating camera system where said automated articulating medical camera system alerts a trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; where said automated articulated medical camera system alerts said trained professional using an user interface; and where said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end. Implementations of the described techniques may include hardware, a method or process, or a computer tangible medium.

[0021] Advantages of the present invention will become more apparent to those skilled in the art from the following description of the embodiments of the invention which have been shown and described by way of illustration. As will be realized, the invention is capable of other and different embodiments, and its details are capable of modification in various respects.DESCRIPTION OF THE DRAWINGS

[0022] Operation of the invention may be better understood by reference to the detailed description taken in connection with the following illustrations. These appended drawings form part of this specification, and any information on / in the drawings is both literally encompassed (i.e., the actual stated values) and relatively encompassed (e.g., ratios for respective dimensions of parts). In the same manner, the relative positioning and relationship of the components as shown in these drawings, as well as their function, shape, dimensions, and appearance, may all further inform certain aspects of the invention as if fully rewritten herein. Unless otherwise stated, all dimensionsin the drawings are with reference to inches, and any printed information on / in the drawings form part of this written disclosure.

[0023] In the drawings and attachments, all of which are incorporated as part of this disclosure:

[0024] Figure 1A is a schematic representation of one aspect of the inventive system with an elongated probe member positioned in a use position and arrows indicating the general range of motion for the distal tip thereof in accordance with aspects disclosed herein;

[0025] Figure IB is a schematic representation of a second aspect of the inventive system with an elongated probe member positioned in a use position and arrows indicating the general range of motion for the distal tip thereof in accordance with aspects disclosed herein;

[0026] Figure 2 is a perspective view of the inventive system, providing additional information regarding the comparative size and dimensions of selected components in accordance with aspects disclosed herein;

[0027] Figure 3 is a schematic, cross sectional side view of the probe in accordance with aspects disclosed herein;

[0028] Figure 4 is a perspective, cross sectional view of the controller unit in accordance with aspects disclosed herein;

[0029] Figure 5 is a perspective view of the distal end of the probe in accordance with aspects disclosed herein;

[0030] Figure 6 is a depiction of the capture sensor detecting an anomaly in the cavity of interest in accordance with aspects disclosed herein;

[0031] Figure 7 is a block diagram cross-sectional view of the probe coupler and controller unit coupler in accordance with aspects disclosed herein;

[0032] Figure 8 is a block diagram of the controller unit in accordance with aspects disclosed herein;

[0033] Figure 9 is a flow-chart of a method for training an artificial intelligence model for automating operation of the automated articulating camera system in accordance with aspects disclosed herein; and

[0034] Figure 10 is a flow-chart of a method of operating an automated articulating camera system that is automated using the artificial intelligence model in accordance with aspects disclosed herein.DESCRIPTION OF THE SELECTED EMBODIMENTS

[0035] Operation of the invention may be better understood by reference to the detailed description, drawings, claims, and abstract — all of which form part of this written disclosure. While specific aspects and embodiments are contemplated, it will be understood that persons of skill in this field will be able to adapt and / or substitute certain teachings without departing from the underlying invention. Consequently, this disclosure should not be read as unduly limiting the invention(s).

[0036] As used herein, the words “example” and “exemplary” mean an instance, or illustration. The words “example” or “exemplary” do not indicate a key or preferred aspect or embodiment. The word “or” is intended to be inclusive rather an exclusive, unless context suggests otherwise. As an example, the phrase “A employs B or C,” includes any inclusive permutation (e.g., A employs B; A employs C; or A employs both B and C). As another matter, the articles “a” and “an” are generally intended to mean “one or more” unless context suggest otherwise.

[0037] Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term orterms, such as “about”, is not limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Range limitations may be combined and / or interchanged, and such ranges are identified and include all the sub-ranges stated herein unless context or language indicates otherwise. Other than in the operating examples or where otherwise indicated, all numbers or expressions referring to quantities of ingredients, reaction conditions and the like, used in the specification and the claims, are to be understood as modified in all instances by the term “about”.

[0038] “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, or that the subsequently identified material may or may not be present, and that the description includes instances where the event or circumstance occurs or where the material is present, and instances where the event or circumstance does not occur or the material is not present.

[0039] As used herein, the terms “comprises”, “comprising”, “includes”, “including”, “has”, “having”, or any other variation thereof, are intended to cover a non-ex elusive inclusion. For example, a process, method, article or apparatus that comprises a list of elements is not necessarily limited to only those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0040] The singular forms “a”, “an”, and “the” include plural referents unless the context clearly dictates otherwise.

[0041] A “processor”, as used herein, processes signals and performs general computing and arithmetic functions. Signals processed by the processor can include digital signals, data signals, computer instructions, processor instructions, messages, a bit, a bit stream, or other means that can be received, transmitted and / or detected. Generally, the processor can be a variety of variousprocessors including multiple single and multicore processors and co-processors and other multiple single and multicore processor and co-processor architectures, including, but not limited to, a microcontroller containing both a processor and memory, programmable logic array (PLA), application specific integrated circuit (ASIC), or any type of device suitable for processing signals, performing general computing, and / or arithmetic functions. The processor can include various modules to execute various functions.

[0042] A “memory”, as used herein can include volatile memory and / or nonvolatile memory. Nonvolatile memory can include, for example, ROM (read only memory), PROM (programmable read only memory), EPROM (erasable PROM), and EEPROM (electrically erasable PROM). Volatile memory can include, for example, RAM (random access memory), synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), and direct RAM bus RAM (DRRAM). The memory can also include a disk. The memory can store an operating system that controls or allocates resources of a computing device. The memory can also store data for use by the processor.

[0043] A “controller”, as used herein, can include a processor and memory in the same package, or the processor and memory in various configurations comprising multiple packages, including the processor and memory being located in separate packages.

[0044] A “module”, as used herein, includes, but is not limited to, hardware, firmware, software in execution on a machine, and / or combinations of each to perform a function(s) or an action(s), and / or to cause a function or action from another module, method, and / or system. A module can include a software controlled microprocessor, a discrete logic circuit, an analog circuit, a digital circuit, a programmed logic device, a memory device containing executing instructions, and so on.

[0045] A “disk”, as used herein can be, for example, a magnetic disk drive, a solid state disk drive, a floppy disk drive, a tape drive, a Zip drive, a flash memory card, and / or a memory stick. Furthermore, the disk can be a CD-ROM (compact disk ROM), a CD recordable drive (CD-R drive), a CD rewritable drive (CD-RW drive), and / or a digital video ROM drive (DVD ROM). The disk can store an operating system and / or program that controls or allocates resources of a computing device.

[0046] Some portions of the detailed description that follows are presented in terms of algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations are the means used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. An algorithm is here, and generally, conceived to be a self-consistent sequence of steps (instructions) leading to a desired result. The steps are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical, magnetic or optical non-transitory signals capable of being stored, transferred, combined, compared and otherwise manipulated. It is convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. Furthermore, it is also convenient at times, to refer to certain arrangements of steps requiring physical manipulations or transformation of physical quantities or representations of physical quantities as modules or code devices, without loss of generality.

[0047] However, all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the following discussion, it is appreciated that throughout the description, discussions utilizing terms such as “processing” or “computing” or “calculating” or“determining” or “displaying” or “determining” or the like, refer to the action and processes of a computer system, or similar electronic computing device (such as a specific computing machine), that manipulates and transforms data represented as physical (electronic) quantities within the computer system memories or registers or other such information storage, transmission or display devices.

[0048] Certain aspects of the embodiments described herein include process steps and instructions described herein in the form of an algorithm. It should be noted that the process steps and instructions of the embodiments could be embodied in software, firmware or hardware, and when embodied in software, could be downloaded to reside on and be operated from different platforms used by a variety of operating systems. The embodiments can also be in a computer program product which can be executed on a computing system.

[0049] The embodiments also relates to an apparatus for performing the operations herein. This apparatus can be specially constructed for the purposes, e.g., a specific computer, or it can comprise a general -purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program can be stored in a non-transitory computer readable storage medium, such as, but is not limited to, any type of disk including floppy disks, optical disks, CD-ROMs, magnetic-optical disks, read-only memories (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic or optical cards, ASICs, or any type of media suitable for storing electronic instructions, and each electrically connected to a computer system bus. Furthermore, the computers referred to in the specification can include a single processor or can be architectures employing multiple processor designs for increased computing capability.

[0050] The algorithms and displays presented herein are not inherently related to any particular computer or other apparatus. Various general-purpose systems can also be used with programs inaccordance with the teachings herein, or it can prove convenient to construct more specialized apparatus to perform the method steps. The structure for a variety of these systems will appear from the description below. In addition, the embodiments are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages can be used to implement the teachings of the embodiments as described herein, and any references below to specific languages are provided for disclosure of enablement and best mode of the embodiments.

[0051] Insofar as the system and / or selected components described herein may possess a cylindrical or elongate shape, it will be understood that the terms length and axis or axial may be used synonymously, with the terms transverse, radial, and diameter all referring to directions, axes, and spatial planes that are perpendicular to that axis. Distal generally means the portion of the system that is used in the examination, with the proximal end positioned opposite that distal end. Unless otherwise stated, measurements and observations were taken under normal, ambient conditions (e g., temperature, pressure, etc ), and any molecular weights are weight averages while formulations can be presumed as weight percentages (if / when appropriate). Still other terminology, conditions, and measurement techniques / methodologies will be readily apparent to those skilled in this art based upon industry norms, and this disclosure should be interpreted accordingly.

[0052] Turning to Figures 1A-B, in one aspect, the invention contemplates that system 100 is an automated articulating medical camera system 100, with a probe 110 configured for either single use or multiple-uses. In each case, it includes a frame sensing system 200 with a capture sensor 210 on an articulating distal end 151 of an elongated probe member 150. The articulation of the distal end 151 is controlled by sets of articulation cables that are connected to miniaturized motorscontained within a proximally located housing 140 of the probe 110, as will be described in greater detail below.

[0053] The motors 161 are controlled by a controller unit 120 that provides both frame processing and control of the motors 161. The controller unit 120 is programmed with software that can specify multiple diagnostic examinations. The system 100 has a directional controller assembly 115 that permits a user to manually articulate the distal end 151 of the elongated probe member 150. In some embodiments, the directional controller assembly 115 may be, or integrated into, the user interface 127. In an exemplary embodiment of the system 100, the directional controller assembly 115 may be ajoystick. In some embodiments of system 100, such as that shown in Figure 1A, the directional controller assembly 115 may be integrated into the controller unit 120. In other embodiments of system 100, such as that shown in Figure IB, the directional controller assembly 115 is located along the connecting cable 105 between the controller unit 120 and the probe 110.

[0054] In operation, the capture sensors 210 of the frame sensing system 200 is inserted into the body cavity of interest 300 and the specific type of examination is selected on the controller unit 120. The type of examination may include, but is not limited to, cystoscopy and hysteroscopy. Through autonomous software, such as the artificial intelligence model 305 discussed below, the capture sensors 210 initially scans the anatomy of the body cavity of interest 300 after the probe 110 is initially inserted and oriented. Articulation of the distal end 151 is automatically controlled by the model 305 using the drive mechanism 160 to capture a general scan of the body cavity of interest 300. On board image recognition by the frame sensing system 200 ensures that orientation of the probe 110 is proper and, further, that appropriate frames 215 have been captured by the capture sensors 210 of the frame sensing system 200. Frames 215 can be still images and / or videos.

[0055] During the procedure, frames 215, such as digital still images, can be taken at regular intervals by the capture sensors 210 to ensure frames 215 are captured for 100% of the anatomy of the body cavity of interest 300. Alternatively, frames 215, such as video, can be captured by the capture sensors 210 during the entire procedure, with selected frames 215 processed subsequently or in-real time by the frame sensing system 200, such as by using processor 124.

[0056] In this regard, the frame sensing system 200 may include or access a database of anatomical anomalies of the body cavity of interest 300, such as a database 121 in the controller unit 120 unit. The system 100 may conduct an extended exam and / or contact a physician, when an anatomical anomaly 130 is identified by the frame sensing system 200. Anatomical anomalies that indicate an area of concern may include, but are not limited to, differences in blood flow and chroma. This database 121 can be based on historical data from a particular patient (so as to allow for individual, comparative analysis). Additionally or alternatively, the database 121 may also draw from a broader dataset of examinations or other frames 215 through large scale machine learning, such as, but not limited to frames 215 from other body cavities of interest 300 and / or the same body cavity of interest 300 of other patients. In an exemplary embodiment, the model 305 may be trained using about 500-1000 frames 215 of anatomical anomalies containing areas of concern that have been previously identified by a trained professional. In some embodiments of system 100, these 500-1000 frames 215 are anatomical anomalies of the area of interest 300. In each case, the frame sensing system 200 may identify and highlight anomalies in frames 215, such as both the still images and / or video captured by the capture sensors 210 of the frame sensing system 200.

[0057] In an exemplary and non-limiting aspect, the system 100 includes a probe 110 in communication with a controller unit 120 via connecting cable 105 (or possibly via wireless connectivity). The separation of probe 110 and controller unit 120 allows for miniaturization ofthe probe 110 and remote operation of the system 100. In particular, the probe 110 includes a compact drive mechanism 160 and frame sensing system 200, while the more substantial computational and memory capabilities needed to optimize automation, artificial intelligence, remote control, and other beneficial aspects of the system 100 remain ex vivo on / in the controller unit 120 and / or remotely accessed computational and memory systems, such as through the use of transceiver 128.

[0058] Separation of the probe 110 and controller unit 120 also gives rise to the possibility of using a probe 110 that is one-time use or disposable that can be selectively connected and disconnected to the controller unit 120, thereby providing greater flexibility and ease in configuring and using the system 100. In this manner, selected portions of the system — and particularly the probe 110 and / or the controller unit 120 — can be specifically designed for one-time use (i.e., a disposable system) and / or so that it is easier to disconnect, replace, repair, or clean these discrete components of the system 100 as needed.

[0059] To the extent wired connections are used, the controller unit 120 can include a power supply 126, such as a battery, a connection to the electrical grid, or independent power generation means, in order to power the electrical components of the probe 110. By allowing for a hard-wired connection between the probe 110 that is used in vivo and the controller unit 120 that stays ex vivo, it is not necessary to provide for in-unit power storage or generation in the housing 140 of the probe 110, thereby eliminating the cost and bulk / weight otherwise associated with such capabilities of current probe designs.

[0060] Turning to Figures 2-8, probe 110 has a housing 140, and an articulating elongated probe member 150 (e.g., wand) extends from one end of the housing 140. The frame sensing system 200 is carried on, contained within, or integrated with one or more of the elements constituting theprobe 1 10. As shown here, he frame sensing system 200 may include one or more capture sensors 210 positioned at the distal end 151 of the elongated probe member 150, with the capture sensors 210 being one or an array of cameras. Further, it is contemplated that the probe 110 may have additional data collection sensors 170, such as, but not limited to, sensors for temperature sensing, sample collection, and chemical composition / monitoring. These data collection sensors 170 may be located at the distal end 151 of the elongated probe member 150, and the data from these data collection sensors 170 may also be stored in the database 121 of the controller unit 120. Ultimately, the selection and arrangement of elements for the frame sensing system 200 will be dictated by, among other things, power supply needs and expected size. To the extent the system 100 finds particular utility in cystoscopy and hysteroscopy examinations, the constraints relating to size, particularly with respect to the frame sensing system 200 and data collection sensors 170 generally and the probe 110 specifically, cannot be overstated.

[0061] The elongated probe member 150 may have a length LI of about 335 mm. The probe 110, not including the elongated probe member 150, may have a length L2 of about 195 mm and a diameter D2 of about 40 mm. Thus, the total length of the probe 110 may be about 530 mm. The connecting cable may have a length L3 of about 600 mm. The controller unit 120 may have a length L4 of about 175 mm, and a diameter D4 of about 40 mm.

[0062] The probe 110 includes a drive mechanism 160 configured to redirect the frame sensing system 200 and data collection sensors 170 carried on / integrated with the elongated probe member 150. The drive mechanism 160 includes a plurality of motors 161 and pulleys 162 positioned at cooperating and preferably orthogonal angles. Each motor 161 winds or releases an articulation cable 163 via a gear 164, such as a worm gear, that engages the pulley 162 or structure associated with the pulley 162. The articulation cable 163 is proximally connected to the motor 161 thattravels along its associated pulley 162. The distal end of each articulation cable 163 is anchored at the distal end 151 of the elongated probe member 150 at a location that is spaced apart from each of the other articulation cables 163 (again, preferably at a regularly spaced apart angle). In some aspects, two motors 161 can be employed and positioned at orthogonal angles through the use of a brace or mounting affixed to the interior cavity 141 of the housing 140. It is also possible to employ a three or four equally spaced apart pulleys 162 to allow for more coordinated, fine motor control. The motors 161 can be configured to run independently, sequentially, or in concert with one another so as to produce a consistent and repeatable range of motion (i.e., a “sweep” along a predetermined field of vision). This range of motion may cause the distal end 151 of the elongated probe member 150 to trace a known and regular series of motions that is particularly useful in the automated operation and control of the system 100 and frame capture by the capture sensors 210 of the frame sensing system 200.

[0063] In an exemplary embodiment, the drive mechanism 160 for the distal end 151 of the elongated probe member 150 of probe 110 may be located in the controller unit 120, instead of the probe 110 and may run through the connecting cable 105 from the controller unit 120 to the probe 110. For example, the motors 161, gears 164, and pulleys 162 with associated articulation cables 163 and any printed circuit boards 180 may be located in the controller unit 120. Further, the motors 161 may be servo motors, which will then permit the motor controller 165, controller unit 120, and system 100 to know and dictate the location of the output shaft, gear 164, pulley 162, and articulation cable 163 of each of the motors 161 and the position of the distal end 151. The articulation cables 163 have a controller unit portion 163b and a probe portion 163a. The controller unit portion 163b of the articulation cables 163 run from the pulleys 162 to a controller unit coupler 166. The probe portion 163a of the articulation cables 163 run from the probe coupler 167 to thedistal end 151 of the elongated probe member 150. The controller unit portion 163b of the articulation cables 163 are of a predetermined length and consistent from one system 100 to the next. Further, the probe portion 163a of the articulation cables 163 are a predetermined length and consistent from one probe 110 to the next (a first probe 110 to a second probe 110). Therefore, since the lengths of the articulation cables 163, such as the controller unit portion 163b and probe portion 163a of the articulation cables, are known then the relationship between an input to a given motor 161 of said drive mechanism and the corresponding output at (movement of) the distal end 151 of the probe 110 is known. Thus, a predetermined input to a motor 161 at the controller unit 120 will result in a corresponding predetermined movement output at the distal end 151 by the capture sensor 210.

[0064] Further, it is also contemplated that in embodiments of the system 100 having a controller unit coupler 166 and probe coupler 167, any other items running along the connecting cable, such as the electrical and data cables 187 for the probe that run through the connecting cable 105 and a fluid conduit 186 in the embodiments in which the fluid reservoir is located in the controller unit 120. Therefore, the connecting cable 105 and its contents are selectively connectable, such that they are connected when the controller unit coupler 166 and the probe coupler 167 are connected. Accordingly, such items will also have an controller unit portion that runs from the controller unit portion that runs from the controller unit 120 to the controller unit coupler 166, and a probe unit portion that runs from the probe coupler 167 to the probe 110. This permits the probe 110 can be completely disconnectable from and reconnectable (selectively connect) to the controller unit 120 via the controller unit coupler 166 and probe coupler 167 connection,

[0065] The elongated probe member 150 is made from a resilient and / or jointed tube, so that the distal end 151 of the elongated probe member 150 bends or curves in response to tension exertedby one or more pulleys. The elongated probe member 150 can also be imparted with alternating, axially arranged resilient and non-resilient bands (either through the use of differing materials or subsequent cold or hot working of a single material) so as to function as joints. This enables the elongated probe member 150 to be formed into a plurality of positions within a full three dimensional sphere. Insofar as the capture sensor 210 is positioned at or near the tip of the elongated probe member 150, the ability to reshape the elongated probe member 150 allows for frames 215 to be captured with little to no manipulation of the probe 110 after it is inserted and initially positioned in the cavity of interest 300.

[0066] In turn, so long as the housing 140 remains stationary, instructions delivered by the controller unit 120 allow for the aforementioned preliminary or detailed frame capturing inherent to the examinations described above. Thus, it becomes possible to allow for preprogrammed and / or automated examinations to occur without the need for a trained urologist to initiate each and every movement needed for appropriate frame capture of the cavity of interest 300 by the frame sensing system 200.

[0067] The controller unit 120 can be contained in its own housing 122 at a proximal position relative to the probe 110. The controller unit 120 will include a motor controller 165 capable of directing the probe to capture frames 215 within a predetermined field of vision (e.g., conducting a full 180° sweep along an x-axis and then pivoting to conduct the same 180° sweep along the y- axis). The controller unit 120 could also contain its own processor 124 and memory 125 that contains the database(s) and other programs and / or executable sequences used and executed by the processor 124. The processor 124 and memory 125 may be configured to access, store, or download additional, executable sequences, databases, and programs. The controller unit 120 may also have a transceiver 128, such as a network interface (wireless and / or wired, which will permitthe acquiring, sharing, storage and processing of data and information, such as from the memory 125, outside of the system 100, such as in the cloud 192 or by a server 191.

[0068] As was stated above, in some aspects, the controller unit 120 also provides for automated detection of anomalous results. That is, real-time frame processing by the frame sensing system 200 implemented using the controller unit 120 and capture sensor 210 of the probe 110 will detect anomalies 130, such as, but not limited to, discolored or differently colored or textured portions within its field of vision of the at least one capture sensor 210. Upon sensing such anomalies 130 using the model 305, the controller unit 120, via the frame sensing system 200 will instruct the system 100 to gather further details, possibly by taking additional frames 215 using the capture sensor 210 or employing data collection sensors 170 that collect more detailed and comprehensive information. Additionally or alternatively, the controller unit 120 can provide an alert signal, such as through a user interface 127 so as to allow for human intervention by a trained professional upon the detection of anomalies 130 within the frames 215 captured by the frame sensing system 200. The processing and recognition of anomalies in the frames 215 captured by the frame sensing system 200 may be performed by the processor 124 or a separate frame processor 220 with memory 221, such as on a frame sensing system printed circuit board 225. In some embodiments, all of the printed circuit boards in the controller unit 120, such as the frame sensing printed circuit board, may be incorporated into a primary printed circuit board (PCB) 181, along with all of the electrical components of controller unit 120, or at least headers for the electrical components.

[0069] Turning Figure 9, which shows a method 400 of training the model 305. In 405, the method includes obtaining data and parameters for training the model 305. This data and parameters can include, but are not limited to, the frames 215 containing anomalies 130, such as differently colored portions, differently textured portions, areas having differences in blood flow, or chroma, that havebeen identified by trained professionals and properly coded or categorized. These frames may be coded or categorized, such as, but not limited to, by the type of anomaly 130 and the particular body cavity of interest 300 from which the frame 215 is captured and the type of examination performed during capture of the frame 215. In an exemplary embodiment, the model 305 may be trained using about 500-1000 frames of anatomical anomalies 130 containing areas of concern that have been previously identified by a trained professional using the capture sensors 210 of the frame sensing system 200, as well as the data collection sensors 170.

[0070] Also included in this data and parameters is the navigation path 310 that the probe 110 took, such as frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements of the probe 110 in relation to the landmarks. The corresponding movements of the probe 110 may be movements of the frame capture sensor 210 on the articulating distal end 151 during a standard examination. Further included in the data and parameters may be the output of the fluid via an administration port 152, such as in relation to a specific landmark in a frame or an anomaly 130 located in a frame obtained by the frame capture sensor 210. The data and parameters may be pulled from memory 125, such as the database 121 in memory 125.

[0071] In 410, the data and parameters are then used to generate (train) the new model 305, such as by using processor 124. Alternatively, the data and parameters may be used to update an existing model 305, such as a model 305 retrieved from memory 125. This data and parameters may be taken from the database in 121 in memory 125 by processor 124. In 415, the model 305 generated (trained) or updated in 410 is then stored in memory 125.

[0072] Turning to Figure 10, which shows a method 500 of (algorithm for) operating the system 100 using the model 305. In 505, the system 100 is provided and the model 305 is provided. Insome exemplary embodiments, the model 305 is obtained from memory 125. In 510, the system 100 prompts the user (trained professional) for information related to the examination, such as the type of examination to be performed, and whether the cavity of interest 300 of the patient has previously been examined. The system 100 then receives the responses from the user and uses the model 305 to plan the automated examination navigation path 310 for the cavity of interest 300 based on the responses. The navigation path 310 for the automated examination may also be based at least in part of the past manual navigation paths 310 of the probe 100 by a trained professional that the model 305 was trained on. In 515, the system 100 prompts the user to perform the initiation movement sequence using the probe 110 and proceeds to 520 once the initiation movement sequence is completed by the user with the directional control assembly 115. In 520, the controller unit 120, using the model 305, frame sensing system 200, and commences the autonomous examination of the cavity of interest 300 along the navigation path 310 predetermined by the model 305. During the autonomous examination along the predetermined navigation path 310, the drive mechanism 160 is autonomously controlled using the model 305 to manipulate the position of the frame sensing system 200 on the distal end 151 of the probe 110 to capture frames of the cavity of interest 300.

[0073] Further, during autonomous navigation, when an anomaly 130 is detected using one or more of the frame sensing system 200, the data collection sensors 170, directed radiation source 153, and / or the fluid in the administration port 152, the system 100 may obtain additional frames of the anomaly 130 in the cavity of interest 300 using the frame sensing system 200 as determined by the model 305. The model 305 may also obtain data regarding the anomaly 130 while obtaining the additional frames using the data collection sensors 170, directed radiation source 153, and / or the fluid output from the fluid administration port 152. The system 100 may also, or mayalternatively, use the user interface 127 to inform the trained professional that an anomaly 130 has been identified, thereby permitting the trained professional to obtain frames of the anomaly 130, such as by using the frame sensing system 200 and directional control assembly 115.

[0074] Once the system 100 and / or trained professional completes the more in-depth review of the anomaly 130, the system 100 may continue the autonomous navigation and examination of the cavity of interest 300. All of the frames, data, and other information regarding and acquired during the examination are stored in memory 125.

[0075] Upon completion of the autonomous navigation and examination of the cavity of interest by the model 305 of the system 100, a report is generated of the examination is generated in 525. The report may be stored in memory 125 and / or the report may also be displayed, such as using the user interface 127. The trained professional may review the report and discuss the contents with the patient. The report may contain details regarding the examination, such as, but not limited to one or more of the number, location, and types of anomalies detected during the examination. The report may contain any information that is stored in the memory 125.In 530, the model 305 may be updated using the frames, data, and / or other information regarding and acquired during the examination that is stored in memory 125. The model 305 may be updated using the processor 124 and stored in memory 125.

[0076] Further aspects enable the controller unit 120 to record and compile reports and / or summaries that can be subsequently reviewed by the patient and / or the trained professional. A trained professional can include, but is not limited to, a physician, physician’s assistant, nurse, technician and / or other medical professional with the proper credentials and training. Because the controller unit 120 will direct the frame capture sequences executed by the frame sensing system 200 and save or communicate the results / information to a data storage unit, the trained professionalis able to access, review, and determine further at a time that is more convenient to the trained professional and the patient. In some aspects, the trained professional need not be physically present during some or all of the examination.

[0077] The controller unit 120 may also trained using artificial intelligence techniques. Here, standardized frames (and / or the results of previous examinations, after those exams have been properly coded or categorized by a trained professional) are provided to the artificial intelligence engine that are used to create an artificial intelligence model 305 of the cavity of interest 300. Depending upon the type and detail level of information provided, the model 305 may be general in nature to the cavity of interest 300 or may be specific to the cavity of interest 300 of the specific patient. Thereafter, the controller unit 120, using the model 305 is capable of comparing real-time frames captured by the frame sensing system 200 against this database of past results (or the database of past results itself) in order to assess the probability that a particular frame capture contains anomalous details (or otherwise merits further consideration by a trained professional). Here again, this approach means the controller unit 120 can record and flag the anomaly 130 for future review using the frame sensing system 200, and / or it may provide a real time alert for immediate intervention, such as using the user interface 127. The model 305 may be updated based upon, but not limited to, one or more of the frames acquired by the frame sensing system 200, the frames tagged by the trained professional, and any input received via the input / output from the trained professional. In an exemplary embodiment, the model 305 may identify an anomaly 130 by analyzing frames for differences in blood flow and chroma. The model 305 may be trained using about 500-1000 frames containing anomalies, such as areas having differences in blood flow and / or chroma, that have been identified by trained professionals.

[0078] As a further aspect of the artificial intelligence regime, the elongated probe member 150 can be positioned in a standardized position relative to the patient’s anatomy, after which a standardized movement sequence is conducted. The standardized movement sequence may be an x-axis sweep, followed by a y-axis sweep, but it is contemplated that a trained professional may select other movements for the standardized movement sequence. The controller unit 120 can discern the position of the elongated probe member 150 based on and relative to the standardized movements. Because of this, the model 305 and database 121 in the memory 125 of the controller unit 120 may be used in conjunction with the frame sensing system 200 to recognize anomalies based upon the sequence of movement / frame capture. For example, if a particular portion of the anatomy of the cavity of interest 300 is known to contain features, such as differences in chroma and / or blood flow, that might be deemed anomalous, the probe 110 can be positioned and the examination can be initiated relative to that part of the anatomy. Insofar as the sequence of movement for the probe 110, such as the articulating distal end of the probe 110, should also occur at a predetermined steady and known rate / speed, the point in time that frames are captured may be stored in the database 121 of the memory 125 and provides another means of tagging and tracking the progress of the examination, and the model 305 can be adapted to take these variables and parameters into account. The system 100 may also know the location of the probe 110 and distal end 151 of the probe 110 based on the outputs of (data provided by) the data collection sensors 170.

[0079] Further, the artificial intelligence (Al) machine learning model 305 may be trained to automatically navigate the probe 110, such as the distal end 151 of the probe 110, using frames from videos and images having landmarks captured during manual navigation of the probe 110 inthe cavity of interest 300 by a trained professional and corresponding movements of the at least one capture sensor 210 of the frame sensing system 200.

[0080] Thus, the system 100 may automatically navigate using the model 305, at least one capture sensor 210, and drive mechanism 160, based on landmarks identified in frames obtained by the capture sensor 210. When the system 100 recognizes a landmark in a frame identified using said at least one capture sensor 210, said system 100 performs the corresponding movements performed during the manual navigation of the probe 110. In some exemplary embodiments, this automatic navigation of the probe 110 using model 305 may commence after completion of the standardized movement sequence.

[0081] The model 305 and database 121 in the memory 125 can be leveraged so as to produce results that are unique to a particular patient. Thus, if a patient undergoes multiple procedures, the parameters of the model 305 may be updated to include information from the database 121 in the memory 125, such as images captured by the frame sensing system 200 and data collection sensors 170 from an earlier examination procedure when carrying out a later examination procedure. The outputs of the data collection sensors 170 may also be collected during the earlier examination and compared to those outputs collected during the later examination procedure. For example, controller unit 120, using the model 305, can leverage frames from an earlier examination procedure obtained by the frame sensing system 200 and / or data / outputs collected by the data collection sensors 170 and stored in database 121 against those obtained by the frame sensing system 200 and / or data collection sensors 170 during a later procedure, so as to provide another means of detecting anomalous results. These results can be stored in the database 121 of memory 125, such as onboard the controller unit 120 (or probe 110), or the frames and data / outputs can beuploaded and downloaded to databases 121 and / or memory 125 servers or hard-wired devices configured and capable of retaining significant amounts of data.

[0082] The configuration of the system 100 is particularly amenable to automation. That is, the small size of the probe 110 and the ability to quickly couple and uncouple the probe 110 to and from the controller unit 120 allows for the system 100 to rely on software or hardwired instructions contained within the system 100 so as to eliminate the need for full-time operation and control through human intervention.

[0083] In some aspects, the probe 110 is formed as a low-cost, disposable device, whereas the controller unit 120 could be used multiple times. In other aspects, both the probe 110 and the controller unit 120 could be disposable. In still other configurations, the construction of the system 100 allows for re-use of components. But in all cases, the system 100 is configured to allow for autonomous operation of the automated medical camera system 100, without the need for constant human intervention / control.

[0084] In view of the foregoing, system 100 can be autonomously controlled and motorized. For example, system 100 may be configured or programmed to follow a fixed pattern based on the model 305. The fixed pattern may ensure that certain anatomy within the body cavity of interest 300 is captured by the frame sensing system 200. The fixed pattern may follow a generalized or expected anatomy of the body cavity of interest 300 of a patient to navigate to or capture a desired surgical site of the body cavity of interest 300. In an embodiment, system 100 does not follow other instruments to determine its predetermined navigation path 310 for the autonomous examination of the cavity of interest 300. System 100 may be programmed to navigate the anatomy of a patient of the body cavity of interest 300 along fixed patterns using, for example, one or more (or all) of the capture sensors 210 and data collection sensors 170. The data collection sensors 170may include, but are not limited to, positioning feedback, inertial measurement units, accelerometers, gyroscope sensors, obstacle detection sensors. The model 305 may contain obstacle detection capabilities, situation-based instructions, and automatic decision-making based on the outputs from one or more of the capture sensors 210 and data collection sensors 170.

[0085] In a further embodiment, the system 100 can be outfitted and employed as part of a method to address specific medical conditions. As prospective but non-limiting examples, methylene blue has been proposed as a screening tool / diagnostic aid in the detection of selected gastrointestinal and prostrate tumors, while indocyanine green binds to selected plasma proteins which can be useful in identifying anomalous blood perfusion. Thus, another aspect of the invention involves the administration of one or more detection dyes, such as methylene blue and / or indocyanine green, prior to a routine examination using system 100. Other bioluminescent, fluorescent, or other substances that reflect or emit — or can be induced to reflect or emit (via exposure to selected temperature, wavelength(s) of light, pH level, or other conditions) — radiation can also be used.

[0086] The administration of such dyes and substances can be accomplished by having the patient ingest or be inj ected prior to or as part of the examination procedure. Additionally or alternatively, the dyes / sub stances can be manually or autonomously applied or released, or otherwise delivered, to the examined tissue prior to or during the procedure. For ease of understanding and describing, the term “fluid” is intended to encompass dyes, substances, and other similar items discussed herein. Further, the term “output” may be understood to encompass the application, release, and / or otherwise delivery of the fluid, when used in context with “fluid”.

[0087] The fluid may be output via an administration port 152 of the probe 110. The fluid may be stored in a reservoir 185 in the system 100, such as in the probe 110 or controller unit 120. The reservoir 185 may be connected to the administration port 152 via a fluid conduit 186. In anexemplary embodiment, the administration port 152 may be located at the distal end 151 of the probe 110.

[0088] The activation wavelength(s) of the fluid(s) can be within the visible spectrum. Infrared, ultraviolet, or other non-visible wavelengths are also possible, so long as the frame sensing system 200 is properly equipped. The selected wavelength might also be selected to coincide with known photodynamic therapy regimens, so as to expand system capabilities beyond diagnostic.

[0089] The frame sensing system 200 will detect reflected or emitted radiation (e.g., fluorescence) upon activation of the fluid by predetermined conditions. In such cases, a system alert and / or marker can be created or inserted within the generated data / report within the database 121 of memory 125 and / or alert the trained professional such as through the user interface 127. Additionally or alternatively, upon detection, the model 305 in the controller unit 120 can be trained so as to redirect the probe 110 to conduct additional maneuvers, such as capturing more detailed or different types of frames above and beyond the standard examination routine using the frame sensing system 200. By way of example rather than limitation, and in combination with other observed data (e.g., position of the probe in the cavity of interest 300, identification of known anatomical locations / markers within the cavity of interest 300, comparison against patient history from the database 121 of memory 125, etc.), the probe 110, using the model 305 to direct the drive mechanism 160, can conduct additional sweeps of selected portions of the field of vision within the cavity of interest 300 and / or to capture a greater number or (through the provision / use of multiple sensors in the probe itself, such as the capture sensors 210 and / or data collection sensors 170) different types of frame captures and sensor data.

[0090] System 100 may be fitted with an optional, directed radiation source 153, such as at the distal end 151 the probe 110. The directed radiation source 153 may include, but is not limited to,one or more of an appropriate light emitting diode or incandescent source. This directed radiation source 153 is capable of projecting radiation within the field of vision of the capture sensor 210, with the wavelength(s) selected so as to be capable of inducing or directly activating the fluid that is output by the administration port 152. When used, the directed radiation source 153 may be integrated with, positioned adjacent to, or provided separately from (e.g., via a second probe 110) the frame sensing system 200.

[0091] The system 100, such as using, but not limited to, the model 305, can be configured and trained to compare any anomalous results from the aforementioned radiation-detection schemes against a data set of known conditions, thereby creating a list of possible diagnoses including the probability of matches based analysis / comparison against that data set. The system 100, such as using, but not limited to, the model 305, can also be programmed to autonomously employ additional examination routines using the model 305 or prompt a trained professional to intervene, such as through the user interface 127, as noted above.

[0092] When acting autonomously, such under the direction of the model 305, the system 100 could be configured to release or apply the necessary fluid(s) (dye) in situ via the administration port 152 in response to a detected condition. Otherwise, the ingestion, injection, administration, or other application of the fluid is performed through human intervention prior to or during the examination.

[0093] As disclosed and contemplated herein, the system 100 imparts a number of advantages:• Motorized automated medical camera system 100 having an frame sensing system 200 with at least one capture sensor 210 on the distal end of the articulating elongated probe member 150 .• The automated articulation of the automated medical camera system 100 may be controlled by a computer algorithm of the method 400 and the model 305 computer algorithm to ensure examination of anatomy is complete.• The method 400 may be executed as an algorithm by the controller unit 120 and may use the model 305 to automate frame capture using the frame sensing system 200 to thoroughly document the examination of the body cavity of interest 300.• The use of artificial intelligence, such as the model 305 of the body cavity of interest 300, to identify and highlight anomalies in the anatomy on the frames (e.g., still images and videos) captured by the frame sensing system 200.

[0094] All components of the system should be made of materials having sufficient flexibility and structural integrity, as well as being biocompatible and chemically inert in nature. Ideally, for disposable systems or components thereof, low-cost polymers, metals, alloys, and / or composites could be employed, while multi-use elements should be more durable and amenable to repeated sterilization / cleaning. Anti-microbial materials and coatings could be employed in either instance.

[0095] Any reference to coupling or attachment in this disclosure are to be understood as encompassing any of the conventional means used in this field, and coupled elements will generally move as a single unit. This may take the form of snap- or force fitting of components, although threaded connections, bead-and-groove, and bayonet-style / slot-and-flange assemblies could be employed. Adhesive and fasteners could also be used, although such components must be judiciously selected so as to meet the aims of this invention.

[0096] In the same manner, engagement may involve coupling or an abutting relationship, with the latter meaning that the abutting components are not necessarily attached and, therefore, need not move as a single unit. These terms, as well as any implicit or explicit reference to coupling,will should be considered in the context in which it is used, and any perceived ambiguity can potentially be resolved by referring to the drawings.

[0097] Use of frame / image processing, artificial intelligence, and other learning models can employ any of the conventional techniques in the field. This may include operations involving large scale data capture and analysis, iterative processes such as genetic algorithms, and the like. These operations may be distributed across a network or embodied in appropriate hardware and / or software dedicated to or associated with the system. Procedure-specific data, historical and comparative data, commands, feedback, and other communication may be stored, accessed, and communicated through hardwired connections or by way of wireless, cloud-based, and / or internet- enabled protocols.

[0098] Although the present embodiments have been illustrated in the accompanying drawings and described in the foregoing detailed description, it is to be understood that the invention is not to be limited to just the embodiments disclosed, and numerous rearrangements, modifications and substitutions are also contemplated. The exemplary embodiment has been described with reference to the preferred embodiments, but further modifications and alterations encompass the preceding detailed description. These modifications and alterations also fall within the scope of the appended claims or the equivalents thereof.

Claims

CLAIMSWe claim:

1. An automated articulating medical camera system comprising: a probe, a controller unit and a frame sensing system; said probe comprising an elongated probe member having an articulating distal end, said distal end having a capture sensor of said frame sensing system; said distal end being articulated by a drive mechanism; and said drive mechanism and said capture sensor of said frame sensing system being automatically controllable by an artificial intelligence generated model of a cavity of interest of a patient to be examined, thereby permitting said automated articulating medical camera system to perform an autonomous examination of said cavity of interest of said patient.

2. The automated articulating medical camera system of claim 1, wherein said probe and said controller unit are connectable; said probe having a probe coupler that is selectively connectable to a controller unit coupler of said controller unit; and said probe coupler and said controller unit coupler are located along a length of a connecting cable, thereby permitting said probe to be disconnected from said controller unit and discarded, while said controller unit may be reused with another probe; and wherein a predetermined navigation path for the autonomous examination of said cavity of interest is developed using said model.

3. The automated articulating medical camera system of claim 2, wherein said drive mechanism is located in said controller unit, wherein articulation cables for said distal end travel from said drive mechanism to said distal end through said connecting cable, when said probe is connected to saidcontroller unit; wherein said articulation cables have a probe portion spanning from said articulating distal end to said probe coupler, and said articulation cables have a controller unit portion spanning from said drive mechanism in said controller unit to said controller unit coupler; and wherein said probe portion of said articulation cables are a first predetermined length and consistent from a first probe to a second probe, thereby a predetermined input to said drive mechanism at said controller unit will result in a corresponding predetermined movement output at said distal end.

4. The automated articulating medical camera system of claim 3, wherein said drive mechanism is comprised of one or more servo motors, which permit said controller unit to know and dictate a position of said distal end.

5. The automated articulating medical camera system of claim 1, wherein said model controls an articulation of said articulating distal end and capturing of frames of said cavity of interest, wherein said model is trained using about 500-1000 frames of anatomical anomalies of said cavity of interest that have been previously identified by a trained professional, thereby permitting said medical camera system to identify and highlight anomalies on said captured frames.

6. The automated articulating medical camera system of claim 5, wherein said automated articulating medical camera system alerts said trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; wherein said automated articulating medical camera system alerts said trained professional using a user interface; wherein said anomaly includes one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; and wherein said anomaly is further identifiedusing one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end.

7. The automated articulating medical camera system of claim 6, wherein said autonomous examination is performed by said probe navigating said cavity of interest using landmarks identified by said capture sensor that correspond with landmarks in the frames on which said model was trained.

8. The automated articulating medical camera system of claim 7, wherein said system performs movements corresponding to those performed during a manual navigation of said probe on which said model was trained, when said capture sensor identifies said landmarks.

9. The automated articulating medical camera system of claim 6, wherein said fluid output from said administration port of said distal end is one or more of dyes and / or substances visible to said capture sensor delivered to a tissue of said cavity of interest during said examination, said fluid may be visible to said capture sensor when said fluid is illuminated by a directed radiation source.

10. The automated articulating medical camera system of claim 1, wherein said model is stored in a memory of said controller unit.

11. The automated articulating medical camera system of claim 1, wherein said model is trained using results of a previous examination of said patient, thereby permitting a direct comparison ofanomalies identified in said cavity of interest during said examination with anomalies identified during said previous examination.

12. A probe for an automated articulating medical camera system comprising: an elongated probe member having an articulating distal end, said distal end having a capture sensor connectable to a frame sensing system; said distal end being articulatable when connected to a drive mechanism in a controller unit; and said distal end and said capture sensor being automatically controllable by an artificial intelligence generated model of a cavity of interest of a patient to be examined, thereby permitting said probe to perform an autonomous examination of said cavity of interest of said patient.

13. The probe for the automated articulating medical camera system of claim 12, wherein said probe and said controller unit are connectable; said probe having a probe coupler that is selectively connectable to a controller unit coupler of said controller unit, thereby permitting said probe to be disconnected from said controller unit and discarded, while said controller unit may be reused with another probe; and wherein a predetermined navigation path for the autonomous examination of said cavity of interest is developed using said model; said automated articulating medical camera system having said frame sensing system.

14. The probe for the automated articulating medical camera system of claim 13, wherein said drive mechanism is located in said controller unit, wherein articulation cables for said distal endtravel from said drive mechanism to said distal end through a connecting cable, when said probe is connected to said controller unit; wherein said articulation cables have a probe portion spanning from said articulating distal end to said probe coupler, and said articulation cables have a controller unit portion spanning from said drive mechanism in said controller unit to said controller unit coupler; wherein said probe portion of said articulation cables are a first predetermined length and consistent from a first probe to a second probe, and thereby a predetermined input to said drive mechanism at said controller unit will result in a corresponding predetermined movement output at said distal end.

15. The probe for the automated articulating medical camera system of claim 14, wherein said drive mechanism is comprised of one or more servo motors, which permit said controller unit to know and dictate a position of said distal end.

16. The probe for the automated articulating medical camera system of claim 12, wherein said model controls an articulation of said articulating distal end and capturing of frames of said cavity of interest, wherein said model is trained using about 500-1000 frames of anatomical anomalies of said cavity of interest that have been previously identified by a trained professional, thereby permitting said medical camera system to identify and highlight anomalies on said captured frames.

17. The probe for the automated articulating medical camera system of claim 16, wherein said automated articulating medical camera system alerts said trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; wherein said automated articulating medical camera system alerts said trained professional using a user interface;and wherein said anomaly includes one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; wherein said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end.

18. The probe for the automated articulating medical camera system of claim 17, wherein said autonomous examination is performed by said probe navigating said cavity of interest using landmarks identified by said capture sensor that correspond with landmarks in the frames on which said model was trained.

19. The probe for the automated articulating medical camera system of claim 18, wherein said system performs movements corresponding to those performed during a manual navigation of said probe on which said model was trained, when said capture sensor identifies said landmarks.

20. The probe for the automated articulating medical camera system of claim 17, wherein said fluid output from said administration port of said distal end is one or more of dyes and / or substances visible to said capture sensor delivered to a tissue of said cavity of interest during said examination, said fluid may be visible to said capture sensor when said fluid is illuminated by a directed radiation source.

21. The probe for the automated articulating medical camera system of claim 12, wherein said model is stored in a memory of said controller unit.

22. The probe for the automated articulating medical camera system of claim 12, wherein said model is trained using results of a previous examination of said patient, thereby permitting a direct comparison of anomalies identified in said cavity of interest during said examination with anomalies identified during said previous examination.

23. A controller unit for an automated articulating camera system comprising: a controller unit coupler selectively connectable to a probe coupler of a probe, thereby permitting said probe to be disconnected from said controller unit and discarded, while said controller unit may be reused with another probe; and said controller unit having a drive mechanism, wherein articulation cables for a distal end of said probe travel from said distal end to said drive mechanism; wherein a predetermined input to said drive mechanism at said controller unit will result in a corresponding predetermined movement output at said distal end.

24. The controller unit for the automated articulating camera system of claim 23, wherein said probe has an elongated probe member having an articulating distal end, said distal end having a capture sensor connectable to a frame sensing system; said distal end being articulatable when connected to said drive mechanism of said controller unit; and said distal end and said capture sensor being automatically controllable by an artificial intelligence generated model of a cavity of interest of a patient to be examined, thereby permitting said probe to perform an autonomous examination of said cavity of interest of said patient.

25. The controller unit for the automated articulating medical camera system of claim 24, wherein said drive mechanism is comprised of one or more servo motors, which permit said controller unit to know and dictate a position of said distal end.

26. The controller unit for the automated articulating medical camera system of claim 25, wherein said model controls an articulation of said articulating distal end and capturing of frames of said cavity of interest, wherein said model is trained using about 500-1000 frames of anatomical anomalies of said cavity of interest that have been previously identified by a trained professional, thereby permitting said medical camera system to identify and highlight anomalies on said captured frames.

27. The controller unit for the automated articulating medical camera system of claim 26, wherein said automated articulating medical camera system alerts said trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; wherein said automated articulating medical camera system alerts said trained professional using a user interface; and wherein said anomaly includes one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; wherein said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end.

28. The controller unit for the automated articulating medical camera system of claim 27, wherein said autonomous examination is performed by said probe navigating said cavity of interestusing landmarks identified by said capture sensor that correspond with landmarks in the frames on which said model was trained.

29. The controller unit for the automated articulating medical camera system of claim 28, wherein said system performs movements corresponding to those performed during a manual navigation of said probe on which said model was trained, when said capture sensor identifies said landmarks.

30. The controller unit for the automated articulating medical camera system of claim 27, wherein said fluid output from said administration port of said distal end is one or more of dyes and / or substances visible to said capture sensor delivered to a tissue of said cavity of interest during said examination, said fluid may be visible to said capture sensor when said fluid is illuminated by a directed radiation source.

31. The controller unit for the automated articulating medical camera system of claim 30, wherein said model is trained using results of a previous examination of said patient, thereby permitting a direct comparison of anomalies identified in said cavity of interest during a current examination with anomalies identified during said previous examination.

32. The controller unit for the automated articulating medical camera system of claim 24, wherein said model is stored in a memory of said controller unit.

33. A method of training a model for autonomous examination of a cavity of interest using an automated articulating camera system is comprised of: obtaining data and parameters for training said model; training said model using said obtained data and parameters; and storing said model in memory of said articulating camera system.

34. The method of claim 33, wherein said obtained data and parameters are comprised of about 500-1000 frames of anatomical anomalies containing areas of concern of a cavity of interest previously identified by a trained professional.

35. The method of claim 34, wherein said frames were acquired using one or more data collection sensors and / or a capture sensor of a frame sensing system of said automated articulating camera system.

36. The method of claim 34, wherein said anomalies include one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma; and these anomalies being previously identified by trained professionals and properly coded and / or categorized by type of anomaly and the cavity of interest.

37. The method of claim 33, wherein said data and parameters further comprise frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements in relation to said landmarks of a distal end of a probe of said automated articulating camera system during a previous examination.

38. A method of operating an automated articulating camera system, comprising: providing said automated articulating camera system and an artificial intelligence generated model for autonomously navigating said automated articulating camera system; prompting a user of said automated articulating camera system for information related to an examination of a cavity of interest and receiving said information from said user; and prompting said user to perform an initiation sequence of said automated articulating camera system; commencing an automated examination along a navigation path predetermined using said model.

39. The method of claim 38, further comprised of generating a report of said examination upon completion of said examination of said cavity of interest.

40. The method of claim 39, further comprising updating said model of using frames, data, and / or other information acquired during said examination of said cavity of interest.

41. The method of claim 38, wherein said navigation by said model is based on frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements in relation to said landmarks of a distal end of a probe of said automated articulating camera system during a previous examination; and wherein during said examination of said cavity of interest, said automated articulating camera system identifies anomalies in said cavityof interest, said anomalies include one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma.

42. The method of claim 41, wherein said automated articulating medical camera system alerts a trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; and wherein said automated articulated medical camera system alerts said trained professional using a user interface; wherein said anomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end.

43. An automated articulating camera system, comprising: an automated articulating camera system and an artificial intelligence generated model for autonomously navigating said automated articulating camera system; said automated articulating camera system comprised of a controller unit having a processor and memory; and said memory storing executable code when executed by the processor performs actions comprising: prompting a user of said automated articulating camera system for information related to an examination of a cavity of interest and receiving said information from said user; prompting said user to perform an initiation sequence of said automated articulating camera system; andcommencing an automated examination along a navigation path predetermined using said model.

44. The automated articulating camera system of claim 43, wherein said executable code when executed by the processor performs actions further comprising, generating a report of said examination upon completion of said examination of said cavity of interest.

45. The automated articulating camera system of claim 44, wherein said executable code when executed by the processor performs actions further comprising, updating said model using frames, data, and / or other information acquired during said examination of said cavity of interest.

46. The automated articulating camera system of claim 43, wherein said navigation by said model is based on frames containing landmarks for autonomous navigation captured during manual navigation and corresponding movements in relation to said landmarks of a distal end of a probe of said automated articulating camera system during a previous examination; and wherein during said examination of said cavity of interest, said automated articulating camera system identifies anomalies in said cavity of interest, said anomalies include one or more of differently colored portions, differently textured portions, differences in blood flow, or differences in chroma.

47. The automated articulating camera system of claim 46, wherein said automated articulating medical camera system alerts a trained professional to further examine said anomaly and / or automatically captures additional frames of said anomaly; wherein said automated articulated medical camera system alerts said trained professional using a user interface; and wherein saidanomaly is further identified using one or more of data collection sensors, directed radiation source, and / or fluid output from an administration port of said distal end.

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