40 results about "Flexible endoscopy" patented technology

A deflection control mechanism for a steerable flexible endoscope (10), the endoscope (10) having an elongate flexible shaft (30) comprising a steerable section (31) that is deflectable by movement of at least one elongate control element, comprises a support structure, a drive wheel rotatably supported in or on the support structure, and a hand wheel (22, 23) rotationally coupled to the drive wheel, wherein the deflection control mechanism (29) is connectable to the at least one elongate control element to effect movement of the at least one elongate control element by rotation of the drive wheel, wherein the deflection control mechanism (29) comprises a brake stator element rotationally coupled to the support structure and a brake rotor element rotationally coupled to the drive wheel, the brake stator element being displaceable relative to the brake rotor element in an axial direction, and wherein a first one of the brake stator and brake rotor elements comprises an elastically deformable lip and the other one of the brake stator and brake rotor elements comprises a friction surface (105a, 115a), the elastically deformable lip being arranged for being pressed against the friction surface (105a, 115a) by axial displacement of the brake stator element relative to the brake rotor element. The invention also relates to a steerable flexible endoscope (10) and to a method for controlling a flexible endoscope (10).

This invention is entitled "Apparatus and Method for Sterilizing Endoscopes". The invention discloses a method for sterilizing articles such as flexible endoscopes, the method being performed in a sterilization chamber. A vacuum is applied to the sterilization chamber while the articles are contained within it. A sterilizing agent is then introduced into the sterilization chamber. The pressure within the sterilization chamber is gradually increased to provide a gradual transition from a high vacuum state to atmospheric pressure. The articles are thus sterilized.

The present application belongs to the technical field of medical robot control, and provides an active modeling control method for a magnetically driven flexible endoscope, which comprises the following steps: acquiring an actual bending angle of a tip of the endoscope; calculating a nominal control input current by using a nominal controller; constructing an extended discrete state space model of the magnetically driven flexible endoscope; performing real-time estimation on the extended discrete state space model by using a nonlinear state estimation algorithm; constructing a quadratic cost function containing an estimated value of the modeling error, and obtaining an optimal compensation control input current by minimizing the quadratic cost function; adding the nominal control input current and the optimal compensation control input current to obtain an actual input current, which is output to a driving mechanism to control the bending angle of the flexible endoscope. The present method can reduce the phase lag phenomenon of a conventional controller, and greatly reduce the steady-state and dynamic tracking errors.

A catheter (50) of a flexible endoscope (100). The catheter (50) includes a catheter body defined by a proximal end and a distal end. The proximal end is connectable to an umbilical portion (5) of a flexible endoscope (100) and the distal end defines a deflectable portion. The catheter body defines a first channel (1), a second channel (2) and a third channel (3). The first channel (1) accommodates at least one of the optical system and deflection means for deflecting the deflectable portion, and the second channel (2) and the third channel (3) are configured to expand when in operation. The catheter (50) comprises an actuating member (18) insertable into the second channel (2) of the catheter body. The actuation member (18) is operable to selectively expand the second channel (2). The second channel (2) is operable in a plurality of modes when expanded, and one of the plurality of modes of the second channel (2) is configured to allow a suction operation in the second channel (2).

An attachment to be fitted to a flexible endoscope is provided. The attachment, or resection cap, can be positioned at the end of an endoscope to create traction and improve visualization. An electrode or cutting wire allows for the resection of a target tissue plane using electrosurgical energy and is designed to interact with the cap to create cutting zones and insulated zones. A conductive coupling element that is capable of interfacing with a catheter passed through an endoscope to transmit electricity to the electrode. The coupling element is designed so that it may be electrically connected and disconnected interprocedurally without removing the scope, and it does not impede use of other instruments through the scope. A coupling catheter that conducts electricity to the resection cap and can deliver fluid to the resection site is additionally provided.

An articulating flexible endoscope is provided. The endoscope comprises: a bending section connected to a distal tip portion at a first end, and connected to a shaft portion at a second end; a pull wire coupled to the distal tip portion at a first location and is configured for articulating the bending section; and a first tube for accommodating the pull wire. A distal end of the first tube is coupled to a second location on the bending section or on the shaft portion, a proximal end of the first tube is coupled to a proximal portion of the articulating flexible endoscope. An effective bending section of the articulating flexible endoscope is adjusted by varying i) a length between the first location and the second location or ii) the second location.

This paper presents endoscopic surgical instruments and methods that mitigate some of the shortcomings of conventional ureteroscopy, while shortening treatment time, increasing the probability of stone-free treatment, and enhancing treatment safety. [Solution] An instrument for endoscopic applications, including urology. The instrument may include both irrigation and aspiration channels 102, an illumination fiber 112 with steering capabilities for a flexible version of the scope, effective aspiration and suction of tissue and internal calculus fragments, improved visibility of the surgical area. In some embodiments, the distal head is configured to position the opening 108 of the working channel within the field of view of the visualization system. In some embodiments, a transparent cap 100 is placed at the distal end of the endoscope to improve the field of view of the surgical area. The irrigation and aspiration channels 102 may be positioned so that a consistent flow of water attracts tissue and internal calculus particles and removes heated fluid.

The disclosed technology relates to a guiding arrangement for receiving and guiding a tool of a surgical instrument, in particular of a single-use flexible endoscope, comprising a working shaft adaptor; a tubular working shaft connected to the working shaft adaptor and comprising a working channel extending beyond the working shaft adaptor; and a curved guiding element with a distal end and a proximal end, wherein the distal end is connected to the working shaft adaptor such that the curved guiding element guides the working channel along a curved trajectory to the proximal end. Furthermore, the disclosed technology relates to a corresponding surgical instrument, e.g., a single-use flexible endoscope.

A scope system is provided including an elongate tube with a distal portion and a lumen extending therethrough. The scope system also includes at least one accessory channel including a tubular structure with an accessory lumen extending therethrough, the at least one accessory channel movably disposed at least partially within the lumen of the elongate tube. The at least one accessory channel includes a distal section and a forward-viewing configuration and a side-viewing configuration. In the forward-viewing configuration, the distal section of the at least one accessory channel is substantially parallel to the distal portion of the elongate tube and in the side-viewing configuration, the distal section of the at least one accessory channel is arced at a radius greater than a radius of the distal portion of the elongate tube.

A guide sheath includes ports at a handle portion through which flexible endoscopic tools may be advanced until they emerge from corresponding ports at a distal tip of the guide sheath. The guide sheath includes a position sensor at its distal tip that is compatible with an image guided surgery (IGS) system, such that a virtual view of the distal tip's position relative to a surgical site may be presented by the IGS system. The virtual view may assist a surgeon in precisely positioning the distal tip at the surgical site, and then one or more flexible endoscopic tools may be advanced the length of the guide sheath for use at the surgical site. The guide sheath may also include an articulating portion at the distal tip that may be deflected in one or more directions in order to provide additional control over placement within the surgical site.

A method includes advancing a shaft of a flexible scope via a set of feedrollers, the flexible scope having a handle mounted to a hull, pivoting the hull about a rotary joint to thereby pivot the handle of the flexible scope relative to the set of feedrollers, and translating the hull along a linear joint to thereby advance the handle toward the set of feedrollers.

The application belongs to the technical field of medical devices, and particularly relates to a flexible endoscope autonomous path planning method, device and system, wherein the flexible endoscope autonomous path planning method comprises: pre-processing an endoscope image; obtaining a visual depth map from the endoscope image and constructing a three-dimensional point cloud map; identifying and contouring a target in the endoscope image to obtain target position information; fusing the three-dimensional point cloud map and the target position information to construct a dynamic environment model; generating a safe path according to the dynamic environment model and movement constraint conditions of an endoscope catheter; and using a deep deterministic policy gradient algorithm to generate a movement strategy according to a current environment state, with the safe path as a reference trajectory. Through visual depth recovery and reinforcement learning strategy, the application realizes real-time three-dimensional environment reconstruction, autonomous obstacle avoidance and accurate tracking of a moving target of the endoscope in a dynamic human body cavity.

A device insertion method for observing the lateral wall of the lumen includes: rotating a hollow organ by changing a body position; turning the tip of the device to the lateral wall of the lumen by rotating the device; and retracting the organ with the device itself by rotating the device, In other embodiments, an endoscope insertion method for observing the lateral side of the organ includes: rotating a body cavity by changing a body position; turning the tip of the flexible endoscope to the lateral side of the organ by rotating the flexible endoscope; and retracting the organ with the flexible endoscope itself by rotating the flexible endoscope.

The present invention provides a shaft (1) for a surgical instrument, in particular for a flexible endoscopic instrument, comprising: an inner shaft structure layer (2) with a distal end (3) and a proximal end (4), wherein the inner shaft structure layer (2) has a through-opening (5) for receiving a working channel and / or an optical imaging device, wherein the through-opening (5) extends axially from the proximal end (4) to the distal end (3), and wherein the inner shaft structure layer (2) comprises a slot (6) for laterally opening the inner shaft structure layer (2), wherein the slot (6) is arranged at least sectionally between the proximal end (4) and the distal end (3).Furthermore, the present invention provides a surgical instrument (100) with such a shaft (1) and a method for mounting a working channel and / or an optical imaging device to a shaft (1) for a surgical instrument.

The invention discloses an FBG miniature force sensor, which belongs to the technical field of force sensors and comprises a sensor body, a first single FBG optical fiber and a second single FBG optical fiber. A pressure beam area and a shear beam area are respectively arranged on a sensor body, and a plurality of independent single FBG optical fibers are fixedly arranged on the outer wall of the sensor body corresponding to the pressure beam area and the shear beam area respectively, so that the structural length is compressed by utilizing the single FBG subareas, the sensor can realize three-dimensional force sensing, and meanwhile, the three-dimensional force sensing accuracy is improved. The length of the rigid section of the sensor can be effectively shortened, then the overall length of the sensor is shortened, the tail end of the flexible endoscope integrated with the sensor can maintain the bending capacity of 90 degrees or above, through the special notch design, the maximum bending deformation is limited while the axial sensitivity is guaranteed, and overload is prevented; the technical problem that in the maxillary sinus operation, tail end force sensing, instrument function integrity, high bending freedom degree and anti-overload reliability are difficult to be compatible is solved.

The utility model discloses a flexible endoscope combined type dual-purpose control robot which comprises a steering device and a control system, the steering device comprises a support supporting plate, the support supporting plate is rotatably connected with a steering guide part, the steering guide part is connected with a flexible endoscope elbow, the flexible endoscope elbow is connected with an endoscope, and the endoscope is connected with a control system. The support supporting plate is connected with a driving mechanism, the output end of the driving mechanism is in power connection with the steering guiding piece, and the steering guiding piece plays a role in guiding the flexible endoscope elbow through power of the driving mechanism. According to the flexible ureteroscope operation robot, manual operation is replaced by the mechanical arm, the remote control handle and the switching platform are combined, the functions of accurate control, labor-saving operation, soft rope lifting, posture locking and remote surgery are achieved, the surgery threshold is lowered, safety is improved, and the flexible ureteroscope operation robot can be expanded to be used in collaborative surgery, remote surgery and surgery teaching scenes.

The invention discloses an endoscope operating device with an active feeding function. The endoscope operating device comprises a holder, a hose and a camera, a rope-driven swinging mechanism and a feeding mechanism are arranged in the holding device; a driving rope of the rope-driven swinging mechanism penetrates through the starting end of the hose so as to control the tail end of the hose to swing; the feeding mechanism comprises two friction wheels capable of conducting forward and reverse rotation control, the two friction wheels are in transmission connection to form a synchronous reverse rotation structure, and a pipe clamping space is reserved between the two friction wheels. The starting end of the hose is communicated with the interior of the holder, the tail end of the hose penetrates out of the holder after penetrating through the two pipe clamping spaces, the hose is clamped between the two friction wheels, and the rotation of the two friction wheels is used for controlling the hose to carry out feeding operation; the camera is arranged at the tail end of the hose; according to the scheme, an active feeding function is integrated, operation is convenient and fast, and the flexible endoscope operation system can organically combine precise posture regulation and stable active feeding, so that the operation difficulty is reduced, and the operation precision and safety are improved.

The present invention relates to a deflection control mechanism for a medical device, particularly for a steerable flexible endoscope, the endoscope having an elongate flexible shaft comprising a steerable section that is deflectable by movement of at least one pair of counteracting control wires, the deflection control mechanism comprising a support structure, a drive wheel rotatably supported in or on the support structure, and an elongate traction element having a flexible section, a first coupling section connected to a first end of the flexible section and a second coupling section connected to a second end of the flexible section, wherein the flexible section of the traction element mechanically engages with the drive wheel, wherein the first and second coupling sections each comprise a fixation element for fixing a respective proximal end of each control wire of the at least one pair of control wires, whereas each control wire features a respective guide tube to guide each respective control wire along a longitudinal axis, the respective guide tube being held in a respective guide tube mount opening of a guide tube mount of the support structure, the guide tube mount opening having an entry opening to accept the respective guide tube. Furthermore, the invention relates to a medical device, a method for servicing and a method for assembling a deflection control mechanism or a medical device.

The invention provides a flexible endoscope robot control method, device, equipment and product, and can be applied to the field of robots. The method comprises the following steps: determining a lumen image skewness value according to a depth value of a received lumen image; based on a plurality of target segmentation threshold intervals determined by the lumen image skewness value, segmenting the lumen image to obtain region contour segmentation results in a preset coordinate system, the plurality of region contour segmentation results including a first segmentation result having a first level and a second segmentation result having a second level; in response to a target operation for a target segmentation result in the region contour segmentation results, determining a target center point representing a contour center of the target segmentation result according to a hierarchical attribute of the target segmentation result; under the condition that the target center point is located in the target feeding area in the preset coordinate system, the flexible endoscope robot is controlled to execute the feeding action.

The invention relates to the technical field of anal fistula medical instruments, and discloses an anal fistula mirror planing device which comprises a handle assembly, a transmission shaft assembly and a tool bit assembly. The handle assembly comprises a shell and a motor, and the motor is installed in the shell. The transmission shaft assembly comprises a stainless steel flexible transmission shaft and a flexible spring sleeve, one end of the stainless steel flexible transmission shaft is rotationally connected into the shell and connected with the output end of the motor, and one end of the flexible spring sleeve is fixed to the shell and arranged on the surface of the stainless steel flexible transmission shaft in a sleeving mode. Through cooperation of the stainless steel flexible transmission shaft and the flexible spring sleeve, the flexible transmission shaft can be used in a flexible endoscope instrument channel in a whole process and is not limited to a hard stainless steel endoscope channel any more, and the application range is greatly expanded; the tool bit assembly can adapt to a complex anal fistula channel.

The invention relates to the field of endoscopes, in particular to a high-reliability flexible endoscope which comprises a flexible sensing body provided with a multi-mode sensing system and an execution base connected to the near end of the flexible sensing body, and the execution base receives and processes monitoring signals of the multi-mode sensing system and controls the flexible sensing body to bend in real time. The flexible sensing body comprises a multi-sensing flexible film and a porous silica gel rod, and the multi-sensing flexible film wraps the porous silica gel rod and is inflated to form an air pressure isolation layer. According to the invention, a systematic safety protection system from a mechanical structure to sensing control is constructed, so that absolute safety and reliability during operation in a complex and fragile cavity are ensured.

The invention relates to a deflection control mechanism (29) for a steerable flexible endoscope (10), the endoscope (10) having an elongate flexible shaft (30) comprising a steerable section (31) that is deflectable by movement of at least one pair of counteracting control wires (37, 37', 38). The deflection control mechanism (29) comprises a support structure, a drive wheel rotatably supported in the support structure, and an elongate traction element having a flexible section, a first coupling section connected to a first end of the flexible section, and a second coupling section connected to a second end of the flexible section, wherein the flexible section of the traction element engages with the drive wheel, wherein the first and second coupling sections each comprise a fixation element for fixing a respective proximal end of each wire of the at least one pair of control wires (37, 37', 38), wherein at least one of the first and second coupling sections comprises a movable stop element co-operating with a fixed stop of the support structure, and wherein the movable stop element is adjustably connected to the fixation element of the respective coupling section. The invention also relates to a steerable flexible endoscope (10), to an endoscope assembly set, and to a method for assembling a flexible endoscope (10).

A flexible endoscope system is provided for use in surgical operation which includes a head part and a control handle detachably connected using first and second docking keys. The head part comprises a shaft, a flexible tip located at a distal end of the shaft, an image sensor module, and drive tendons extending in the shaft for controlling the movement of the flexible tip in multiple degrees of freedom. The control handle includes multiple motors for tensioning or relaxing the drive tendons via a capstan assembly. Control element is provided on the control handle to allow a user to trigger a complex movement of the flexible tip to form an S shape so that a bird-eye view of the surgical site can be obtained by the endoscope system. The detachable connection eliminates the need to sterilize the control handle in which the main electronic components are located.

Support for an endoscope controller. The support includes a funnel into which the narrower end of the controller can be inserted so that the wider end of the controller rests on the funnel. The funnel is held atop a mechanical arm that can be moved with the controller held within the funnel. The connection between the support and the mechanical arm allows angular movement of the controller around three mutually orthogonal or equivalent pivots. The support has a fixed and locked state to hold the controller suspended in mid-air, and a mobile and unlocked state during which the controller can be held, moved, and used by the surgeon normally, freely, and without constraint.Therefore, the embodiment provides a ready-to-use support to hold the controller in any suspended position within reach of the mechanical arm, and all the surgeon has to do is lock and immobilize the support. (See Figure 26).