WO2025122693A1 - Apparatus and methods for endoscope control - Google Patents

Abstract

Exemplary embodiments of the present disclosure include apparatus and methods for controlling an endoscope. Certain embodiments include a user interface that can control an actuator configured to manipulate an endoscope control handle to control a first bending degree of freedom and a second bending degree of freedom of a distal portion of a tubular member of an endoscope. Particular embodiments include a second actuator configured to engage a tubular member of the endoscope, where the second actuator is configured to control an axial degree of freedom and a rotational degree of freedom of the tubular member of the endoscope.

Description

DESCRIPTION

APPARATUS AND METHODS FOR ENDOSCOPE CONTROL

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent Application Serial Number 63/607,335 filed December 7, 2023, the entire contents of which are incorporated herein by reference.

BACKGROUND INFORMATION

Existing endoscopic systems pose significant steerability and control challenges to the operators of such systems. In typical endoscopic control systems, an operator is required to control multiple degrees of freedom (DoF) in order to place the distal portion of the endoscope in a desired location and orientation.

Typical existing endoscopic control systems require the operator to use two hands to control four DoF, including for example, control knobs to control bending in two different planes, as well as an insertion and rotation DoF. Even with locking mechanisms to restrict certain DoF, the process of steering flexible long devices inside flexible and complex anatomies (e.g., colon and esophagus) can be very challenging to the endoscope operator. The operator is also required to view a separate monitor to see the image data obtained from the distal portion of the endoscope, further complicating the control process.

Accordingly, a need exists to provide efficient and intuitive control for endoscopic systems.

SUMMARY

Exemplary embodiments of the present disclosure relate to apparatus and methods for controlling an endoscope. As used herein, the term “endoscope” (and related terms such as “endoscopic”) includes any instrument that provides visual or other data from a distal portion of a tubular member. The term endoscope and related terms are not limited to medical applications, but can include industrial applications, including for example, pipeline inspection and analysis. Exemplary embodiments of the present disclosure can comprise an actuator with a gripping mechanism that can readily be integrated with different types of existing endoscopes (including colonoscopes) to make controlling the two bending DoFs of these devices much easier. Exemplary embodiments may comprise two motors for controlling the bending DoFs and two unique concentric internal and external engagement rings (e.g. collet mechanisms) that can grip the manual control handle of the existing colonoscopes/endoscopes. In exemplary embodiments, the design of the gripping mechanism and the collets that can be integrated with various endoscopes/colonoscopes do not necessarily have identical geometries and dimensions.

In exemplary embodiments of the present disclosure, the third and fourth DoFs can be controlled by a second actuator with separate motors that provide insertion and an optional rotation or twist motion to the insertion portion of the endoscope. In specific embodiments, the motors are servo motors, negating the need to use the locking mechanism of control handles. Particular embodiments can include a user interface enabling a user to intuitively control the mentioned DoFs and steer the endoscopic device. In specific embodiments, the user interface can be a joystick (e.g. similar to a game controller), different types of haptic devices, a spatial mouse, or a wearable device. In certain embodiments these devices can provide a haptic feedback to the user via a tactile/force sensing system. Particular embodiments may include an intuitive visualization device that can be a monitor, a head mounted display enabling augmented and/or virtual reality views to the clinician.

Exemplary embodiments of the present disclosure can be integrated with existing colonoscopic or endoscopic systems, providing a cost-effective system that does not require fabrication of the colonoscope or endoscope. Certain embodiments may also enable remote or tele-diagnosis and treatment of patients in rural areas. Various modular imaging modalities (e.g., nuclear imaging, vision-based tactile sensing), tactile sensors, and instruments can be integrated with the system and easily be delivered and controlled to the area of interest. Particular embodiments can use an advanced machine learning and artificial intelligence (Al) algorithm to assist with an endoscopic diagnostic procedure.

Exemplary embodiments of the present disclosure include an apparatus configured for controlling an endoscope comprising a first actuator, and a user interface where the first actuator is configured to manipulate an endoscope control handle to control a first bending degree of freedom and a second bending degree of freedom of a distal portion of a tubular member of an endoscope and where the user interface is configured to control the first actuator. Particular embodiments further comprise a second actuator configured to engage a tubular member of an endoscope, where the second actuator is configured to control an axial degree of freedom and a rotational degree of freedom of a tubular member of an endoscope. In certain embodiments the rotational degree of freedom allows for a twist of a tubular member of an endoscope. In particular embodiments the user interface is configured to control the second actuator. Some embodiments further comprise a visual display configured to display an image from the distal portion of a tubular member to the user. In specific embodiments the first actuator comprises a first engagement ring and a second engagement ring, and the first engagement ring is concentric with the second engagement ring.

In certain embodiments the first actuator is configured such that the first engagement ring can be rotated independently of the second engagement ring. In particular embodiments the first actuator comprises a first electric motor and a second electric motor, the first electric motor is coupled to the first engagement ring, and the second electric motor is coupled to the second engagement ring. In some embodiments the first electric motor is a servo motor, and the second electric motor is a servo motor. In specific embodiments the first actuator is configured such that the first electric motor can rotate the first engagement ring, and the second electric motor can rotate the first engagement ring.

In certain embodiments the first engagement ring comprises a first plurality of axial extensions, and the second engagement ring comprises a second plurality of axial extensions. In particular embodiments the first plurality of axial extensions is configured to engage a first control knob of an endoscope, and the second plurality of axial extensions is configured to engage a second control knob of an endoscope. In some embodiments the first plurality of axial extensions is configured to rotate the first control knob when the first engagement ring is rotated, and the second plurality of axial extensions are configured to rotate the first control knob when the second engagement ring is rotated. In specific embodiments the second actuator comprises a cylindrical member configured to engage a tubular member of an endoscope. In certain embodiments the second actuator is configured to rotate the cylindrical member.

In particular embodiments the second actuator is configured to move a tubular member of an endoscope in an axial direction when the second actuator rotates the cylindrical member. In some embodiments the second actuator is configured to move the cylindrical member in an axial direction. In specific embodiments during use the second actuator is configured to rotate a tubular member of an endoscope when the second actuator moves the cylindrical member in an axial direction. In certain embodiments the cylindrical member is generally perpendicular to a tubular member of an endoscope during use. In particular embodiments the user interface is configured to allow a user to control the first bending degree of freedom and the second bending degree of freedom of a distal portion of a tubular member of an endoscope. In some embodiments the user interface is configured to allow a user to control the axial degree of freedom and the rotational degree of freedom of a distal portion of a tubular member of an endoscope. In specific embodiments the user interface is configured to provide haptic feedback to a user. In certain embodiments the user interface comprises a joystick, a spatial mouse, or a wearable device. In particular embodiments the visual display comprises a monitor or a head mounted display. In some embodiments the visual display is configured to provide an augmented reality view to a user. In specific embodiments the visual display is configured to provide a virtual reality view to a user.

Certain embodiments further comprise a communication module where the communication module is configured to allow the apparatus to provide remote diagnostic analysis and treatment over a communication network. In particular embodiments the communication module is configured to: send a first plurality of electronic signals from the user interface to the first actuator; and send a second plurality of electronic signals from the first actuator to the user interface. In some embodiments the first plurality of electronic signals comprises position command signals, and the second plurality of electronic signals comprises visual, haptic and/or position signals.

In the present disclosure, the term “coupled” is defined as connected, although not necessarily directly, and not necessarily mechanically.

The use of the word “a” or “an” when used in conjunction with the term “comprising” in the claims and/or the specification may mean “one,” but it is also consistent with the meaning of “one or more” or “at least one.” The terms “approximately, “about” or “substantially” mean, in general, the stated value plus or minus 10%. The use of the term “or” in the claims is used to mean “and/or” unless explicitly indicated to refer to alternatives only or the alternative are mutually exclusive, although the disclosure supports a definition that refers to only alternatives and “and/or.”

The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a method or device that “comprises,” “has,” “includes” or “contains” one or more steps or elements, possesses those one or more steps or elements, but is not limited to possessing only those one or more elements. Likewise, a step of a method or an element of a device that “comprises,” “has,” “includes” or “contains” one or more features, possesses those one or more features, but is not limited to possessing only those one or more features. Furthermore, a device or structure that is configured in a certain way is configured in at least that way, but may also be configured in ways that are not listed.

Other objects, features and advantages of the present invention will become apparent from the following detailed description. It should be understood, however, that the detailed description and the specific examples, while indicating specific embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will be apparent to those skilled in the art from this detailed description.

BRIEF DESCRIPTION OF THE FIGURES

The following drawings form part of the present specification and are included to further demonstrate certain aspects of the present invention. The invention may be better understood by reference to one or more of these drawings in combination with the detailed description of specific embodiments presented herein.

FIG. 1 illustrates a schematic view of an existing endoscopic system during use.

FIG. 2 illustrates a schematic view of an endoscope control apparatus according to the present disclosure during use with an endoscope.

FIG. 3 illustrates an exploded perspective view of a first actuator of the embodiment of FIG. 2.

FIG. 4 illustrates a perspective view of a second actuator of the embodiment of FIG. 2 engaged with a tubular member of an endoscope.

FIG. 5 illustrates a partial exploded perspective view of a first actuator of the embodiment of FIG. 2 FIG. 6 illustrates the embodiment of FIG. 2 with a communication module configured to allow remote diagnostic analysis and treatment over a communication network.

FIG. 7 illustrates different embodiments of the user interface of the embodiment of FIG. 2.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

For purposes of clarity, certain elements in some of the figures may not be labeled with a reference number. Referring initially to FIG. 1, an overview of the operation of an endoscope 150 during use of a typical endoscopic procedure on a subject 157 is shown. In this example, a tubular member 160 of endoscope is inserted into the oral cavity of subject 157 and extended through the esophagus, stomach and into the duodenum of subject 157. A distal portion 165 of tubular member 160 can provide imaging data to a display 156 to allow an operator to view an area of interest proximal to distal portion 165.

The operator of endoscope 150 (e.g. a doctor or other medical professional) can control distal portion 165 by holding control handle 155 and manipulating a first control knob 151 and a second control knob 152. In order to navigate distal portion 165 to a particular area of interest, the operator of endoscope 150 must rotate control knobs 151 and 152 to provide bending movements of distal portion 165 in two different planes. The orientation of distal portion 165 with respect to control handle 155 (and control knobs 151 and 152) cannot be easily visualized while distal portion 165 is located within subject 157. In addition, the operator needs to watch display 156 while manipulating control knobs 151 and 152 to provide the bending movements to distal portion 165.

Furthermore, if the operator wishes to extend distal portion 165 further into subject 157 or retract distal portion 165 within subject 157, the operator may need to move control handle 155 with respect to subject 157 (e.g. move control handle 155 closer to or farther away from subject 157). In addition, if the operator wishes to rotate or twist tubular member 160 and distal portion 165, the operator may need to rotate control handle 155 with respect to subject 157. Such movements can place control handle 155 in an awkward position for the operator and create difficulty for the operator to manipulate control knobs 151 and 152 to position distal portion 165 in the desired location. Accordingly, an operator is faced with significant challenges to positioning and orienting distal portion 165 of endoscope 150 in desired location within subject 157 during a typical endoscopic procedure.

Referring now to FIGS. 2-7, one exemplary embodiment of the present disclosure includes an apparatus 100 configured for controlling an endoscope 150 comprising an endoscope control handle 155 and a tubular member 160. In the illustrated embodiment, apparatus 100 comprises a first actuator 110, a second actuator 120, a user interface 130 and a visual display 140. In the embodiment shown, user interface 130 is configured to control first actuator 110 and second actuator 120, and visual display 140 is configured to display an image 141 from a distal portion 165 of tubular member 160 to the endoscope operator.

In the embodiment shown, first actuator 110, is configured to manipulate endoscope control handle 155 to control a first bending degree of freedom 161 and a second bending degree of freedom 162 of distal portion 165 of tubular member 160 of endoscope 160. In addition, second actuator 120 is configured to control an axial degree of freedom 163 and a rotational degree of freedom 164 of tubular member 160 of endoscope 150. In the exemplary view shown in FIGS. 2-6, first bending degree of freedom 161 is in a vertical plane, second bending of freedom 162 is in a horizontal plane, axial degree of freedom 163 allows for distal portion 165 to move closer to or farther away from second actuator 120, and rotational degree of freedom 164 allows for a twist of tubular member 160. It is understood that the orientation of the degrees of freedom 161-164 shown in the figures are representative based on the position of endoscope 150.

In the embodiment shown in the exploded view of FIG. 3, first actuator 110 comprises a first electric motor 101 and second electric motor 102, a housing 103, a spacer 104, a compression spring 105, a gear 106, a first coupler 107, a first sleeve bearing 108, a connector 117, a second coupler 116, a first adaptor 115, a second sleeve bearing 114, a second adapter 113, a first engagement ring 111 and a second engagement ring 112. It is understood that the components shown in FIG. 3 are only one example of a specific configuration of first actuator 110, and that other exemplary embodiments of the present disclosure may comprise a different arrangement of components.

In the embodiment shown first engagement ring 111 comprises axial extensions 121 and is concentric with second engagement ring 112 which comprises axial extensions 122. In the illustrated embodiment, first electric motor 101 is coupled to first engagement ring 111 while second electric motor 102 is coupled to second engagement ring 112. First electric motor 101 (which may be a servo motor in certain embodiments) can rotate first engagement ring 111 independently of second engagement ring 112. Second engagement ring 112 can be rotated by second electric motor 102 (which may also be a servo motor in certain embodiments). Axial extensions 121 and 122 are configured to engage a first control knob 151 and a second control knob 152, respectively, of endoscope 150. During operation, first engagement ring 111 can rotate first control knob 151 via axial extensions 121 to provide movement of distal portion 165 in first bending degree of freedom 161. In addition, second engagement ring 112 can rotate second control knob 152 via axial extensions 122 to provide movement of distal portion 165 in second bending degree of freedom 162.

As shown in FIG. 4, second actuator 120 comprises a first electric motor 121 and a second electric motor 122. In particular embodiments, first electric motor 121 and second electric motor 122 may be servo motors. In the embodiment shown, first electric motor 121 is coupled to a cylindrical member 125 engaged with tubular member 160 of endoscope 150. In addition, second electric motor 122 is coupled to a threaded rod 126 and threaded collar 127, which is coupled to cylindrical member 125. In this embodiment, second actuator 120 is configured to rotate cylindrical member 125 via first electric motor 121. In addition, second actuator 120 is configured to move cylindrical member 125 in an axial direction 128 via second electric motor 122 and rotation of threaded rod 126 within threaded collar 127. In the illustrated embodiment, cylindrical member 125 is generally perpendicular to tubular member 160. Accordingly, second actuator 120 is configured to move tubular member 160 in an axial direction (e.g. in axial degree of freedom 163) when cylindrical member 125 is rotated via first electric motor 121. In addition, second actuator 120 is configured to rotate tubular member 160 (e.g. in rotational degree of freedom 164) when second actuator 120 moves cylindrical member 125 in axial direction 128. Specifically, rotation of threaded rod 126 causes threaded to collar 127 to move toward or away from second electric motor 122 depending on the direction of rotation of threaded rod 126. Because threaded collar 127 is coupled to cylindrical member 125, cylindrical member 125 moves in axial direction 128 as threaded collar 127 moves along threaded rod 126 as it is rotated via second electric motor 122.

FIG. 5 illustrates a partial exploded view of second actuator 120. It is understood that the specific components and configuration shown in FIG. 5 are one example of an exemplary embodiment according to the present disclosure, but other embodiments may comprise different components or a different configuration of components.

In the illustrated embodiment, second actuator 120 comprises a housing 187 containing first electric motor 121, which is coupled to a spline shaft 170 via a spacer 171 and a flexible coupling 172. Flexible coupling 172 accommodates potential misalignment between first electric motor 121 and spline shaft 170 and allows first electric motor 121 to rotate spline shaft 170 during operation of second actuator 120. Second actuator 120 further comprises second electric motor 122, which is coupled to threaded rod 126 via a spacer 271 and a flexible coupling 272. Flexible coupling 272 accommodates potential misalignment between second electric motor 122 and threaded rod 126 and allows second electric motor 122 to rotate threaded rod 126 during operation of second actuator 120.

As shown in FIG. 5, spline shaft 170 comprises splines 178 on the external circumference and extends through cylindrical member 125, which is coupled to a first spline nut 174 and a second spline nut 175. First spline nut 174 and second spline nut 175 each comprise splines 179 on the internal bore corresponding to splines 178 on spline shaft 170. Accordingly, splines 178 on spline shaft 170 engage the corresponding splines 179 in first spline nut 174 and second spline nut 175. Spline shaft 170 is therefore configured to rotate cylindrical member 125 upon rotation of spline shaft 170 via first electric motor 121.

In the embodiment shown, spline shaft 170 is supported by a first bearing 173 located in a first support 181 and a second bearing 176 located in a second support 182. Second actuator 120 also comprises a central support 183 coupled to a side plate 186, a first top plate 184, and a second top plate 185. Threaded rod 126 is supported by a first bearing 129 located in first support 181 and a second bearing 139 located in central support 183. Second actuator 120 also comprises a plurality of spherical bearings 177 captured by a central top plate 188. Spherical bearings 177 allow for tubular member 160 to move with axial degree of freedom 163 and rotational degree of freedom 164, as shown in FIG. 4 (tubular member 160 is not shown in FIG. 5 for purposes of clarity).

During operation of apparatus 100, user interface 130 can be operated by a user to control first actuator 110 and second actuator 120 to control the movement of distal end 165 of tubular member 160 of endoscope 150. Referring now to FIG. 6, in specific embodiments user interface 130 may comprise a communication module 135 that can send electronic signals 131 (e.g. position command signals via wired or wireless transmission) from user interface 130 to first and second actuators 110 and 120 to control the operation of electric motors 101, 102, 121 and 122. The rotation of electric motors 101, 102, 121 and 122 can therefore control movement of distal end 165 in first and second bending degrees of freedom 161 and 162 as well as axial degree of freedom 163 and rotational degree of freedom 164. In addition, communication module 135 may also send electronic signals 132 (e.g. via wired or wireless transmission) from first actuator 110 and/or second actuator 120 to user interface 130. In exemplary embodiments, electronic signals 132 may comprise comprises visual, haptic and/or position signals. In particular embodiments, communication module 135 is configured to allow the apparatus to provide remote diagnostic analysis and treatment over a communication network, as shown in FIG. 6.

In particular embodiments, user interface 130 is configured to provide haptic feedback to a user. As shown in FIG. 7, in specific embodiments user interface 130 may comprise a joystick, a spatial mouse, a wearable device or other ergonomic configurations to facilitate efficient and ergonomic control of distal end 165. In exemplary embodiments of apparatus 100, visual display 140 may comprise a monitor or a head mounted display, including those capable of providing an augmented reality or virtual reality view to a user.

The combination of components in exemplary embodiments of apparatus 100 allow an endoscope operator to effectively and efficiently control the endoscope. For example, by incorporating one or more actuators with electric motors to control the bending, insertion and rotation/twist degrees of freedom, the operator can utilize an ergonomic user interface to provide electronic signals to the actuator(s) to precisely control the distal portion of the endoscope. Furthermore, the incorporation of advanced monitoring systems, including augmented, virtual and/or remote displays can allow the operator to clearly visualize the desired movement of the endoscope distal portion.

All of the apparatus, systems and/or methods disclosed and claimed herein can be made and executed without undue experimentation in light of the present disclosure. While the devices, systems and methods of this invention have been described in terms of particular embodiments, it will be apparent to those of skill in the art that variations may be applied to the devices, systems and/or methods in the steps or in the sequence of steps of the method described herein without departing from the concept, spirit and scope of the invention. All such similar substitutes and modifications apparent to those skilled in the art are deemed to be within the spirit, scope and concept of the invention as defined by the appended claims.

Claims

CLAIMS:

1. An apparatus configured for controlling an endoscope, the apparatus comprising: a first actuator; and a user interface, wherein: the first actuator is configured to manipulate an endoscope control handle to control a first bending degree of freedom and a second bending degree of freedom of a distal portion of a tubular member of an endoscope; the user interface is configured to control the first actuator.

2. The apparatus of claim 1 further comprising a second actuator configured to engage a tubular member of an endoscope, wherein the second actuator is configured to control an axial degree of freedom and a rotational degree of freedom of a tubular member of an endoscope.

3. The apparatus of claim 2 wherein the rotational degree of freedom allows for a twist of a tubular member of an endoscope.

4. The apparatus of claim 2 or 3 wherein the user interface is configured to control the second actuator.

5. The apparatus of any one of claims 1-4 further comprising a visual display configured to display an image from the distal portion of a tubular member to the user.

6. The apparatus of any one of claims 1-5 wherein: the first actuator comprises a first engagement ring and a second engagement ring; and the first engagement ring is concentric with the second engagement ring.

7. The apparatus of claim 6 wherein the first actuator is configured such that the first engagement ring can be rotated independently of the second engagement ring

8. The apparatus of claim 6 or claim 7 wherein: the first actuator comprises a first electric motor and a second electric motor; the first electric motor is coupled to the first engagement ring; and the second electric motor is coupled to the second engagement ring.

9. The apparatus of claim 8 wherein the first electric motor is a servo motor and the second electric motor is a servo motor.

10. The apparatus of claim 8 or claim 9 wherein the first actuator is configured such that: the first electric motor can rotate the first engagement ring; and the second electric motor can rotate the first engagement ring.

11. The apparatus of any one of claims 6-10 wherein: the first engagement ring comprises a first plurality of axial extensions; and the second engagement ring comprises a second plurality of axial extensions.

12. The apparatus of claim 11 wherein: the first plurality of axial extensions is configured to engage a first control knob of an endoscope; and the second plurality of axial extensions is configured to engage a second control knob of an endoscope.

13. The apparatus of claim 12 wherein: the first plurality of axial extensions is configured to rotate the first control knob when the first engagement ring is rotated; and the second plurality of axial extensions are configured to rotate the first control knob when the second engagement ring is rotated.

14. The apparatus of any one of claims 2-13 wherein: the second actuator comprises a cylindrical member configured to engage a tubular member of an endoscope.

15. The apparatus of claim 14 wherein the second actuator is configured to rotate the cylindrical member.

16. The apparatus of claim 15 wherein the second actuator is configured to move a tubular member of an endoscope in an axial direction when the second actuator rotates the cylindrical member.

17. The apparatus of any one of claims 14-16 wherein the second actuator is configured to move the cylindrical member in an axial direction.

18. The apparatus of claim 17 wherein during use the second actuator is configured to rotate a tubular member of an endoscope when the second actuator moves the cylindrical member in an axial direction.

19. The apparatus of any one of claims 14-18 wherein the cylindrical member is generally perpendicular to a tubular member of an endoscope during use.

20. The apparatus of any one of claims 1-19 wherein the user interface is configured to allow a user to control the first bending degree of freedom and the second bending degree of freedom of a distal portion of a tubular member of an endoscope.

21. The apparatus of any one of claims 1-20 wherein the user interface is configured to allow a user to control the axial degree of freedom and the rotational degree of freedom of a distal portion of a tubular member of an endoscope.

22. The apparatus of any one of claims 1-21 wherein the user interface is configured to provide haptic feedback to a user.

23. The apparatus of any one of claims 1-21 wherein the user interface comprises a joystick, a spatial mouse, or a wearable device.

24. The apparatus of any one of claims 5-23 wherein the visual display comprises a monitor or a head mounted display.

25. The apparatus of any one of claims 5-24 wherein the visual display is configured to provide an augmented reality view to a user.

26. The apparatus of any one of claims 5-25 wherein the visual display is configured to provide a virtual reality view to a user.

27. The apparatus of any one of claims 1-26 further comprising a communication module wherein the communication module is configured to allow the apparatus to provide remote diagnostic analysis and treatment over a communication network.

28. The apparatus of claim 27 wherein the communication module is configured to: send a first plurality of electronic signals from the user interface to the first actuator; and send a second plurality of electronic signals from the first actuator to the user interface.

9. The apparatus of claim 28 wherein: the first plurality of electronic signals comprises position command signals; and the second plurality of electronic signals comprises visual, haptic and/or position signals.