CN109152515A

CN109152515A - Endoscope with shared service aisle

Info

Publication number: CN109152515A
Application number: CN201780026438.9A
Authority: CN
Inventors: 伊戈尔.伊戈夫
Original assignee: Morena Medical Application Co Ltd
Current assignee: Morena Medical Application Co Ltd
Priority date: 2016-02-29
Filing date: 2017-02-27
Publication date: 2019-01-04
Also published as: EP3422924A4; WO2017149531A1; EP3422924A1

Abstract

Multiple tasks can be executed in the inner cavity of the enterable living organism of passage path.Optionally provide one or more guiding pieces.Optionally, guiding piece is connected to the service aisle of endoscope.Tool can be transmitted along guiding piece by the service aisle of endoscope.For example, the first tool can be transmitted to inner cavity, so that dredging is used for the service aisle of the second tool.Optionally, the second tool can be transmitted then along the second guiding piece.In some embodiments, guiding piece may include the thin channel being connected to by longitudinal slit with service aisle.Optionally, service aisle may include slit.For example, big object can be transmitted along from longitudinal slit section service aisle outstanding.

Description

Endoscope with shared service aisle

Related application

The application be filed on 2 29th, 2016 U.S. Patent Application No. 15/055,971 part continuation application (CIP), the U.S. Patent Application No. 15/055,971 be international filing date be the PCT Patent Application number on the 31st of August in 2014 The part continuation application (CIP) of PCT/IL2014/050779, PCT Patent Application PCT/IL2014/050779 according to 35U.S.C. § 119 (e) requires be filed in the U.S. Provisional Patent Application No. on the 31st of August in 2013 61/872,637, be filed in The U.S. Provisional Patent Application No. on the 22nd of September in 2013 61/880,941, to be filed in the U.S. on October 15th, 2013 temporarily special Sharp application number 61/891,075, is filed in the U.S. Provisional Patent Application No. 61/910,235 for being filed on November 29th, 2013 The U.S. Provisional Patent Application No. 61/988,162 on May 3rd, 2014 and to be filed in the U.S. on June 20th, 2014 temporarily special The benefit of priority of sharp application number 62/015,271.

The application is also to be filed in the part continuation application of the U.S. Patent Application No. on the 22nd of September in 2014 14/492,297 (CIP), the U.S. Patent Application No. 14/492,297 be international filing date be the PCT Patent Application number on the 31st of August in 2014 The part continuation application (CIP) of PCT/IL2014/050779.

The content of above-mentioned application is all incorporated by reference into, and is illustrated herein completely as it is whole.

Invention field and background

System of the present invention involved in some embodiments for controlling tool in the inner cavity of living organism, more Body but not exclusively to the conduit for transmitting one or more tools by shared service aisle.

U.S. Patent Application Publication number 20040092794 disclose " a kind of endoscope sheath turned to have distal end, Proximal end and it is installed in service aisle inner cavity therein.Multiple solid luminous devices, such as light emitting diode, are located in sheath Proximate distal ends, and be selectively energized to illuminate in-vivo tissue.Imaging device, such as photodiode or ccd array, root Image is generated according to from the light of Tissue reflectance.The distal tip of endoscope sheath is optionally filled with the deflection in pluggable sheath It sets and moves together.Arrangement for deflecting includes the end deflection mechanism for allowing the end of the mobile arrangement for deflecting of user.Work as arrangement for deflecting When being inserted into sheath, the movement of the distal tip of arrangement for deflecting causes the corresponding movement of the distal tip of sheath.The distal side of sheath End has shape holding mechanism, which makes when arrangement for deflecting is removed from sheath, the distal tip of sheath Keep the shape assigned by arrangement for deflecting."

U.S. Patent number 8398540 discloses that " disposable endoscope main body, distal end have for video camera head etc. The shell of non-disposable element.Camera head is non-disposable and can not be sterilized due to its complexity and sensitivity.Camera shooting Head is sealed in endoscope main body, so that it will not during operation pollute patient.Sealing is using end cap come real It is existing.After use, video camera is taken out from the proximal end of endoscope, which does not insert close to workbench or within workbench Enter in subject's body, therefore should be unable to be by patient contamination.Therefore, video camera is avoided by the access that proximal end is left and is suffered from Person's pollution, makes it possible to and reuses without disinfection.A kind of distribution external member is described, for providing sterile endoscope main body And for video camera to be installed and is sealed with least manual intervention."

U.S. Patent Application Publication number 2012/0035416 " relates generally to medical device and method.This medical device Including platform and video camera comprising magnetic attraction material, the video camera be coupled to platform and be configured to relative to It is moved at least three free angles of platform, wherein video camera is in the movement of each free angle by being coupled to platform Individual actuators control.Medical device further includes the shell being installed in around at least part of video camera, the shell at least portion Divide wiper arms that are transparent, and being configured to mobile relative to shell.More free angle video cameras of sheet for medical surgery Some embodiments include the platform comprising magnetic attraction material；Equipment, for making when the equipment is in except patient's body lumen Platform moves in patient's body lumen, which includes magnetic assembly；And video camera, it is coupled to platform and is configured to It is moved at least three free angles relative to platform, wherein video camera is in the movement of each free angle by coupling Individual actuators to platform controls."

U.S. Patent number 5,166,787 discloses a kind of endoscope, has the view for being arranged in endoscope shaft far-end Frequency device.Video-unit is connected to the power supply unit for being arranged in the proximal end of endoscope shaft by the means of Transmission system.Depending on Frequency device is equipped with lens and lighting unit for object field to be imaged.Lens and image recorder are combined into video list Member, the video unit are movably maintained at endoscope shaft, this movably be introduced into and will check Chamber in when, the outer profile of the cross section of video unit lies substantially in the outer profile of the cross section of the distal end of endoscope shaft It is interior.After introducing operation, video unit can be more than cross section and/or vertical section relative to the movement of the distal end of endoscope shaft The outer profile in face.

U.S. Patent number 7,431,694 discloses the guidance system and application method being used together with endoscope.Guidance system System may include the track of orbit form and the mating component for engagement rail.Guidance system can also include attachment, such as Attachment guiding tube, medical instrument can be carried to the outside of endoscope by the attachment.End cap can be provided relative to interior The distal end of sight glass supports the track.

Other background techniques include U.S. Patent number 5329887.

Summary of the invention

Aspect according to certain embodiments of the present invention provides a kind of for raw with the work outside living organism Between the intracorporal inner cavity of object convey material conduit, comprising: service aisle comprising for from the outside of the living organism into The proximal open that enters and for being located in distal openings intracavitary in the living organism；And the length along the service aisle Multiple elongated guide members that at least part of degree extends, each of described guiding piece along the service aisle at least 5cm length is connected to the service aisle.

According to certain embodiments of the present invention, the material include can be in the first position outside the proximal open, institute The tool conveyed between the second position in service aisle and the third place outside the distal openings is stated, the material also wraps It includes: the bracket at least one guides fitting in the multiple elongated guide members；The bracket is deviateing the tool It is connected to the tool at cross-section center, proximally advances to distal position in position along at least one described guiding piece, thus The tool is transmitted to the third place from the second position, and the distal position around it is described at least one The axis of guiding piece rotates, so that the tool to be moved away to the 4th position of the axis of the service aisle.

According to certain embodiments of the present invention, the tool includes video camera.

According to certain embodiments of the present invention, in the third place, the lens of the video camera clear up the conduit External cross section.

According to certain embodiments of the present invention, the conduit further includes the installation part outside the service aisle, described Installation part is rigidly by the camera support outside the service aisle.

It according to certain embodiments of the present invention, include lens in the tool, and in the third place, it is described Mirror clears up the external cross section of the conduit.

According to certain embodiments of the present invention, the conduit further include: length is at least 50% envelope of the sleeve Closed walk, the closed channel have proximal open and the closed channel for entering outside the living organism opposite It is closed in the region；Steering mechanism, the steering mechanism are reversibly inserted into the closed channel to turn the conduit To.

According to certain embodiments of the present invention, the conduit further include: pieceable accessory, for preventing the steering Rotation of the mechanism relative to the closed channel.

According to certain embodiments of the present invention, the channel and the steering mechanism have matched non-rotationally-symmetric Cross section, so that the steering mechanism is prevented and can not rotate in the channel.

According to certain embodiments of the present invention, the steering mechanism is assembled in the channel with single-orientated.

According to certain embodiments of the present invention, the closed channel is relative to the regional seal.

According to certain embodiments of the present invention, the conduit further include: service aisle comprising for raw from the work Distal openings in the external proximal open entered of object and the region for being located in the living organism, the work are logical Road is used for tool in the first position outside the proximal open, the second position in the service aisle and the distal openings It is conveyed between outer the third place.

According to certain embodiments of the present invention, the closed channel is sealed relative to the service aisle.

According to certain embodiments of the present invention, the conduit further include: closed channel has for raw from the work It the external proximal open entered of object and is closed relative to the region；Steering mechanism, the steering mechanism reversibly inserts Enter in the closed channel for turning to the conduit.

Steering mechanism, the steering mechanism are reversibly inserted into the closed channel to turn to the conduit.

According to certain embodiments of the present invention, the conduit further includes the suction source for being connected to the proximal open, is used In after the movement by the service aisle from the inner cavity aspiration fluid.

It according to certain embodiments of the present invention, include guiding channel at least one described guiding piece, the guidance Channel has circular cross section at least at its distal part.

According to certain embodiments of the present invention, the bracket is grown at least as the service aisle, and the rotation Turn to be the portions of proximal by reversing the bracket.

According to certain embodiments of the present invention, the connection extends to the distal openings.

According to certain embodiments of the present invention, at least one of described guiding piece includes guiding channel.

According to certain embodiments of the present invention, the guiding channel is included in the guiding channel and the service aisle Between the longitudinal opening that is connected to.

According to certain embodiments of the present invention, the width of the longitudinal opening the guiding channel width 1/10 To between 1/4.

According to certain embodiments of the present invention, the conduit further includes connecting between the service aisle and the inner cavity Logical longitudinal opening.

According to certain embodiments of the present invention, the conduit further includes the reinforcer for keeping the longitudinal opening to open.

According to certain embodiments of the present invention, the conduit further include for by the tool support in the conduit Installation part on the outer surface of distal part.

According to certain embodiments of the present invention, the conduit further includes the installation part outside the service aisle, institute Installation part is stated rigidly by the tool support outside the service aisle.

According to certain embodiments of the present invention, the installation part is substantially by the tool support in the service aisle Cross section profile except.

According to certain embodiments of the present invention, the cross-sectional area of each guiding piece in the multiple guiding piece is respectively less than / 5th of the cross-sectional area of the service aisle.

According to certain embodiments of the present invention, the conduit further includes the first distal side finger-shaped material, described thin for guiding The distal end of the first guiding piece in long guiding piece；And control system, it can enter from the proximal end of the conduit for opposite First finger-shaped material is guided in the axis of the conduit.

According to certain embodiments of the present invention, the conduit further includes the second distal side finger-shaped material, described thin for guiding The distal end of the second guiding piece in long guiding piece；And wherein the control system is also used to guide relative to the axis of the conduit Second finger-shaped material.

According to certain embodiments of the present invention, the smallest cross-section area of the service aisle is the conduit described remote At least 1/9th of smallest cross-section area between side opening and the proximal open.

According to certain embodiments of the present invention, each of described guiding piece each extends to the distal openings.

According to certain embodiments of the present invention, each of described guiding piece each extends to proximal-distal opening.

Aspect according to certain embodiments of the present invention provides a kind of conduit, comprising: for from living organism The proximal open that outside enters and the service aisle for being located between distal openings intracavitary in the living organism, institute The smallest cross-section area for stating service aisle is that minimum of the conduit between the distal openings and the proximal open is transversal At least 1/9th of area；And at least part of longitudinal opening of the length along the service aisle, the longitudinal direction are opened Mouth is connected to the external of the conduit, and the longitudinal opening has at least length of 10cm.

According to certain embodiments of the present invention, the conduit further includes tool, and the cross section of the tool is at least one A cross section greater in size than the service aisle, the tool are configured for opening along the distal openings and the nearside The service aisle between mouthful passes through, while described prominent at least partially through the longitudinal opening across period.

According to certain embodiments of the present invention, the conduit further includes elongated guide members, and the elongated guide members are along institute At least part for stating the length of service aisle extends, to be connected to the inside of the service aisle.

According to certain embodiments of the present invention, the conduit further includes the bracket for being connected to the tool, the bracket Cooperate with the elongated guide members with along the guiding piece, proximally position advances to distal position, thus along the service aisle Length at least part means of transportation.

According to certain embodiments of the present invention, the longitudinal opening is biased to open configuration.

According to certain embodiments of the present invention, the conduit further includes the reinforcement for keeping the vertical passage to open Part.

According to certain embodiments of the present invention, the longitudinal opening extends to the distal side from the proximal open and opens Mouthful.

Aspect according to certain embodiments of the present invention, provide it is a kind of for along outside living organism with the work The system of path conveying material between the intracorporal region of biology, comprising: extend along the path be connected to the path it is more A elongated guide members；It can be in the first position outside the living organism, the second position and the region in the path The tool conveyed between the third place；And the bracket at least one guides fitting in the multiple elongated guide members, Proximally position advances to distal position along at least one described guiding piece for the bracket, thus by the tool from described second Position is transmitted to the third place.

Aspect according to certain embodiments of the present invention provides a kind of conduit, comprising: multiple channels, each channel Including for the external proximal open entered from living organism and for being located in distal side intracavitary in the living organism Opening；Multiple finger-shaped materials, each finger-shaped material include the distal openings in the channel in the multiple channel；And in the conduit Control mechanism at nearside, for guiding at least two in the finger-shaped material in different directions.

According to certain embodiments of the present invention, the conduit further includes service aisle, the cross section of the service aisle Product is at least four times of the cross-sectional area in each channel in the multiple channel, and wherein each of the multiple channel Channel is connected to along the length of the service aisle with the service aisle, and wherein the finger-shaped material is located at the service aisle Distal openings around.

Aspect according to certain embodiments of the present invention provides a kind of for execution one intracavitary in living organism A or multiple tasks methods, the inner cavity can be entered by the service aisle of conduit, and the service aisle includes described interior Intracavitary distal openings and the proximal open outside the inner cavity, which comprises the length along the service aisle is provided At least part positioning one or more elongated guide members, each of one or more of guiding pieces are along described Described at least part of length is connected to the service aisle；First tool is inserted into the proximal open until described Position in service aisle；Block the cross section of the service aisle at least at the position with first tool 50%；And by the way that first guiding piece of first tool in one or more of guiding pieces is transmitted from the position The service aisle is dredged to the position in the inner cavity.

According to certain embodiments of the present invention, the service aisle and the closed channel with proximal open are included in In sleeve, and the method also includes: steering mechanism is inserted into the proximal open；The distal portion of the sleeve is separated Enter into the region, while turns to the distal part with the steering mechanism；And it is fetched by the proximal open The steering mechanism.

According to certain embodiments of the present invention, the method also includes passing through the in one or more of guiding pieces Second tool is transmitted to second position along the service aisle by two guiding pieces, when first tool is located at the position into Row transmission.

According to certain embodiments of the present invention, the method also includes by first tool support in the conduit Outer surface.

According to certain embodiments of the present invention, the method also includes being located at the first position in first tool When and after dredging, the service aisle trandfer fluid between the distal openings and the proximal open.

According to certain embodiments of the present invention, the method also includes by the proximal open from the living organism Inside fetch first tool.

According to certain embodiments of the present invention, the method also includes passing through described first after described fetch to guide Second tool is transmitted to the inner cavity along the service aisle by part.

According to certain embodiments of the present invention, one or more the method also includes passing through after described fetch First tool is transmitted to the second position in the region along the service aisle by the second guiding piece in a guiding piece.

According to certain embodiments of the present invention, the method also includes when first tool is in the inner cavity And after dredging, by the service aisle from the inner cavity aspiration fluid.

According to certain embodiments of the present invention, first tool includes video camera, and the method also includes: The inner cavity is observed by the video camera during the suction.

According to certain embodiments of the present invention, at least the 50% of the cross section of the service aisle is in the service aisle Length at least 50% on the fluid is open, for conveying the fluid during the suction.

Aspect according to certain embodiments of the present invention provides a kind of for executing one in the region of living organism A or multiple tasks methods, the region can passage path enter, which comprises the length along the path is provided One or more elongated guide members of at least part positioning, each of one or more of guiding pieces are along the length Described at least part of degree is connected to the path；First tool is inserted into the position on the path；With described first Tool blocks at least 50% of the cross section in the path at the position；And by along one or more of guiding pieces The first guiding piece first tool is transmitted to the position in the region to dredge the path.

Aspect according to certain embodiments of the present invention provides a kind of for execution one intracavitary in living organism A or multiple tasks methods, the inner cavity can be entered by the service aisle of conduit, and the service aisle includes described interior Intracavitary distal openings and the proximal open outside the inner cavity, which comprises the length along the service aisle is provided One or more elongated guide members of positioning, each of one or more of guiding pieces are along the length and the work Make channel connection, each of one or more of guiding pieces all have proximal open and distal openings and provide inclined The first bracket of the tool is connected at cross-section center from the tool, in the bracket and the elongated guide members The length of first guides fitting, first bracket is greater than the service aisle；It is hindered at certain position with first tool Fill at least the 50% of the cross section of the service aisle；First work is transmitted along the service aisle by the guiding piece Tool, and send out the distal openings of the service aisle；And the proximal end by reversing the guiding piece is to move Axis of the tool far from the service aisle is stated to dredge the service aisle.

According to certain embodiments of the present invention, the method also includes being held after the dredging with the service aisle The second function of row.

According to certain embodiments of the present invention, first tool includes video camera, and the dredging further includes moving The lens of the video camera are moved to clear up the external cross section of the conduit.

According to certain embodiments of the present invention, the method also includes the video camera is rigidly supported at far from institute It states on the conduit of service aisle.

As it will appreciated by a person of ordinary skill, some embodiments of the present invention can be presented as system, method or meter Calculation machine program product.Therefore, some embodiments of the present invention can take the embodiment of complete hardware, the reality of complete software Apply the shape of mode (including firmware, resident software, microcode etc.) or the embodiment for combining software aspects and hardware aspect Formula, these embodiments usually can be said to circuit, " module " or " system " herein.In addition, of the invention one A little embodiments can take the form of computer program product, and the computer program product, which is embodied in have, to be embodied on it Computer readable program code one or more computer-readable mediums in.The method of some embodiments of the present invention And/or the realization of system can be related to manual, automatic or combinations thereof ground and execute and/or complete selected task.In addition, according to this hair The actual instrumentation and equipment of some embodiments of bright method and/or system, several selected tasks can be by hardware, software Or firmware and/or combination thereof is realized, for example, realized using operating system.

For example, the hardware for executing selected task according to certain embodiments of the present invention can be implemented as chip or Circuit.When for software, selected task according to certain embodiments of the present invention be can be used as by using any suitable operation Multiple software instructions that the computer of system executes are realized.In an exemplary embodiment of the present invention embodiment, according to as described herein Method and/or system some illustrative embodiments one or more tasks by data processor, such as executing The computing platform of multiple instruction executes.Optionally, the data processor includes for storing instruction and/or the volatibility of data Memory and/or for storing instruction and/or the nonvolatile memory of data, such as magnetic hard-disk and/or removable medium. Optionally, network connection is also provided.Also optionally provide display and/or user input equipment, such as keyboard or mouse.

Any combination of one or more computer-readable mediums can be used for some embodiments of the present invention.The meter Calculation machine readable medium can be computer-readable signal media or computer readable storage medium.Computer readable storage medium can To be such as but not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device or any conjunction above-mentioned Suitable combination.The more specific example (non-exhaustive list) of the computer readable storage medium will include the following terms: have one The electrical connection of item or a plurality of conducting wire, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM or flash memory), optical fiber, portable optic disk read-only storage (CD-ROM), Optical storage apparatus, magnetic storage apparatus or any suitable combination above-mentioned.In the context of this document, computer-readable to deposit Storage media can be any tangible medium, can contain or store by instruction execution system, device or equipment use or therewith The program of combined use.

Computer-readable signal media may include wherein embodying the propagation data signal of computer readable program code, example Such as, in a base band or as carrier wave a part.Such transmitting signal can take any of a variety of forms, including but It is not limited to electromagnetism, optics or its any suitable combination.Computer-readable signal media, which can be, not deposits to be computer-readable Storage media and can be with communicate, propagate, or transport program so that instruction execution system, device or equipment use or in combination make Any computer-readable medium.

Any Jie appropriate can be used in the program code embodied on computer-readable medium and/or the data being used by it Matter transmission, including but not limited to wirelessly, wired, fiber optic cables, RF etc. or any suitable combination above-mentioned.

Computer program code for executing the operation of some embodiments of the present invention can be with one or more volumes Any combination of Cheng Yuyan is write, the programming language and routine of the object-oriented including Java, Smalltalk, C++ etc. Procedural, such as " C " programming language or similar programming language.Program code can be completely in the computer of user It is upper execute, part executes on the user's computer, execute as independent software package, part on the user's computer and portion Divide and execute on the remote computer, or executes on a remote computer or server completely.In the latter case, remote computation Machine can arrive the computer of user, including local area network (LAN) or wide area network (WAN) by any kind of network connection, or It may be coupled to outer computer (for example, by using internet of Internet Service Provider).

It below can be with reference to the process of method, apparatus (system) and computer program product of embodiment according to the present invention Figure diagram and/or block diagram describe some embodiments of the present invention.It should be appreciated that each of flow chart diagram and/or block diagram The combination of frame and flow chart diagram and/or the frame in block diagram can be realized by computer program instructions.These computer programs Instruction can be provided to the processor of general purpose computer, special purpose computer or other programmable data processing units to generate machine Device, so that being created that by the instruction that computer or the processor of other programmable data processing units execute for realizing process The means for the function action specified in one or more frames of figure and/or block diagram.

These computer program instructions can also store in computer-readable medium, which can refer to Show that computer, other programmable data processing units or other equipment work in a specific way, so that being stored in computer can It reads the instruction in medium and generates product, which includes the function specified in one or more frames of implementation flow chart and/or block diagram The instruction of energy/movement.

Computer program instructions can also be loaded into computer, other programmable data processing units or other equipment On, to generate the series of operation steps that will be executed in computer, other programmable devices or other equipment, to generate Computer implemented process, so that the instruction executed on the computer or other programmable apparatus is provided for realizing flow chart And/or the process for the function action specified in one or more frames of block diagram.

Certain methods described herein are generally designed to only use for computer, and for purely manual by human expert Execution may be infeasible or unpractiaca.The human expert's expection for wanting to manually perform similar tasks may use completely not Same method, for example, using expertise and/or the mode identificating ability of human brain, this can be than manually completing the method for being described herein The step of want much more efficient.

Unless otherwise defined, otherwise all technologies used herein and/or scientific term have and fields of the present invention Those of ordinary skill be generally understood identical meaning.Although with the side that method and material those of is described herein or is equal Method and material can be used for practicing or testing embodiments of the present invention, but illustrative methods and/or material is described below.If any Conflict, is subject to including patent specification defined herein.In addition, material, method and example are merely illustrative, not purport Carrying out necessary limitation.

Detailed description of the invention

Only as an example, some embodiments of the present invention have been described with reference to the drawings herein.It is now specific in detail to join Examine attached drawing, it is emphasized that shown in details be as exemplary and be for illustratively discussing embodiment party of the invention The purpose of formula.In this regard, the description carried out by attached drawing is so that those skilled in the art are clear how to practice reality of the invention Apply mode.

In the accompanying drawings:

Fig. 1 be illustrate according to certain embodiments of the present invention, side that tool is controlled in inner cavity in living organism The flow chart of method；

Fig. 2 be illustrate according to certain embodiments of the present invention, the shared flow chart of service aisle；

Fig. 3 is the chart of the tool of embodiment according to the present invention and the state of sharing channel；

Fig. 4 A, Fig. 4 A ', Fig. 4 B, Fig. 4 B ' be illustrate according to certain embodiments of the present invention, in the lumen The block diagram of the system of control tool；

Fig. 5 A, Fig. 5 B are two perspective views of embodiment according to the present invention, tool including video camera and bracket；

Fig. 6 A- Fig. 6 G be illustrate embodiment according to the present invention, tool including video camera deployment perspective Figure；

Fig. 7 A- Fig. 7 C is to illustrate embodiment according to the present invention, pliers tool to lead to together with video camera using shared The perspective view of the deployment in road；

Fig. 8 be illustrate according to certain embodiments of the present invention, video camera tool, outer sleeve and inner lumen probe Perspective view；

Fig. 9 be illustrate according to certain embodiments of the present invention, the video camera work of the service aisle of shared outer sleeve The perspective view of tool and the intracavitary probe including pliers tool；

Figure 10 is the end perspective view of the intracavitary probe being inserted into outer sleeve according to certain embodiments of the present invention；

Figure 11 A- Figure 11 E be illustrate according to certain embodiments of the present invention, for disposing replacing for video camera tool The perspective view of generation selection；

Figure 12 A- Figure 12 D be according to certain embodiments of the present invention, activity in pop one's head in into passive outer sleeve insert The perspective view entered；

Figure 13 A- Figure 13 C be according to certain embodiments of the present invention, the perspective view of outer sleeve conduit that integrally turns to Diagram；

Figure 14 is the perspective view of outer sleeve according to certain embodiments of the present invention；

Figure 15 A, Figure 15 B be according to certain embodiments of the present invention, by aspirator and wash away the shared work of stream The perspective view in channel；

Figure 16 A- Figure 16 C illustrates guiding channel according to certain embodiments of the present invention for the use of individual instruments；

Figure 17 A- Figure 17 E illustrate according to certain embodiments of the present invention, deployment that sample sack passes through service aisle With fetch；

Figure 18 be embodiment according to the present invention, using foldable tool method flow chart；

Figure 19 is the state diagram of the foldable tool of embodiment according to the present invention；

Figure 20 A, Figure 20 B are the schematic figures of the service aisle with track according to certain embodiments of the present invention Show；

Figure 21 illustrate according to certain embodiments of the present invention, intracavitary probe with outer guide channel；

Figure 22 illustrate according to certain embodiments of the present invention, with the exterior guiding rail being inserted into service aisle The intracavitary probe in road；

Figure 23 is the perspective view of embodiment according to the present invention, the tool being supported on multiple guiding pieces；

Figure 24 A, Figure 24 B are the perspective views of embodiment according to the present invention, round guide rail；

Figure 25 is the perspective view of the T-slot guiding piece of embodiment according to the present invention；

Figure 26 A- Figure 26 C is embodiment according to the present invention, the conduit for removing growth-gen (such as polyp) Perspective view；

Figure 27 A, Figure 27 B are the perspective views of embodiment according to the present invention, conduit including reinforcing ring；

Figure 28 is embodiment according to the present invention, in multiple perspective views for observing the video camera at positions；

Figure 29 A- Figure 29 C is embodiment according to the present invention, the perspective for the video camera being deployed in front of conduit diagram；

It is big in outer guide that Figure 30 A- Figure 30 G illustrates embodiment according to the present invention, being mounted on conduit Sample sack；

Figure 31 A- Figure 31 F illustrates the various choosings of the cross section of Multifunctional catheter according to certain embodiments of the present invention It selects；

Figure 32 A- Figure 32 C is the perspective view of embodiment according to the present invention, conduit with distal side finger-shaped material；

Figure 33 is the conduit of embodiment according to the present invention and the exploded view of single distal side finger-shaped material；

Figure 34 illustrates the distal side finger-shaped material of the cooperation distal slit of embodiment according to the present invention；

Figure 35 A- Figure 35 D illustrates the frame of conduit according to certain embodiments of the present invention；

Figure 36 A, Figure 36 B illustrate the magnetic actuator of embodiment according to the present invention；

Frame that Figure 36 C illustrates embodiment according to the present invention, being turned to by magnetic actuator；

Figure 37 A- Figure 37 C illustrates embodiment according to the present invention, connector fixator for conduit；

Figure 38 A- Figure 38 B be embodiment according to the present invention, sleeve with closed channel distal side perspective view and Nearside perspective view；

Figure 39 A- Figure 39 B is the nearside perspective view of the removable steering mechanism of embodiment according to the present invention；

Figure 40 is embodiment according to the present invention, the flow chart diagram for the method for turning to sleeve in the lumen；

Figure 41 A is the nearside perspective view of the multichannel sleeve of embodiment according to the present invention；

Figure 41 B is the distal side perspective view of the sleeve with exemplary tool of embodiment according to the present invention；

Figure 42 A- Figure 42 B is the distal side perspective view of embodiment according to the present invention, sleeve with exemplary tool； And

Figure 43 A- Figure 43 B is the perspective view diagram of the multiple-camera endoscope of embodiment according to the present invention.

Specific embodiment

It summarizes

Conduit with shared service aisle

Some embodiments of the present invention relate in one aspect to enter using conduit the intracorporal inner cavity of living organism.Optionally, Conduit includes that (guiding piece may include such as one or more for shared service aisle and/or one or more relatively narrow guiding pieces A other channel).Each guiding piece can be connected in its all or some length with service aisle.Operator is using guidance First tool is transmitted to inner cavity by service aisle and/or disposes the first tool in the lumen by part.Optionally, by tool part Service aisle can be dredged by affixing one's name into inner cavity.Then, operator can be used the second guiding piece and lead to the second tool by work Road is transmitted to inner cavity.Optionally, a guiding piece can be used for manipulating a tool in inner cavity, and service aisle and/or another A guiding piece is used to another tool being transported to inner cavity by service aisle.Optionally, operator using service aisle and/or Guiding piece controls the tool in (for example, support and/or manipulation) inner cavity except the distal openings of service aisle.Optionally, it grasps Author can reinsert the tool (for example, on identical guiding piece and/or not with removing tool and/or after the removing On same guiding piece).Optionally, inner cavity can be also used for trandfer fluid, for example, for from inner cavity aspiration fluid and/or fragment, For washing the object in inner cavity, for irrigation lumen, and/or for applying pharmaceutical chemicals.For example, can not move And/or remove conduit in the case where by video camera and/or tool fetch and/or be re-deployed to different location (such as with obtain The more preferable visual field of object).

In some embodiments, can inside intracavitary control tool.For example, video camera and/or tool can be deployed in In inner cavity far from catheter shaft.For example, video camera can be deployed in the position for allowing to observe forward, backward and/or to side.Example Such as, operator can be connected to the proximal end of the bracket of guiding piece and/or tool by torsion to control the tool in inner cavity.Example Such as, operator can manipulate tool, dredging inner cavity and/or the distal openings for dredging inner cavity in inner cavity.The inner cavity of dredging can be with For for example making liquid pass through service aisle (such as flushing and/or aspiration lumen).For example, video camera can pass through work It disposes in the lumen and/or is deployed in far from service aisle in channel.Then, when observing inner cavity with video camera, optionally make Fragment is aspirated from inner cavity with big service aisle and/or is used for surgical procedures.

Control one or more tasks in the lumen with narrow access path

Some embodiments of the present invention relate in one aspect to can passage path and/or catheter channel enter in it is intracavitary Control one or more tasks.In some embodiments, one or more narrow guiding pieces can be placed along path.For example, position Operator in guiding piece proximal end can be used guiding piece and/or be attached to the bracket of guiding piece and disposes and/or grasp in the lumen Indulge multiple tools.Optionally, when tool is transmitted along guiding piece and/or is stablized by guiding piece and/or is manipulated using guiding piece, draw Guiding element can keep in situ and/or substantially static.

In some embodiments, tool is mountable outside conduit.For example, the outer surface of conduit may include for connecting It is connected to the installation part of tool.Alternatively or additionally, tool may include the installation part for being connected to the outer surface of conduit.Example Such as, tool can be transported through service aisle to inner cavity by guiding piece.Outside service aisle (such as in the lumen), tool can be with It is supported using guiding piece and/or is manipulated using guiding piece and/or guided using guiding piece.For example, tool may be directed to use In the position for the outer surface for being installed to conduit.Alternatively or additionally, tool may be coupled to the object outside conduit.Optionally, Make tool back to service aisle and/or guiding piece.

In some embodiments, guiding piece can extend along entire path.For example, guiding piece can be from path and/or logical The proximal open in road extends to distal openings.For example, the proximal end of guiding piece can enter from patient-external and/or guiding piece Distal end can be exposed to inner cavity.Alternatively or additionally, guiding piece and/or conduit can be along the access paths for going to inner cavity A part is placed.For example, the proximal end of guiding piece may not be possible particular up to the distal end of patient-external and/or guiding piece Inner cavity can not be reached.For example, guiding piece can be placed along the narrow of access path.It is alternatively possible to after use from trouble Person fetches all or part of guiding piece.Alternatively or additionally, guiding piece can be retained in patient's body.

Service aisle with longitudinal opening

Some embodiments of the present invention relate in one aspect to a kind of system for transmitting big object in living organism And/or method.In some embodiments, the service aisle with longitudinal opening can be provided for conduit.For example, service aisle Can have opening and/or slit along its overall length or partial-length.Slit, which can permit, transmits big object along channel and/or by channel It is located on intracavitary probe.In some embodiments, the conduit including slits work channel can not include other channels, packet Include other one or more slits work channels；One or more closed cross-section service aisles；One be connected to service aisle A or multiple guiding pieces；And/or the one or more guiding pieces being connected to conduit exterior space.For example, big object can part Ground conveys in channel and partly from the opening and/or slit protrusion in channel.

In some embodiments, the part object when conveying object in the inner cavity with longitudinal opening, in channel Body volume can such as 10% to 50% and/or 50% to 75% and/or 75% to 90% and/or 90% to 100% model In enclosing.The rest part of object can be prominent by longitudinal opening.Optionally, in conveying, object can be enclosed in container (example Such as bag) in.For the purpose of present disclosure, when being applied to the elongated passageway with longitudinal opening, mean that inside term The space in cross section surrounded by the line of catheter wall and the edge of connection opening and/or multiple openings.

In some embodiments, sleeve or pipe can be inserted in slits work channel.For example, sleeve and/or bracket can With the slit of the closed channel in its overall length and/or partial-length.Optionally, sleeve can have closed geometry (such as All or part around the inside of service aisle).Alternatively or additionally, sleeve can have open geometry, example The slit of service aisle is such as closed without around any space.Alternatively or additionally, sleeve can be in a part of its length It is upper that there is open geometry with closed geometry and/or on another part of its length.For example, when narrow When seam is closed, channel can be used for trandfer fluid and/or the transported object of isolation (such as to avoid pollution).

In some embodiments, the connection with the outer surface of conduit can be provided for longitudinal guide.It is alternatively possible to Big object is conveyed along the intracorporal guiding piece of living organism.

In some embodiments, interface channel can combine two spaces.For example, interface channel can be logical by work The outer surface of road and conduit joint.Alternatively or additionally, interface channel can combine two service aisles in conduit.Example Such as, interface channel can be longitudinally travelled along all or part of of service aisle.Optionally, the bracket being inserted into interface channel can be with Partially and/or fully block the connection between two spaces.For example, bracket can be used for controlling the company between two spaces It is logical.Alternatively or additionally, interface channel may include the guiding channel for transmitting and/or controlling tool.For example, connection is drawn Pathway can be used for the means of transportation in any one of two spaces or both.For example, the company of two service aisles of connection Connecing guiding channel can be used for for tool being transmitted to inner cavity and/or tool is deployed to inner cavity from the first service aisle.Then may be used To use identical connection guiding piece to fetch tool by the second service aisle.For example, service aisle is connected to outer surface Connection guiding channel can be used for for tool being transmitted to inner cavity and/or tool be deployed to inner cavity from the first service aisle.Then Identical connection guiding piece can be used along the external retrieval tool of conduit.Optionally, slit, guiding piece and/or service aisle Cross section one of can take on any of a number of shapes or a variety of, ellipse, rectangle, T shape, triangle, circle etc..For example, can Keep tool mobile and/or inside relative to the axis of guiding piece to connect and/or be inserted in the bracket in guiding piece by torsion It is moved between chamber.

It rinses and/or extracts

Some embodiments of the present invention relate in one aspect to for by material input living organism or from living organism it is defeated System and or method out.For example, conveying material may include rinsing and/or being discharged and/or wash away and/or clean living organism Intracorporal target.For example, the service aisle of conduit can be used for extracting fluid and/or solid objects and/or high viscosity from inner cavity Substance.Optionally, while extracting, pipe and/or another channel can be provided with irrigation lumen.For example, pipe and/or other Channel may be coupled to the same catheter for extraction.In some embodiments, conduit can be used for material convey before and/ Tool and/or support and/or the manipulation intracorporal tool of living organism are inserted into and/or fetched during and/or after or.For example, Conduit can be used for sequence and/or convey material, means of transportation and/or control tool simultaneously.Optionally, conduit can execute various Conveying and/or transmitting function are without mobile and/or removal conduit.

Multiple tools are introduced by narrow service aisle

The relating in one aspect to of some embodiments of the present invention is introduced and/or is fetched multiple tools by narrow service aisle. Optionally, service aisle may include the service aisle of conduit, and the conduit is along the path orientation for leading to therapentic part.In some realities It applies in mode, optionally, one or more tools sequentially pass through the inner cavity that service aisle enters patient.In some embodiments In, one or more guiding pieces can be used for transmitting one or more tools and/or dredging service aisle by service aisle.It can One tool can be transmitted in service aisle by selection of land after previous tools leave service aisle.Alternatively or additionally Ground, multiple tools, which can be lined up, passes through service aisle.For example, all tools can be attached to single guiding piece.Alternatively or Additionally, one or more guiding pieces can be used and transmit independently each tool in multiple tools and pass through service aisle. For example, service aisle may it is too narrow and cannot for two tools also cross.It is alternatively possible to by the first tool along guiding piece from Position in service aisle is directed to the position outside service aisle, to dredge service aisle.Then, the work through dredging is logical Road can be used for another function.For example, the service aisle of dredging can be used for inputting fluid into inner cavity or export from inner cavity.Alternatively Or additionally, the second tool can pass through the service aisle through dredging along the second guiding piece and/or vacate across by the first tool Position.

In some embodiments, guiding piece can be used for tool from inner cavity back to lumen outer, such as back to work Make channel, and/or the outside for making tool return to living organism.For example, tool can be deployed in inner cavity and/or return later To service aisle and/or fetch.Optionally, in deployment, tool can remain connected to guiding piece.Alternatively, tool can with draw Guiding element disconnects, and is disposed and/or reconnected to guiding piece when its return.For example, tool may be coupled to is Rope is to be returned to and/or fetch.It is alternatively possible to which tool is returned and/or fetched along single guiding piece.Alternatively or additionally, Multiple guiding pieces can be used to transmit, dispose, return and/or fetch tool.For example, can use sequentially and/or simultaneously Multiple guiding pieces.

The steering of Multifunctional catheter

It is related to turning to Multifunctional catheter in terms of some embodiments of the present invention.In some embodiments, more function Can conduit by leading to the route turning of inner cavity.Turn to the component part that assembly is optionally Multifunctional catheter.Alternatively or Additionally, turning to assembly may include individual probe and/or intracavitary probe.For example, insertion conduit of popping one's head in can will be turned to One or more channels in and/or for turning to the distal end of conduit along the path for leading to target lumen.Once conduit is in place, It can be removed from conduit and turn to assembly and/or other tasks can be used for release channel.

In some embodiments, steering mechanism can be inserted in closed channel.For example, steering mechanism can be shielded, make Its not with patient, service aisle and/or another tool contact.Optionally, steering mechanism can match closely and/or without spin It closes into channel.

Foldable tool

It is related to a kind of tool including folding and unfolding state in terms of some embodiments of the present invention.For example, tool It can be conveyed through the stenosis into channel in a folded configuration.Optionally, tool is unfolded using preceding.Optionally, work Tool can be fetched under folding and/or unfolded state.

The distal side finger-shaped material of intracavitary probe

It is related to a kind of intracavitary probe in terms of some embodiments of the present invention, there is insertion living organism inner cavity and packet Include the distal end of one or more distal side finger-shaped materials.Optionally, a finger-shaped material can be controlled independently of other finger-shaped materials.Alternatively Or additionally, multiple finger-shaped materials can be controlled in a synchronous manner.For example, finger-shaped material can towards intracavitary probe axis inwardly and/ Or the axis far from intracavitary probe is outside.It is alternatively possible to carry out guiding tool using one or more finger-shaped materials.For example, finger-shaped material It can be used for being directed toward and/or guiding and/or support the tool being located in living organism inner cavity.It is alternatively possible to use finger-shaped material Promote the steering of intracavitary probe.Optionally, finger-shaped material can help to unlock tool and/or intracavitary probe.Optionally, finger-shaped material can To include guiding piece.Optionally, the main body that continuous guiding piece can pass through conduit reaches the proximal end of finger-shaped material and along finger-shaped material Reach the distal end of finger-shaped material.For example, tool and/or material can be transmitted to finger-shaped material along the guiding piece in the main body of endoscope. Optionally, tool and/or material can continue to the position in living organism along the guiding piece of finger-shaped material.Optionally, finger-like The guiding piece of object may include channel.Optionally, the guiding piece of finger-shaped material and/or channel can be used for controlling tool and/or by materials Material is transferred to the intracorporal position of living organism.

Optional feature

In some embodiments, service aisle may include distal openings and/or proximal open.Optionally, it is operating In, proximal open can enter outside living organism and/or distal openings are exposed to inner cavity.For example, service aisle can be with It is sufficiently wide to go to distal openings so that tool and/or fluid pass through proximal open along the length of service aisle and/or enter inner cavity. Each guiding piece may include the narrow passage and/or track for example advanced along the overall length of service aisle and/or partial-length.It is optional Ground, guiding channel and/or service aisle can have circular cross section.Alternatively or additionally, guiding channel and/or service aisle There can be non-circular cross sections (for example, semicircle, rectangle, triangle etc.).

In some embodiments, conduit may include one or more service aisles.Optionally, service aisle has envelope The circumference closed.Alternatively or additionally, service aisle can be open over a part of its length.In some embodiments, Service aisle can be located at the center of conduit.Alternatively or additionally, service aisle can be located off at center.In some implementations In mode, conduit may include multiple service aisles and/or guiding piece.

For the purpose of present disclosure, unless otherwise indicated, term conduit may include various conduits and/or interior peep Mirror, for example, encephaloscope, laryngoscope, oesophagoscope, thoracoscope, angioscope, kidney mirror, Sigmoidoscope, proctoscope, arthroscope, asoscope, oesophagoscope, Bronchoscope, mediastinoscope, gastroscope, laparoscope, amnioscope, cystoscope and/or hysteroscope, catheter, nephridioduct, abdominal catheters, Ductus venosus, arterial duct, implanted intracranial catheters, epidural catheter, tracheal catheter, central venous catheter, Swan-Ganz conduit, embryo Tire transfer catheter, umbilical cord, Tuohy-Borst connector, intrauterine catheters and/or Quinton conduit.Conduit size (such as Cross-sectional area and/or length) and/or form can optionally change.For example, the size and/or form of conduit can be according to conduits Type and change.For example, the length of Sigmoidoscope can be 130cm to 250cm and/or longer, and/or there is 3mm²Extremely 5mm²And/or 5mm²To 10mm²And/or 10mm²To 15mm²And/or 15mm²To 25mm²Service aisle cross-sectional area, and/ Or there is 0.1mm²To 1mm²And/or 1mm²To 10mm²And/or 10mm²To 15mm²And/or 15mm²To 50mm²Guiding channel Cross-sectional area.Catheter can length for example with 20cm to 25cm and/or 25 to 40cm, and/or there is 1mm²Extremely 4mm²And/or 4mm²To 20mm²And/or 20mm²To 40mm²And/or 40mm²To 60mm²Service aisle cross-sectional area, and/ Or there is 0.1mm²To 1mm²And/or 1mm²To 5mm²And/or 5mm²To 30mm²Guiding channel cross-sectional area.

For the purpose of present disclosure, the distal part of term conduit can mean the farthest side half of such as conduit And/or the farthest side a quarter and/or the farthest side 1/8 of conduit and/or the farthest side 1/10 and/or length of conduit of conduit are The farthest side section of the conduit of 1cm to 10cm and/or 1mm to 1cm.

For the purpose of present disclosure, the portions of proximal of conduit can be defined as the recent side half of such as conduit And/or the recent side a quarter and/or the recent side 1/8 of conduit and/or the recent side 1/10 and/or length of conduit of conduit are The nearest side section of the conduit of 1cm to 10cm and/or 1mm to 1cm.

In some embodiments, the cross-sectional area of service aisle can for conduit cross section product 90% to 1/2 and/or The 1/9 to 1/25 of 1/4 to 1/9 and/or the conduit cross section product of 1/2 to 1/4 and/or the conduit cross section product of conduit cross section product The 1/25 to 1/100 of conduit cross section product and/or.Unless otherwise stated, as used herein, the cross section of service aisle with The ratio of the cross section of conduit refers to minimum cross-section and conduit of the channel between its proximal open and distal openings in phase With the ratio of the minimum cross-section between opening.Alternatively or additionally, the cross section of the cross-sectional area of service aisle and conduit Long-pending ratio can refer to the minimum office of the cross-sectional area at any position between channel proximal open and channel distal openings Portion's ratio.Alternatively, the ratio of the cross section of the cross section and conduit of service aisle can refer to channel in its proximal open and distal side The ratio of the maximum cross-section area of maximum cross section and conduit between identical opening between opening.Alternatively or additionally, The ratio of the cross-sectional area of the cross-sectional area and conduit of service aisle can refer to channel proximal open and channel distal openings it Between any position at cross-sectional area the local ratio of maximum.

In some embodiments, one or more guiding pieces can advance along the inner wall of service aisle.Optionally, work is logical The cross section in road will be greater than the cross section of guiding piece associated with the service aisle.For example, conduit and/or sleeve may include 1 guiding piece and/or 2 guiding pieces and/or 3 guiding pieces and/or 4 guiding pieces and/or 5 guiding pieces and/or 6 guidance Part and/or 7 to 10 guiding pieces and/or 10 to 15 guiding pieces.Alternatively, one or more guiding pieces can be along the outer surface of conduit It advances.In some embodiments, guiding piece can extend beyond catheter main body.For example, guiding piece can be along service aisle Length traveling and/or the opening for extending service aisle.Alternatively or additionally, bracket may be coupled to guiding piece.Tool can To be connected to bracket.Bracket can extend beyond guiding piece, for example, guiding piece may be in the service aisle of conduit, and hold in the palm Frame and/or tool can extend service aisle.For example, the distance that tool can extend beyond the distal end of service aisle can be Type in the range of many values and/or depending on conduit.For example, tool can extend from endoscope less than endoscope External width distance, and/or extend one to five times of distance of the external width for endoscope, and/or extend for 5 to 20 times and/or more distances of the external width of endoscope.Optionally, by controlling bracket by user's physical manipulation (for example, bracket can have the handle manipulated outside inner cavity for user and/or the connection with bracket and/or interior intracavitary tool). Alternatively or additionally, bracket can be self-propelled (such as passing through actuator).For example, bracket and/or guiding piece and/or work Tool may include actuator.Actuator optionally manipulation instrument and/or bracket.It can be for example by airborne processor and/or distant Device is controlled to control actuator.

In some embodiments, bracket and/or tool can be introduced into the company of the proximal end in service aisle and/or from conduit It is connected to guiding piece.Alternatively or additionally, bracket and/or tool can be introduced into the distal end in service aisle and/or from conduit It is connected to guiding piece.

In some embodiments, guiding piece may include track and/or guiding channel.Guiding piece is optionally logical with work The connection of the outer surface of road and/or conduit.Optionally, guiding piece and/or guiding channel can be in its distal end and/or proximal end and conduits External connection.Optionally, guiding piece and/or guiding channel can be connected to the external of conduit along its length.For example, guiding piece can To include narrow guiding channel, which has the longitudinal slit being connected to the outer surface of service aisle and/or conduit.It can Selection of land, slit are connected to the distal openings and/or proximal open of guiding piece and/or guiding channel and/or service aisle.Alternatively Or additionally, slit can advance along the center and/or interior section of guiding channel and/or guiding piece.Optionally, slit is drawing Advance in the whole length of guiding element and/or guiding channel (such as opened from distal end and/or distal openings to proximal end and/or nearside Mouthful).For example, guiding piece can be connected to outside service aisle and/or conduit as follows: along its whole length, and/or along less than work Make the length of channel width, and/or along service aisle width to the length of ten times of service aisle width, and/or works along ten times Channel width to 100 times of service aisle width length, and/or be less than catheter length 1/10th length on, and/ Or in 1/10th length to a quarter of catheter length, and/or catheter length a quarter to half And/or in the half length to full length of conduit.For example, service aisle can as follows with one or more guiding pieces and/ Or connection outside conduit: along its whole length, and/or along the length for being less than service aisle width, and/or along service aisle width To the length of ten times of service aisle width, and/or along the length of ten times of service aisle width to 100 times of service aisle width, And/or be less than catheter length 1/10th length on, and/or catheter length 1/10th to a quarter length On degree, and/or in length of a quarter to half of catheter length, and/or conduit half length to overall length Length on.Be connected to slit width can for example in 0.01mm between 0.1mm, and/or in 0.1mm between 0.5mm, And/or in 0.5mm between 2mm and/or 2mm or bigger.The width for being connected to slit can be for example in the width of smaller channels Between 1/50 to 1/10, and/or between the 1/10 to 1/5 of the width of smaller channels, and/or the width in smaller channels 1/ Between 5 to 1/2, and/or smaller channels width 1/2 between overall with.In some embodiments, the width of slit can Length along channel changes.

In some embodiments, guiding piece may include the track advanced along the outer surface of service aisle and/or conduit. Optionally, guiding piece can extend along the whole length and/or part of it of service aisle.Guiding piece can be along the whole of service aisle A length and/or part of it are connected to service aisle.In some cases, multiple guiding pieces can all have similar width And/or form.Alternatively or additionally, each guiding piece can have different width and/or form.In some embodiments In, 1/2 to 1/5 and/or the associated work that the cross-sectional area of guiding piece can be the cross-sectional area of associated service aisle are logical The 1/20 to 1/400 of the cross-sectional area of 1/5 to 1/20 and/or associated service aisle of the cross-sectional area in road.

In some embodiments, narrow guiding channel can be used as guiding piece and/or as alternative service aisle.For example, Narrow tool, which can be introduced or be drawn inner cavity and/or material by guiding channel, can enter by guiding channel or leave inner cavity.

In some embodiments, conduit may include and/or not include one or more service aisles, inner guide (such as being connected to one or more service aisles), outer guide (such as being connected to the outer surface of conduit) and/or closed Guiding piece.Optionally, service aisle may include longitudinal opening and/or can be closed.Guiding channel can be logical by two Road (such as service aisle and/or guiding channel) interconnects and/or channel can be connected to external opening.

Before explaining at least one embodiment consistent with the present invention in detail, it should be appreciated that application of the invention is not necessarily limited to Listed in following description and/or attached drawing and/or embodiment in illustrate about component construction and arrangement and/or method it is thin Section.The present invention can have other embodiments or can be practiced or carried out in various ways.Similar step and/or component And/or aspect can in multiple figures be identically numbered label.To the option in a figure, component, step and/or aspect Description is also applied for option, component, step and/or the aspect of similar label in other figures.

In some embodiments, shielding can be provided for the tool being deployed in outside conduit.For example, shield can protect trouble Damage and/or puncture of the internal structure of person from tool.For example, sacculus can be installed on tool.Optionally, tool can be with It is located at outside conduit by having the transmission of the conduit of the sacculus in contraction state (such as deflation status), and/or in tool When, sacculus can be expansion (for example, inflation).

In some embodiments, service aisle be used to for tool and/or material being transported to inner cavity and/or defeated from inner cavity Send tool and/or material.For example, service aisle may include access path.Alternatively or additionally, service aisle can be wrapped It includes in the catheter.For example, conduit can be positioned along the access path for leading to inner cavity.It is, for example, possible to use guiding pieces by one or Multiple tools are transmitted to one or more tools in inner cavity and/or control inner cavity (for example, control tool may include manipulation And/or support and/or guiding tool).For example, can be disposed via guiding piece by service aisle and/or fetch and/or transmit Tool.Alternatively or additionally, tool can be controlled by guiding piece in the lumen.It is connected to for example, tool can be deployed in In the inner cavity of the distal end of guiding piece.Alternatively or additionally, tool can be directed into the position in inner cavity along guiding piece, at this Tool can be supported (permanently or temporarily) and the connection with main part at position.For example, tool can be kept Being connected to guiding piece and/or tool can disconnect with guiding piece.In some embodiments, tool can be disposed It is intracavitary inside, so that the opening of service aisle keeps clear.Optionally, the opening in cleaning work channel can be easy to use work Other tools and/or material are transmitted to and or from inner cavity by channel.Optionally, tool can reconnect to guiding piece, and And/or person's tool may return to service aisle and/or be fetched by service aisle from inner cavity.Optionally, it returns and/or fetches Tool may include by tool guides to service aisle and/or by guiding piece by guiding piece along service aisle means of transportation. Optionally, tool is returned along the identical guiding piece for disposing the tool.Alternatively or additionally, different guidance can be used To return to tool.It in certain embodiments of the present invention, can be in the case where not using guiding piece by one or more works It is transmitted in tool insertion service aisle and/or in service aisle and/or disposes from service aisle and/or fetched from service aisle.

In some embodiments, tool is transmitted and/or is guided to interior by guiding piece in which can be used for whole or part way Chamber and/or therapentic part.Alternatively or additionally, tool can reach therapentic part without guiding piece and/or guidance Part can be used for fetching tool.Alternatively or additionally, tool can reach therapentic part without guiding piece and/or draw Guiding element can be used for controlling tool in therapentic part.

In some embodiments, service aisle may include the stenosis in one or more positions.In some realities It applies in mode, inner cavity may include a part of the urinary tract, alimentary canal and/or lung road.

In some embodiments, multiple guiding pieces can be used to control multiple tools.For example, multiple guiding pieces can be with Each guiding piece is connected to along into channel location and/or each tool.Optionally, each tool is transmitted independently And/or it guides and/or manipulates and/or support.

In some embodiments, single guiding piece can be used for multiple tools.For example, the first tool can be disconnected with guiding piece It opens and/or subsequent second tool may be coupled to the guiding piece.For example, the first tool can be deployed in inner cavity and/or with draw Guiding element disconnects.Then, the second tool may be coupled to the guiding piece.Alternatively or additionally, the first tool can be from interior Chamber returns and/or fetches from service aisle and/or then disconnect from guiding piece.Then, guiding piece is optionally for the second tool. Alternatively or additionally, multiple tools may be coupled to single guiding piece and/or individual tool may be coupled to multiple draw Guiding element.

In some embodiments, tool can be with passage and/or path.It is alternatively possible to which mobile tool is to dredge Path and/or channel.For the purpose of present disclosure, unless otherwise stated, obstruction path and/or channel be relative to Context.For example, in a series of context for making tools pass through channel, when the second tool is prevented from due to the first tool When passing through channel, the first tool passage.Dredging channel can mean that the second tool is allowed to pass through channel.Alternatively or additionally Ground, when cross-sectional area for example channel and/or path cross-sectional area 10% to 25% and/or channel and/or path cross 50% to 75% and/or the channel and/or path of the cross-sectional area in 25% to 50% and/or the channel and/or path of sectional area Cross-sectional area 75% to 100% when, obstruction can mean to prevent object from passing through along path.Optionally, in the disclosure The purpose of appearance, dredging path and/or channel can mean to open the 10% to 25% of the obstruction cross section in path and/or channel And/or it opens the 25% to 50% of obstruction cross section and/or opens and block the 75% to 100% of cross section.

In some embodiments, tool can be inserted in conduit and/or fetch and/or reinsert from conduit conduit In, while the distal end of conduit is maintained in the inner cavity of patient.For example, insertion, fetching and/or reinserting and can be used for tool And/or video camera relocates in the lumen.For example, video camera can be repositioned onto for example with the new position for improving the visual field It sets, and/or the new position for for example preferably entering treatment position can be placed the tool above.

Illustrative embodiments

The method of intracavitary tool in control

Referring now to the drawings, Fig. 1 illustrates control according to certain embodiments of the present invention can by service aisle into The method of the interior intracavitary tool entered.In some embodiments, guiding piece can position 101 along service aisle.For example, in conduit It may include one or more guiding pieces and/or service aisle.Optionally, tool disposes 103 in the lumen by service aisle. Optionally, guiding piece for stablize in service aisle and/or inner cavity 107 and/or 111 tools of control (such as with stabilizing tool And/or branch stake tool and/or manipulation instrument).

In some embodiments, the conduit including one or more guiding pieces and/or service aisle can be treated along leading to The path orientation 101 at position.For example, the proximal open of conduit can close and/or distal openings can be with outside the body It is exposed to inner cavity.One or more tools can transmit and/or leave distal openings deployment 103 along the service aisle of conduit Into inner cavity.For example, guiding piece can be used for along service aisle means of transportation.

In some embodiments, guiding piece can be used for stablizing, manipulate and/or control the tool in inner cavity.For example, will After tool deployment 103 is into inner cavity, tool can remain connected to guiding piece.Alternatively or additionally, guiding piece can be used for By target site of the tool deployment 103 into inner cavity.Optionally, when tool in the lumen when, tool can be interim and/or permanent Ground and guiding piece disconnect.

The method of the shared service aisle for leading to inner cavity

The method that Fig. 2 illustrates shared service aisle according to certain embodiments of the present invention.Optionally, one or more A guiding piece can position 201 along service aisle.Compared with service aisle, guiding piece will be optionally relatively narrow.For example, when positioning 201 When, guiding piece can leave enough free service aisles, to allow service aisle to be used for 215 various functions, such as by object Body and/or fluid are transferred into and out inner cavity.In some embodiments, guiding piece and/or service aisle can be the one of conduit Part.

In some embodiments, guiding piece can be used by the user in the proximal end of service aisle, to control work Tool at channel distal end works at the same time channel and keeps unimpeded for another function.Alternatively or additionally, it can be used and draw A function can be performed in guiding element and/or guiding piece, works at the same time channel and keeps unimpeded for another function.For example, tool and/ Or fluid directly can be transported to inner cavity by service aisle.

In some embodiments, guiding piece can be used for transmitting 209 tools along service aisle and/or 213 work of dredging is logical Road.For example, the first tool can be introduced into 202 into service aisle.In some embodiments, the first tool can it is larger simultaneously And/or person can block service aisle.Lead to it is alternatively possible to be arrived the first tool along service aisle transmission 209 using guiding piece The those widened sections in road and/or can be used guiding piece by the first tool from service aisle deployment 203 into inner cavity.By the first work Tool transmission 209 can dredge 213 service aisles to position and/or 203 first tools of deployment is widened.The service aisle of dredging 213 Optionally for 215 other functions.For example, fluid can be transmitted to and or from using the service aisle of 215 dredgings 213 interior Chamber.Alternatively, different tool transmission 209 further can be arrived inner cavity using the service aisle of 215 dredgings.Optionally, when When service aisle is used for 215 other function, the first tool can utilize 216 in the lumen.

In some embodiments, when tool in the lumen when, it can remain attached to guiding piece.For example, guiding piece It can be used for manipulation instrument with stabilizing tool and/or guiding piece.Alternatively or additionally, when tool is in inner cavity When, it can be disconnected with guiding piece.Alternatively or additionally, tool can pass in the case where no guiding piece along service aisle It send.Alternatively or additionally, when tool is deployed in inner cavity, tool may be coupled to guiding piece.

In some embodiments, tool can return to 214 from inner cavity.Optionally, guiding piece will be used to return from inner cavity 214 tools.For example, tool can remain connected to the guiding piece in inner cavity.Guiding piece can be used and return to 214 works from inner cavity Tool.Alternatively or additionally, tool in the lumen when can connect and/or reconnect to guiding piece.Alternatively or additionally, Tool can return to 214 (for example, tool may be coupled to tether and/or pass through pumping from inner cavity in the case where no guiding piece It inhales and sucks service aisle).Optionally, tool connects and/or reconnects to the guiding piece in service aisle.Guiding piece is optional Ground is used to fetch 219 tools, such as by being transmitted to tool in vitro along service aisle.

The state of tool and/or service aisle

Fig. 3 is the state diagram of tool state according to certain embodiments of the present invention.Optionally, tool can be at it Guiding piece and/or guiding piece are connected under one of state state, some states, whole states and/or any state It can be used for means of delivery between states.

In some embodiments, when not utilizing 317, it is external that tool can be located at patient.Work can be inserted in tool Make in channel 318.Service aisle may include the access path for leading to inner cavity.For example, when tool is located in service aisle, work Tool can block 320a completely and/or partially obstruct 320b service aisle.

In some embodiments, tool can be pushed out service aisle and enter inner cavity 321.In the lumen, tool can be with It keeps for example to block axially to service aisle 322 and entering channel.Optionally, tool is far from deployment at feeder connection 324, channel may be dredged.Optionally, tool is by 326 (such as the device by being attached to patient of external means support in channel Official and/or the outer wall by being attached to conduit).Alternatively or additionally, tool can not be supported 327 in the lumen (for example, Tool can free floating and/or tool can be supported by guiding piece in the lumen).

In some embodiments, 316 tools can be utilized in the channel.Optionally, service aisle can be used for 315 its Other tools such as conveying material and/or are transmitted in inner cavity by his function.For example, the first tool can be transmitted by channel To inner cavity.Optionally, when the first tool is disposed in the lumen, channel is dredged, which can be used for trandfer fluid and/or will be another One tool is transferred into and out inner cavity.

In some embodiments, tool may return to service aisle and/or fetch from patient's body.

The system of tool is controlled in the inner cavity with narrow access path

In certain embodiments of the present invention, guiding piece can be placed along the access path for entering patient's body position.Example Such as, guiding piece 432a can be used for guidance and/or transmission bracket 430a.Optionally, bracket 430a can be operatively attached to work Tool 434.In some embodiments, the stabilization of tool 434 can treated or checked the inner cavity 456 at position by bracket 430a In.For example, inner cavity 456 is larger and/or inner cavity in there are high flow capacity and/or it is a large amount of mobile in the case where, tool 434 keeps connecting Guiding piece 432a is connected to so that support may be useful.Alternatively or additionally, tool 434 can be transmitted to by bracket 430a The position and/or from the part means of transportation 434.For example, when the path for leading to the position is complicated and/or narrow, using drawing Tool 434 is transmitted to inner cavity 456 and may be advantageous by guiding element 432a.It in some embodiments, can be according to from patient's body Outer order carrys out manipulation instrument 434 using bracket 430a.

In some embodiments, it can be used inner probe 442a (such as endoscope and/or conduit) along external from patient Whole and/or part to treatment and/or the path of check point place guiding piece 432a.Bracket 430a is optionally along guiding piece 432a is mobile.For example, guiding piece 432a may include channel and/or track.Optionally, bracket 430a is controlled in vitro from patient. For example, control stick can be advanced to along guiding piece 432a from bracket 430a controls bracket 430a and/or tool 434 from patient in vitro People.

In some embodiments, tool 434 may be coupled to bracket 430a and/or bracket 430a can be in tool Insertion patient is connected to guiding piece 432a before.Alternatively or additionally, tool 434 may be coupled to bracket 430a and/or Person's bracket 430a may be coupled to guiding piece 432a, while tool 434 and/or bracket 430a are on the path for leading to position.It is standby Selection of land or additionally, tool 434 may be coupled to bracket 430a and/or bracket 430a may be coupled to guiding piece 432a, Tool 434 and/or bracket 430a are located in inner cavity 456 simultaneously.It may be coupled to guidance when for example, tool 434 is in inner cavity 456 Part 432a and/or guiding piece 432a can be used for fetching tool 434 from inner cavity 456.

Fig. 4 A ' is the tool in the inner cavity 456 with guiding piece 432a illustrated according to certain embodiments of the present invention 434 block diagram.Optionally, it after guiding piece 432a is placed on inner cavity 456 and/or leads in the path of inner cavity 456, removes and uses In the intracavitary probe 442a for placing guiding piece 432a.For example, guiding piece 432a can be used for guidance and/or transmission bracket 430a.? In some embodiments, tool 434 can be inserted into inner cavity 456 by service aisle 444a and/or is connected in inner cavity 456 Bracket 430a.For example, service aisle 444a can be interim and/or can use the road different from guiding piece 432a Diameter.For example, tool 434 can be inserted by notch, which can be closed after insertion tool 434.Optionally, guiding piece 432a can be used for from 456 return tool of inner cavity without fetching tool 434 from patient.For example, tool 434 may return to patient Intracorporal position can leave in tool 434 without damaging and/or tool 434 eventually exists at this location It is discharged at the position from patient's body.

Fig. 4 B and 4B ' are according to certain embodiments of the present invention for the system in patient's body guiding tool 434 Block diagram.Optionally, tool 434 can be connected to guiding piece 432b directly and/or by bracket.Executor 430b can be used for Tool 434 manipulates it in patient's body.For example, executor 430b can be physically connected to tool 434 (for example, Executor 430b may include conducting wire).Alternatively or additionally, it is external (for example, magnet can be located at patient by executor 430b And/or radio control unit).Guiding piece 432b can be used for stablizing and/or guiding and/or means of transportation 434.In some implementations In mode, inner probe 442b can be used for placing guiding piece 430b.Optionally, guiding piece 430b can be intracavitary probe 442b's Permanent sections.Alternatively or additionally, guiding piece 430b and intracavitary probe 442b can be separated and/or independent.

For the intracavitary video camera used inside

Fig. 5 A and 5B illustrate two of the tool 534 for patient bore according to certain embodiments of the present invention thoroughly View.For example, tool 534 may include one or more video camera 546a, 546b and/or one or more light source 551a, 551b.Tool 534 is optionally mounted on bracket 530.Optionally, bracket 530 may be coupled to guiding piece.For example, guiding piece Bracket 530 and/or tool 534 can be guided and/or be transmitted and/or stabilization is in service aisle and/or interior intracavitary, such as such as It is described below.For example, tool 534 is connected to bracket 530 (tool 534 and the different hearts of bracket 530 at 534 center of deviation tool Connection).

In some embodiments, bracket 530 may include flexible and/or elasticity bar and/or conducting wire.For example, bracket 530 can be used for pushing and/or be drawn to inner cavity for tool 534 along entering path (such as service aisle).Bracket 530 is optionally sufficient It is enough soft to comply with the curve in service aisle but hard enough to keep its length (for example, not folded and/or significant drawing It stretches).In some embodiments, bracket can be anti-torsion.For example, user can reverse the proximal end of bracket, to revolve Turn the video camera in far-end.

In some embodiments, tool 534 can be connected to bracket 530 by installation part 540.Bracket 530 and/or work Tool 534 may include finder 548.For example, finder 548 can be relative to guiding piece and/or relative to conduit and/or relatively In another tool orientation and/or stabilizing tool 534 (for example, as illustrated in Fig. 6 A- Fig. 6 F).In the embodiment party of Fig. 5 A and Fig. 5 B In formula, for example, finder 548 and installation part 540 are radially directed towards on the same line and from the edge of bracket 530.Optionally, Stabilizer and/or finder can have different orientations and can non-radially be directed toward relative to bracket.

In some embodiments, tool 534 is permanently attached to installation part 540 and/or bracket 530.It is alternatively or attached Add ground, installation part can be reversibly attached to tool.For example, tool can be connect with bracket and/or guiding piece and/or executor And/or it disconnects and/or reconnects.Optionally, tool 534 is direct and/or is physically connected to bracket 530 and/or installation part 540.Alternatively or additionally, tool can be connected to bracket by magnet or other indirect methods.

It is inserted a tool into conduit with guiding piece

Fig. 6 A- Fig. 6 F illustrates the insertion and deployment with conduit to tool of embodiment according to the present invention.Optionally, it leads Pipe includes outer sleeve 642.Outer sleeve 642 optionally includes one or more big service aisles 628.In some embodiments, Sleeve 642 includes one or more elongated guide members 632 and/or 632 '.For example, guiding piece 632 may include narrow guiding channel. Optionally, guiding piece 632,632 ' can be parallel to the orientation of service aisle 628 (for example, they can be along the length of service aisle 628 Degree is advanced).Optionally, guiding piece 632 and 632 ' can with service aisle 628 and/or with the regional connectivity on conduit outside.Example Such as, guiding piece 632 and/or 632 ' can be along service aisle 628 and/or to transmission bracket 530 outside conduit and/or tool 534.It can Selection of land, outer sleeve 642 include installation part 640.For example, installation part 640 can be used for stable and/or branch stake tool and/or by tool It is rigidly held to conduit, such as tool 534.Optionally, installation part may include guiding channel and/or track and/or hole and/ Or pin and/or peg.

In some embodiments, one or more of guiding piece 632 and 632 ' can be distributed in service aisle 628 weeks It encloses.Optionally, guiding piece 632 is advanced in the whole length of service aisle 628.Alternatively or additionally, guiding piece 632 can be with A part along the length of service aisle 628 is advanced.Optionally, guiding piece 632 along its whole length and/or along its length one It is connected to outside part and service aisle 628 and/or conduit.

In some embodiments, guiding piece 632 may include guiding channel.For example, guiding channel can be more logical than working Road 628 is narrow.Connection between guiding piece 632 and service aisle 628 is optionally provided by vertical communication opening 636, which connects Mouth is opened up for example in the form of the slit between guiding piece 632 and service aisle 628.

In some embodiments, guiding piece 632 and/or service aisle 628 can be connected to the space outside conduit.It is optional Ground, guiding piece or guiding channel and/or service aisle can be in the outsides at one or two of distal end and/or proximal end place and conduit Connection.For example, guiding channel (such as guiding piece 632) may include distal openings 658 and/or proximal open (for example, with reference to figure The proximal open 1359 of 13C).For example, service aisle 628 may include distal openings 660 and/or proximal open (for example, with reference to The proximal open 661 of Fig. 6 B).Alternatively or additionally, the one or both ends of guiding channel and/or service aisle can be closing 's.

In some embodiments, guiding piece and/or service aisle can be outside its overall lengths or partial-length and conduit Space connection.For example, guiding piece 632 ' is connected to by a part of connection opening 636 ' along its length with the external of conduit.Example Such as, guiding piece 632 and 632 ' is connected to along its whole length with service aisle 628 by opening 636.Optionally, 636 connection of opening To the distal openings 658 of the far-end of respective guide part 632 and 632 '.Optionally, service aisle 628 is (such as vertical by slit It 644) is connected to along its length with the external of conduit to opening.For example, longitudinal opening 644 is allowed using the mobile big object of service aisle Body (for example, as illustrated in Figure 17 A- Figure 17 D).For example, longitudinal opening 644 can be inserted convenient for outer sleeve 642 around intracavitary probe Enter and/or longitudinal opening 644 can be convenient for the transmission of big object.Optionally, the biasing of longitudinal opening 644 is opened.

Fig. 6 B and Fig. 6 B ' illustrate insertion of the tool of embodiment according to the present invention into conduit.For example, by tool In the proximal open 661 of 534 insertion outer sleeves 642.Optionally, bracket 530 is inserted into guiding piece 632 '.Optionally, it installs Part 540 passes through opening 636 ', and tool 534 is connected to bracket 530.Alternatively or additionally, guiding piece, which can be, closed (does not has Have slit) and/or across the bracket of guiding piece tool can be connected to by magnet and/or another means.It should be noted that single logical Longitudinal opening in road can with right angle (90 °) and/or opposite angles (180 °) and/or obtuse angle (>90 °) and/or acute angle (< 90 °) orientation.

In some embodiments, guiding piece and/or bracket can be used for manipulation and/or means of transportation in service aisle. For example, bracket 530 can be used for pushing and/or means of transportation 534 passes through service aisle 628.For example, in Fig. 6 C and Fig. 6 D, support Frame 530 is forced through guiding piece 632 ' by proximally opening, until bracket 530 reaches and/or stretch out distal openings 658.It can Selection of land, bracket 530 push tool 534 to be proximally open 661 by service aisle 628, until it reaches and/or extend distal side Opening 660.

In some embodiments, bracket and/or guiding piece can be used for disposing and/or stablizing outside conduit and/or support Tool.For example, in figure 6 c, the distal end and/or installation part 540 of tool 534 and/or bracket 530 and/or finder 548 are distinguished Extend and/or dispose from the distal openings 658 and 660 and/or opening 636 of guiding piece 632 ' and/or channel 628.Optionally, exist Gap 646 is provided between tool 534 and the distal end of conduit.Optionally, the central part of bracket 530 is maintained at guiding piece 632 ' Interior and/or bracket 530 portions of proximal extends the proximal open of guiding piece 632 '.

In some embodiments, bracket and/or guiding piece can be used for manipulating the tool outside conduit.For example, in bracket 530 And/or after tool 534 extends the distal end of conduit, one of bracket 530 and/or tool 534 and/or the two can be rotated into The configuration of Fig. 6 E and/or the configuration for being retracted into Fig. 6 F.User (for example, doctor that medical operating is executed with conduit) can be optional The proximal end of ground torsion bracket 530.For example, when bracket 530 is supported in guiding piece 632 ' and/or in bracket 530 and/or work The distal end of tool 534 when extending service aisle 628 torsion bracket 530 534 axis far from service aisle 628 that can make tool it is mobile And/or cleaning distal openings 660 (remove the cross section of distal openings 660 at least 80%).Optionally, 628 quilt of service aisle Dredge and/or can be used for other function.In the deployed position of Fig. 6 F, the lens 546b of tool 534 is beyond the outer of sleeve 642 Cross section.For example, the video camera in this permission tool 534 is observed backward without being stopped by sleeve 642.

In some embodiments, tool can be supported and/or stablize on the outer surface of conduit.For example, in Fig. 6 F In, bracket 530 be used to for tool 534 being drawn on installation part 640.Optionally, the distal end of bracket 530 is at least partially retracted Into guiding piece 632 ' (for example, the proximal end for pulling bracket 530 by user).Optionally, tool 534 is pulled back to installation part On 640.Optionally, installation part 540 and/or finder 548 are drawn into slit connection opening 636 ', so that tool 534 be determined To, support and/or stablize on the outer surface of outer sleeve 642.Optionally, bracket 530 is maintained in guiding piece 632 ', to make Tool 534 is kept in place on installation part 540.Optionally, can be used for pushing back tool 534 from installation part 540 with tail-bracket 530 And/or so that tool 534 is returned to service aisle 628 and/or tool 534 is taken out to the proximal open 661 of service aisle 628.It is optional Ground, when tool 534 is stablized on installation part 640, bracket 530 can be disconnected and/or be retracted from guiding piece 632 '.Optionally, When tool 534 is stablized on installation part 640, bracket 530 can reconnect to tool 534, such as so that tool 534 returns To service aisle 628.

In some embodiments, the width of installation part 540 can be connected to opening 636 it is of same size, slightly greater than it And/or it is smaller.For example, opening 636 can be slightly wider than installation part 540, and/or opening 636 ' can be omited than installation part 540 It is narrow.Optionally, installation part 540 is loosely cooperated in opening 636 and/or can easily transmit along channel 628.It is optional Ground, installation part 540 is closely fitted into opening 636 ' and/or tool 534 is firmly held on installation part 640.

In some embodiments, the height of installation part 540 can be with the wall thickness for the guiding piece 632 ' being connected at opening 636 It is identical, slightly greater than it and/or smaller.For example, the wall thickness of the guiding piece 632 ' at connection opening 636 can be slightly smaller than installation part 540 height and/or the wall thickness of guiding piece 632 ' may be slightly larger than the height of installation part 540.Optionally, tool 534 has From opening 636 gap and/or can easily along channel 628 transmit.Optionally, tool 534 is closely fitted into out On mouth 636 ' and/or tool 534 is firmly held on installation part 640.For example, the thickness of installation part 540 can be in example As 0.01mm to 0.1mm and/or 0.1mm to 0.5mm and/or 0.5mm between 2mm and/or be 2mm or thicker.For example, installation The height of part 540 can such as 0.1mm to 0.5mm and/or 0.5mm between 2mm and/or be 2mm or higher.For example, drawing The wall thickness of guiding element 632 ' can such as 0.1mm to 0.5mm and/or 0.5mm between 2mm and/or be 2mm or thicker.

In some embodiments, the intracorporal position of subject can be inserted in outer sleeve 642, and work then can be used Make channel 628 as channel is entered and is inserted into tool 534.Alternatively or additionally, by sleeve 642 be inserted into subject's body in it Before, video camera tool 534 can be located in the distal end of sleeve 642.Alternatively or additionally, the distal end of sleeve 642 can be partly It is inserted into subject's body (for example, the stenosis for being passed into path), and then video camera tool 534 can be located in set Cylinder 642 distal end and/or for conduit to be directed to a position.

Fig. 6 G illustrates the optional invariant feature of the tool mount of embodiment according to the present invention.For example, tool is installed Part may include hole 697, by the cooperation of peg 699 on tool.Alternatively or additionally, hole can in the tool and peg It can be in installation part.For example, installation part may include track 693, it is cooperated in the slot in tool.Alternatively or additionally Ground, tool may include track, and installation part may include slot.Optionally, installation part 640 and/or invariant feature can incite somebody to action Tool 534 is rigidly connected to the outside of sleeve 642.

Shared service aisle

Fig. 7 A- Fig. 7 C illustrates the shared of the service aisle of embodiment according to the present invention.Draw it is, for example, possible to use multiple Guiding element with single conduit independently controls multiple tools.Optionally, tool is logical continuously across the single work of single conduit Road.For example, multiple tools can be disposed and/or by single conduit and/or service aisle in patient's body from service aisle It manipulates and/or supports simultaneously in region.

In some embodiments, after disposing the first tool (such as tool 534), (example is deployed in inner cavity Such as, as described above).Then, the second tool, such as tool 734a, alternately through the subsequent service aisle 628 of tool 534 Transmission.Optionally, the second tool 734a is connected to the second bracket 730a.Optionally, bracket 730a and/or tool 734a can be with Tool 534 is separately connected to guiding piece 632.Optionally, tool 734a is disposed and/or is controlled independently of tool 534 and (such as makes With bracket and/or guiding piece 632).

In some embodiments, third tool 734b is disposed using another guiding piece 632 and/or bracket 734b.

In some embodiments, two tools can cooperate.Optionally, two tools are sent to region simultaneously And/or person independently controls.It is, for example, possible to use different guiding pieces to control two tools.For example, tool 734a includes quilt The tweezers of open position are biased to, and tool 734b includes the pushing member for the tweezers of closure tool 734b.Tool 734a, 734b can be disposed independently.Optionally, tool 734a, 734b cooperate.For example, tweezers can be in object to be captured Body moves about, and pushing member then can be used to be closed tweezers, to catch object.

Multi-section divides conduit system

Fig. 8 illustrates multi-section point conduit system according to certain embodiments of the present invention.For example, multi-section subsystem can be with Including passive outer sleeve and inner probe.For example, outer sleeve may include flexible pipe.Optionally, intracavitary probe 850 can provide Steering mechanism 852.Intracavitary probe 850 can be for example assembled in the service aisle 828 of sleeve 842.Steering mechanism can pass through Longitudinal opening 844 in service aisle 828 is prominent.Optionally, intracavitary probe is turned to and/or is bent using steering mechanism 852 850 and/or by the distal end of moving sleeve 842.

In some embodiments, intracavitary probe 850 can by lead to the intracorporal target position of subject enter road Diameter insertion.After intracavitary probe 850 is in place, sleeve 842 can slide into target position (for example, wherein on inner probe 850 Inner probe is assembled in service aisle 828 and/or one or more guiding pieces).Once sleeve 842 is in place, so that it may fetch Inner probe 850, to dredge service aisle 828.Once in place and service aisle is unobstructed, sleeve 842 be may be used as interior One or more tools of chamber enter channel.Alternatively or additionally, including sleeve 842 and/or intracavitary probe 850 and/or The system of video camera (such as tool 534) can be inserted into target site together.Alternatively or additionally, to the conveying of target position It is a part of can be realized by the intracavitary probe 850 of no sleeve 842, and/or conveying it is a part of can be by inside Probe 850 and sleeve 842 are completed together.Alternatively or additionally, can not have by sleeve 842 and/or inner probe 850 A part of the conveying to target position is realized in the case where video camera, a part conveying can be by sleeve 842 and/or endoscope 850 complete in the case where there is video camera.

In some embodiments, passive outer sleeve 842 may include 832 channels of one or more guidance.Optionally, draw The connection led between 832 channels and service aisle 828 is provided by longitudinal slit 836.It optionally, include being used for by moving sleeve 842 The installation part 840 of tool 534.

Shared service aisle

Fig. 9 illustrates the conduit system of embodiment according to the present invention.It is alternatively possible to share work with upgrade kit Channel.For example, intracavitary probe 950 may include one or more channels and/or guiding piece 932.For example, intracavitary probe 950 can To include multiple simple tools (for example, tweezers tool 934a and/or pusher tool 934b).Optionally, the work of outer sleeve 642 Making channel 628 may be used as the entrance channel of multiple types of tools, such as upgrade kit (such as intracavitary probe 950) and/or simple work Have (such as video camera tool 534).It can sequentially and/or simultaneously be inserted into and/or dispose and/or fetch each tool.

Connection between guiding channel and intracavitary probe

Figure 10 illustrates the multichannel intracavitary probe in the service aisle of the insertion outer sleeve of embodiment according to the present invention. Optionally, one or more guiding pieces of outer sleeve can be connected to intracavitary probe.For example, intracavitary probe may include finder The channel being connected to one or more channels of outer sleeve and/or.

In some embodiments, finder can help the work that intracavitary probe and/or tool are located in sleeve 642 to lead to In road.For example, finder 1048 can be fixed on intracavitary probe 1050.Finder 1048 may be mounted at sleeve 642 slit and/ Or guiding piece (such as opening 636 and/or guiding piece 632 in one) in.Finder 1048 can be by 1050 phase of intracavitary probe The orientation of sleeve 642 is fixed.

In some embodiments, one or more channels of intracavitary probe can be connected to the guiding channel of outer sleeve. For example, the channel 1028 ' of intracavitary probe 1050 is connected to 632 channel of guidance of outer sleeve 642.Optionally, intracavitary probe 1050 Some channels 1028 be not connected to sleeve.

By camera stabilization on the outer surface of conduit

Figure 11 A- Figure 11 E illustrates having for embodiment according to the present invention and is used to support the installation in catheter outer surface The tool of part.Optionally, tool 1134 may include for the installation part 1140 by tool support on the outer surface of conduit.

In some embodiments, (for example, with lighting device 551a, what 551b was forwardly and rearwardly directed toward takes the photograph tool 1134 Camera 546a, 546b) it can be inserted by service aisle, and/or extend service aisle, and/or to be similar to such as Fig. 6 A- The mode of tool 534 shown in Fig. 6 F is supported on conduit.Draw for example, the multiple of outer sleeve 1142 can be inserted in bracket 1130 It leads in one in 1132 channels.Guiding channel 1132 optionally includes slit 1136.Tool 1134 can pass through service aisle 1128 transmission.Optionally, tool 1134 is pushed and/or is controlled and/or manipulated by bracket 1130.For example, tool 1134 can edge Service aisle 1128 transmits, and tool 1134 extends the distal end of sleeve 1142.Optionally, when tool 1134 extends service aisle When 1128, bracket 1130 is twisted to axis of the deployment tool 1134 far from service aisle, as illustrated in such as Figure 11 A.It is optional Ground, tool 1134 retract backward, until installation part 1140 is assemblied on the distal end of outer sleeve 1142, so that tool 1134 be supported On the outer surface of sleeve 1142.The configuration of installation part 1140 allow for tool 1134 to be supported on the outer surface of sleeve 1142 and The installation part on sleeve is not needed.The configuration of installation part 1140 allows various guiding pieces 1132 of the bracket 1130 by sleeve 1142 And/or branch stake tool 1134 is inserted into various orientations, such as illustrated in Figure 11 D.Optionally, tool 1134 remains connected to support Frame 1130, and tool 1134 is supported on the outside of conduit.Alternatively or additionally, in some embodiments, when tool is propped up At the outside of conduit, tool can be disconnected with bracket, connect and/or be reconnected for support.Optionally, tool 1134 can be from set The proximal end of cylinder 1142 is fetched and is redeployed, without removing sleeve 1142 from the target site of patient.For example, this can enable Tool 1134 can easily be relocated and observe or act on target to obtain better angle.Optionally, according to sleeve 1142 state can remove and/or relocate tool 1134.For example, when sleeve movement passes through narrow zone, Ke Yicong 1142 removing tool 1134 of sleeve in intimate position in order to navigating.Alternatively or additionally, tool 1134 can be moved to In the distal end of service aisle 1128.In the distal end of service aisle 1128, the video camera in tool 1134 can be used for helping to lead Conduit navigate without prominent from conduit and interference is moved.Optionally, when sleeve 1142 is when patient's body is held in place, Ke Yiyi Remove and/or replace tool 1134.For example, can be with the different visuals field and/or focal length and/or differently contoured and/or different spirits The alternative video camera of sensitivity replaces video camera.

Figure 11 C illustrates tool 1134 of the stabilization of embodiment according to the present invention on the outer surface of sleeve 1142.Example Such as, when tool 1134 is stablized on conduit, lens 546b is in except the cross section of conduit.Prominent from the distal openings of conduit Out and/or when being supported on outside conduit, the video camera of tool 1134 is observed without by conduit master (in a proximal direction) backward Body stops.

Figure 11 E illustrates the tool 1134 in the insertion intracavitary probe 1050 of embodiment according to the present invention, which is It is inserted by sleeve 1142.Optionally, intracavitary probe 1050 and/or outer sleeve 1142 may include steering mechanism 1152.

Assembling multi-section divides conduit

Figure 12 A- Figure 12 D illustrate the outer sleeve 1242 of embodiment according to the present invention around intracavitary probe 1250 and/or The positioning of steering mechanism 1252.Optionally, outer sleeve 1242 includes service aisle 1228 and multiple guiding pieces 1232.For example, work Making channel 1228 may include longitudinal opening 1244 (for example, see Figure 12 C).

In some embodiments, sleeve 1242 can be positioned on intracavitary probe 1250 slave 1250 proximal end of intracavitary probe to 1250 distal end place of intracavitary probe.For example, opening 1244 can be assembled around the installation part 1240 of steering mechanism 1252.It is optional Ground, orientation of 1240 fixes sleeve 1242 of installation part relative to intracavitary probe 1250.For example, intracavitary probe 1250 can be inserted into In subject's body, and then sleeve 1242 can be inserted into subject's body and/or be inserted on intracavitary probe 1250.Alternatively Ground or additionally, sleeve 1242 can be positioned on intracavitary probe 1250, and entire assembly can be inserted into subject's body and/or It is advanced to the intracorporal area-of-interest of subject.Alternatively or additionally, intracavitary probe 1250 can be inserted into subject, and And then sleeve 1242 can be inserted into subject's body and/or be inserted on intracavitary probe 1250, and then can will be whole A assembly is advanced to the intracorporal area-of-interest of subject.In some embodiments, inner cavity can be removed from sleeve 1242 Probe, and service aisle can be used for for tool and/or material being inserted into subject's body.

In some embodiments, sleeve can be positioned at the distal-to-proximal place of slave intracavitary probe on intracavitary probe. Optionally, after abutment sleeve, assembly can be inserted into subject's body.Alternatively or additionally, sleeve can be inserted In subject's body and/or intracavitary probe can be inserted into subject's body by sleeve.

In some embodiments, outer sleeve may include multichannel hose.For example, hose can be it is disposable and/ Or passively.It provides and/or uses as needed for example, hose can be used as roller 1254 in bulk, such as schemed in Figure 12 D Show.

The conduit integrally turned to

Figure 13 A- Figure 13 C illustrates the whole of embodiment according to the present invention and turns to conduit assembly.Optionally, sleeve 1342 include one or more service aisles 1328 and/or one or more guiding pieces 1332 and/or whole steering mechanism 1352. Optionally, guiding piece 1332 is connected to along its whole length with channel 1328.Optionally, channel 1328 includes along its whole length Longitudinal opening 1344.Optionally, guiding piece 1332 is in the form of the thin channel being distributed around service aisle 1328.Optionally, institute Have and/or some guiding pieces have proximal open 1359 and/or distal openings 1358.

In some embodiments, guiding piece 1332 can a part along its length be connected to channel 1328.Optionally, Service aisle 1328 may include the longitudinal opening of a part along its length.Optionally, service aisle 1328 is opened including distal side Mouth 1360 and/or proximal open 1361.

Closed multi-track outer sleeve

Figure 14 illustrates the sleeve 1442 with closing service aisle 1428 of embodiment according to the present invention.Close work Channel 1428 can be it is useful, such as when needing the trandfer fluid in service aisle, and/or when leading to area-of-interest Path include may when open channel is by its insertion contaminated and/or cross contamination fine structure and/or fine materials And/or when hazardous material.Optionally, service aisle can in proximate distal ends, such as 1mm to 1cm and/or 1cm to 10cm and/ Or there is longitudinal opening in the length of 10cm to 20cm.Optionally, service aisle can work in proximate distal ends, such as at 1 times Channel width is to the 20 of 10 times to 20 times of 10 times of service aisle width and/or service aisle width and/or service aisle width Times to having longitudinal opening in 100 times of length.Also illustrate guiding piece 1432 be connected to opening 1436.

Shared service aisle is for entrance and/or fluid conveying

Figure 15 A illustrates the service aisle 1528 for fluid conveying of at least one embodiment according to the present invention It uses.For example, directly fluid can be pumped into inner cavity by service aisle 1528 and/or aspirate 1586 fluids from inner cavity.It can Inner sleeve 1568 is inserted into service aisle 1528 to prevent fluid from leaking into connection opening 1544 by selection of land.It is alternatively or attached Add ground, pipe 1564 can be inserted by service aisle.Optionally, rinse fluid art is by the pumping 1588 of pipe 1564 into inner cavity.It is standby Selection of land or additionally, can be used pipe from inner cavity and pumps out fluid.It is alternatively possible to use bracket 1530 and/or guiding piece 1532 and/or installation part 1540 by pipe 1564 conveying by channel 1528 and/or control in the lumen.For example, bracket 1530 can To be slided along guiding piece 1532.Bracket 1530 can be connected to pipe 1564 by installation part 1540.For example, installation part 1540 can be with Across the connection opening 1536 1532 channels of guidance and service aisle 1528.Optionally, sleeve 1568 may include narrow Seam is to allow the connection between guiding piece 1532 and service aisle 1528.It in certain embodiments of the present invention, can be not One or more pipe and/or tool are conveyed through service aisle, deployment, controlled and/or fetched in the case where using guiding piece. Optionally, pipe 1564 extends distally beyond the opening in channel 1528.For example, the opening in the end of pipe 1564 and channel 1528 it Between distance can prevent the transfer that the fluid of pipe 1564 is left from channel 1528 by suction 1586.

In some embodiments, the fluid pumped out from inner cavity may include such as blood and/or mucus and/or excrement And/or fragment of tissue and/or calculus and/or misplaced object (such as the suture that leaves and/or place improperly shelf).Example Such as, it can be used when carrying out colonoscopy to the patient not prepared suitably (due to emergency and/or not exclusively preparation) It rinses and/or aspirates to clean region.Optionally, according to the invention, it is possible to use single conduit being scanned for intestines and/or Rinse and/or clean survey region (including 1586 excrement are for example aspirated by big service aisle 1528).Then, do not move, In the case where removing and/or replacing conduit (such as sleeve 642), tool can be introduced into inner cavity and be used for treatment procedure.It is optional Ground, when video camera (such as tool 534) retains in the lumen, the major part of the cross section of service aisle 1528 is (such as transversal The 30% to 50% of face and/or the 50% to 70% of cross section and/or cross section 70% to 100%) length in channel 1528 Degree major part (for example, the 30% to 50% of length and/or the 50% to 70% of length and/or length 70% to 100%) On can be used for various functions (such as trandfer fluid and/or fragment and/or tool).For example, tool 534 can be held in service aisle Inner cavity is continuously monitored when the various functions of row.Optionally, when sleeve 642 and/or tool 534 are held in place, various tools and/or Material can be moved into and/or be removed inner cavity by service aisle 1528.

Figure 15 B illustrates the alternative Washing spray nozzle 1566 of embodiment according to the present invention.Optionally, tubule 1564 connects To big nozzle 1566, for the object in clean inner cavity.Nozzle 1566 is attached to bracket 1530.For example, nozzle 1566 can be sufficient Enough most of cross sections greatly to block service aisle 1528.For example, pipe 1564 only blocks the sub-fraction of service aisle 1528 (for example, 5% to 25% and/or 25% to 50%).Optionally, during washing, distal openings of the nozzle far from channel 1528 It is supported on bracket 1530.During washing, channel 1528 is aspirated optionally for by fluid far from working region.Optionally, Big nozzle 1566 can be used for rinsing and/or washing object, while being mostly used in for channel 1528 pumps out fragment.Guiding channel Use

632 channel of guidance that Figure 16 A- Figure 16 C illustrates embodiment according to the present invention is used to execute the use of task.Example Such as, tool 1634 can be by guiding 632 channels to be transmitted to the intracorporal region of subject.Alternatively or additionally, guidance 632 is logical Road can be used for trandfer fluid.For example, pipe 1664 and/or nozzle 1666a can pass through 632 channels of guidance and/or sleeve 1668a, And/or nozzle 1666b can pass through 632 channels of guidance.For example, sleeve 1668a can block connection opening 636, such as To prevent fluid from leaking between service aisle 628 and guiding piece 632.Optionally, sleeve 1668a can have open transversal Face, only obstruction is connected to opening 636.Optionally, sleeve 1668b can be inserted in service aisle 628.For example, sleeve 1668b has Closed cross section.Alternatively or additionally, open transversal surface sleeve can be used for example to close longitudinal opening 644.Guidance 632 channels and/or service aisle 628 can be used for for example fluid being transmitted in subject's body and/or from subject's discharge stream Body and/or from subject's sucked material.Optionally, sleeve 1668b may include filter 1689 and/or grid, such as to prevent Only bulky grain and/or solid blockade channel 628.

Big object and/or the conveying for folding object

The service aisle with longitudinal slit that Figure 17 A- Figure 17 E illustrates embodiment according to the present invention is big for conveying The use of object.For example, sample and/or tool and/or container can be greater than the service aisle of conduit.Object can be along from longitudinal direction Be open the inner cavity transmission extended, completely and/or partly outside conduit.Optionally, foldable container can be used for accommodating greatly Object.

In some embodiments, dispose and/or fetch folded swatch bag 1770.Optionally, bag 1770 is mounted on bracket 1730 and/or installation part 1740 on.For example, bag 1770 can be transmitted in service aisle 628 and/or be disposed with folded state, Such as illustrated in Figure 17 A.Once deployment can open bag 1770, such as illustrated in Figure 17 B.

In some embodiments, installation part 1740 can be biased to opening configuration.Optionally, in service aisle 628 Interior, installation part 1740 is maintained at closed configuration by the wall in channel.When installation part 1740 extends distal openings, optionally bullet It opens, such as illustrated in Figure 17 B and Figure 17 C.Optionally, installation part 1740 and/or bag 1770 can be transmitted along service aisle And/or it is deployed in outside distal openings 660 by bracket 1730.Bracket 1730 can advance along guiding piece 632.

Figure 17 B and Figure 17 C illustrate the bag 1770 for being deployed to deployable state of embodiment according to the present invention.In deployment shape Under state, bracket 1730 can be used and optionally manipulate bag 1770.For example, torsion bracket 1730 makes the overturning of bag 1770 (for example, as schemed It is illustrated in 17C).Under deployable state, bag 1770 can be used for collecting the big polyp in sample, such as subject's enteron aisle.

Figure 17 D illustrate according to an illustrative embodiment of the invention by sample sack 1770 and/or polyp back to work Make in channel 628.Optionally, bag 1770 is squeezed into installation part 1740 back to service aisle 628, so that sealed bag 1770 is opened Mouthful.Extend the longitudinal opening 644 in channel 628 in the bottom of bag 1770.

Figure 17 D illustrate according to an illustrative embodiment of the invention along service aisle 628 transmit sample sack 1770 and/ Or big polyp (such as to fetch polyp).Bag 1770 is optionally transmitted along inner cavity and/or path.For example, can be by using Person transmits bag 1770 in the proximal retraction of bracket 1730 and/or pulling.For example, when sleeve 642 is located in relatively large inner cavity When the inner cavity of the cross section bigger than sleeve 742 (for example, with) (such as intestines), bag 1770 can be used for transmitting relatively large sample (such as the size of bag and/or sample can service aisle cross section size between its twice and/or in service aisle Between twice to five times of cross section), without damaging or destroying sample by pressure.When sample reaches stenosis (such as the inner cavity of inner cavity End, such as the anus and/or rectum of intestines) when, the sample optionally from guiding piece 632 and/or bracket 1730 and/or installation Part 1740 separates and/or is transmitted and/or allow to leave service aisle 628.For example, can be by bag 1770 from channel 628 Longitudinal opening 644 in extract out.Then sleeve 642 and/or bag 1770 can independently be fetched.For example, can with tool (such as Tweezers) fetch bag 1770.

Use the method for big tool

Figure 18 illustrates the method that big tool is used in subject's body of embodiment according to the present invention.For example, big work Has the position that will be used in patient bore.The position can be entered with passage path.For example, access path may include path compared with Narrow position.This method, which optionally includes, to be inserted a tool by stenosis, and/or expansion tool, and/or along path by tool It is transmitted to the position, and/or uses tool, and/or returns to tool.For example, tool may include sample collection bag.For example, interior Chamber may include large intestine.For example, stenosis can be in the opening of inner cavity, such as anus and/or rectum.

It in some embodiments, can be tested by tool introducing 1803 by leading to the stenosis of the access path of inner cavity In person's body.Optionally, when crossing stenosis introducing 1803, tool can be at folded state.Alternatively or additionally, can make 1,803 first tools are introduced with the second tool, it is, for example, possible to use tweezers to introduce big tool by anus and/or rectum.

In some embodiments, big tool will be transmitted 1809 along the access path for leading to inner cavity.It is, for example, possible to use Tool transmission 1809 is arrived inner cavity by guiding piece.Optionally, tool can be transmitted 1809 with folded state and/or in arrival portion It is unfolded 1872 when affixing one's name to position.Alternatively or additionally, tool can by stenosis introduce 1803 after expansion 1872 and/ Or 1809 can be transmitted in the deployed state.

In some embodiments, tool will utilize 1816 at position.For example, sample can be put into sample sack. When at the position, it is, for example, possible to use guiding pieces for example as described herein and/or bracket and/or installation part to control work Tool.

In some embodiments, tool can return to 1814 to access path.It is alternatively possible to return 1814 and/ Or 1876 tools are folded before fetching 1819.Alternatively, tool can return to 1814 in the deployed state.For example, tool can be It is transmitted under folding and/or unfolded state along access path.It is alternatively possible to fetch 1819 tools from subject.

The state of foldable tool

Figure 19 is the foldable tool of embodiment according to the present invention, such as sample sack, state diagram.Optionally, tool can With folded state 1976 and/or unfolded state 1972 and/or active state 1974.

In some embodiments, tool can under folded state 1976 by the insertion of the stenosis of access path and/ Or it fetches.Alternatively or additionally, tool can be inserted into and/or fetch under unfolded state 1972.Optionally, using extraction work Tool, such as tweezers, are inserted into or fetch foldable tool.

In some embodiments, foldable tool can be transmitted and/or be deployed to the region of interest in body.Transmission And/or deployment can be carried out optionally under unfolded state 1972.Alternatively or additionally, transmission and/or deployment can roll over Overlapping state 1976 is lower to carry out.

In some embodiments, tool can use at the interested position under active state 1974 (for example, right In sample sack, active state may include turn on state, and wherein object can be placed in bag).

In some embodiments, tool is transmitted back to access path and/or along the path.For example, returning and/or passing Sending can carry out under unfolded state 1972.

In some embodiments, foldable tool may return to access path and/or transfer without use along path Guiding piece.In some embodiments, the tool greater than the cross-sectional area of service aisle may return to service aisle and/or edge Service aisle with longitudinal opening and/or slit is transferred without using guiding piece.

Multi-track conduit

Figure 20 A is the axial horizontal of the service aisle 2028 with rail guide and tool of embodiment according to the present invention Section.The guiding piece 2032a-c of service aisle 2028 can for example including one be longitudinally travelled along the inside of sleeve 2042 or Multiple tracks.Alternatively or additionally, the guiding piece 2032d of service aisle 2028 can be for example including along the outside of sleeve 2042 The one or more tracks being longitudinally travelled.

In some embodiments, tool 2034 may be coupled to installation part 2040 and/or one or more brackets 2030a, 2030b.For example, bracket 2030a, 2030b may include slipper bracket 2030a.Installation part 2030a can for example draw on edge Guiding element 2032a is slided and/or along 2028 means of transportation 2034 of service aisle.When bracket 2030a is located at the distal end of guiding piece 2032a When, installation part 2040 and/or tool 2034 can optionally extend service aisle 2028 (for example, in the cross section of such as Figure 20 B It is illustrated).Optionally, installation part 2040 is supported on hinge.For example, making when tool 2034 is along stretching service aisle 2028 User reverses bracket 2030b so that tool 2034 moves away from the axis in channel 2028.

In some embodiments, it is more than 50% that tool 2034, which can fill the cross section of service aisle 2028,.It is optional Second tool can be introduced the subsequent channel 2028 of tool 2034 by ground.For example, when tool 2034 is moved far from the axis in channel 2028 It, can be by the opening of the second tool slide aperture when dynamic.

Outer guide

Figure 21 illustrates the schematic cross section of the intracavitary probe 2142 with outer guide 2132a and 2132b.Outside Portion guiding piece 2132a optionally includes track.Guiding piece 2132b optionally includes channel.Optionally, guiding piece 2132b has Longitudinal slit 2136.Slit 2136 is optionally connected to the external of intracavitary probe 2142.For example, slit 2136 can with lead to hand The connection of the access path of art position and/or living organism inner cavity.For example, interior with outer guide 2132a and/or 2132b Portion's probe 2142 can be placed in the inner cavity of living organism.For example, the inner cavity with outer guide 2132a and/or 2132b Probe 2142 can be placed along the access path for leading to therapentic part.Tool (such as tool 534 and/or pipe 1564 and/or tool 934a and/or tool 2034) may be coupled to guiding piece 2132a and/or 2132b (such as by bracket (such as bracket 530 and/ Or 2030a, 2030b) and/or installation part (such as installation part 540 and/or installation part 040)).Guiding piece 2132a can be used And/or tool is transmitted to therapentic part and/or controls tool in therapentic part by 2132b.Optionally, intracavitary probe may include One or more guiding pieces in single guiding piece, and/or one or more different types of guiding pieces.

Outer guide in service aisle

Figure 22 illustrates the inner probe 2142 of embodiment according to the present invention, has and passes through larger inner probe 2242 Service aisle 2228 be inserted into outer guide 2132a, 2132b.For example, outer guide 2132a, 2132b can be used for Pass through 2228 means of transportation of service aisle and/or material.Optionally, bracket 2230 can be by the guidance of larger intracavitary probe 2242 Part 2232 is connected to the guiding piece 2132b of intracavitary probe 2142.Alternatively or additionally, external intracavitary probe can be and not have The plain coduit of guiding piece, and can will have the intracavitary probe insertion of outer guide (such as intracavitary probe 2142) internal And for transmitting multiple tools and/or material by biggish conduit.

By tool support on multiple brackets

Figure 23 illustrates the tool for being connected to multiple brackets 2330 and/or guiding piece 1432 of embodiment according to the present invention 2334.For example, tool 2334 can be transmitted by channel 1428 and/or be supported in the lumen by multiple brackets 2330.By multiple The extra support that bracket provides can be used for such as Heavy-duty Tools and/or need the tool of additional stabilization.In some embodiments In, tool can transport through at least part of service aisle by single guiding piece and/or bracket, and be subsequently connected to Another guiding piece and/or bracket are to be disposed.Alternatively or additionally, tool can be transmitted during deployment by multiple brackets And/or it is disconnected with one or more brackets.

Circular guide track

Figure 24 A, Figure 24 B illustrate 2432 track of circular guide of embodiment according to the present invention.For example, sleeve 2442 2432 track of guiding piece being distributed including the inner circumferential around service aisle 2428.Alternatively or additionally, intracavitary probe can wrap Include circular guide track on the outer surface.

Figure 24 B illustrates four tools 2434 for being connected to 2432 track of guiding piece of embodiment according to the present invention.It can Selection of land, sleeve 2442 can be Unitarily molded with 2432 track of guiding piece and/or track can be attached to sleeve.Optionally, Intracavitary probe with outer guide channel (for example, illustrated conduit in Figure 21) may be coupled to guiding piece 2432, such as For transmitting intracavitary probe by sleeve 2442.For example, the single guiding piece 2432 in catheter interior and/or outside can connect The intracavitary probe of Figure 21 is connected to increase the number and/or type that can use guiding piece.Optionally, sleeve 2442 can be passive set Cylinder.Alternatively or additionally, sleeve 2442 may include whole steering mechanism.In some embodiments, there is circuit orbit Sleeve may include the service aisle with longitudinal opening.

T shape guiding piece slot

Figure 25 shows the T-slot guiding piece 2532 of embodiment according to the present invention.Optionally, T-slot guiding piece 2532 are connected to by slit 2536 with the service aisle 2528 of sleeve 2542.Optionally, slit 2536 can be only along guiding piece 2532 whole length is open.Alternatively or additionally, slit 2536 can be only open along 2532 a part of guiding piece.T shape is drawn Guiding element 2532 can be such that tool stablizes to prevent spin-ended turn.In some embodiments, single sleeve can sleeve inside and/or There are a plurality of types of guiding pieces on outside.

The application of Multifunctional catheter

Figure 26 A- Figure 26 C is the perspective of the conduit for removing growth-gen (such as polyp) of embodiment according to the present invention Figure.In this example, health status is detected using various tools over time and/or is intervened by treatment.

Figure 26 A illustrates the Multifunctional catheter in search pattern according to certain embodiments of the present invention.For example, searching Rope mode can be used for detecting the disease in inner cavity 2656 (such as intestines).Optionally, video camera tool 534 is mounted on catheter hub On 642.Tool 534 deviates the axis installation of conduit, wherein visual field 2694a towards catheter distal (eyes front) and visual field 2694b to After see (from distal end of catheter phase nearside).In some embodiments, sleeve 642 can be inserted into inner cavity with the configuration of Figure 26 A.It can Selection of land, when conduit is inserted into inner cavity, video camera can be used for searching for symptom.Alternatively or additionally, tool 534 can be same with conduit Axis positions (for example, as illustrated in figure 6 c), to reduce the profile of conduit.Alternatively or additionally, when conduit is inserted into, work Tool 534 can be located in the distal end of service aisle forward-facing (towards except channel distal end).It is alternatively possible to first by seal wire And/or video camera is put into inner cavity 2656, and sleeve 642 can be then inserted on seal wire.

In some embodiments, tool 534 is located in outside the axis of conduit (for example, such as Fig. 6 F, Figure 11 B and/or figure Described in 26A- Figure 26 C) it can be used for finding symptom in inner cavity.For example, the video camera that can be checked in two directions can To allow to search for inner cavity while being inserted into conduit and/or removing conduit.With visual field 2694a, the video camera of 2694b can be permitted Perhaps observe object two sides (for example, when video camera is close to object, observe object from side with visual field 2694a, one of 2694b, And/or after conduit is by the object, the another of the object can be observed with visual field 2694b, the other of 2694a Side).For example, can insert the catheter into more than area-of-interest and draw back while searching for situation in need for the treatment of.Tool 534 The long-focus video camera for looking behind and/or seeing (such as visual field 2694b) by nearside can be optionally included.Backward visual field 2694b It can be used for finding suspicious object.Optionally, forward vision 2994a can be used for finding the suspicious object from opposite side.According to different The position of normal structure, barrier etc. may be easier to find object from side.Additionally or alternatively, trail the visual field (such as when Forward vision 2994a when being scanned for while removing conduit and/or with rear to view when conduit insertion scans for Wild 2994b) there can be smaller focal length than the leading visual field and/or can be used for probing into nearly and/or during intervention Object.

In some embodiments, when the distal end of conduit in the visual field 2694b towards rear by being previously found When suspicious object, forward vision 2694a can be used for probing into the suspicious object and/or for instructing the intervention for the object.It can Selection of land, the video camera for probing into object and/or guidance is intervened can have coke more smaller than video camera for finding object Away from and/or the narrower visual field.Alternatively or additionally, once discovery suspicious object, can dispose other sensors for object Body is diagnosed.For example, other sensors may include the video camera (such as spectrum analysis) with special frequency band sensitivity, And/or video camera and/or temperature sensor with higher resolution and/or more short focus and/or chemical sensor etc..? The original camera of conduit and/or tool 534 keep deployment while can optionally carry out other sensors deployment (because This, when disposing new sensor by object keep within view and avoid losing with object contact).

Figure 26 B illustrates the conduit in treatment mode according to certain embodiments of the present invention.Optionally, work as discovery When situation in need for the treatment of, conduit is switched to treatment mode from search pattern.Conduit can have a variety of search and/or treatment Mode, the mode can select during medical surgery and/or in the case where not removing conduit from patient.Optionally, For change pattern, it is maintained in inner cavity and/or therapentic part in the distal end of conduit and/or sensor is (for example, in tool 534 In sensor) introduce and/or remove while keep to the tracking of object and/or replacement tool.In the exemplary reality of Figure 26 B It applies in mode, disposes tweezers (such as tool 734a) and cutter (such as tool 2634) is intervened.

Figure 26 C illustrates the exemplary intervention of embodiment according to the present invention.For example, can be caught with tweezers tool 734a Polyp 2690 and/or with cutter 2634 cut off polyp 2690.Optionally using guiding piece (such as 632) and/or bracket (such as 530) tool 2634 and/or 734a are controlled to execute operation.It is alternatively possible to dispose and/or using sample sack (such as bag 1770) polyp 2690 is fetched.When necessary, tool can be fetched and redeployed in different guiding pieces, to improve to controlling Treat the entrance at position.In some embodiments, it can be held in place in conduit and deployment while tracking suspicious object Others diagnose and/or treat tool.After the procedure is completed, tool 734a and/or 2634 is optionally fetched, and/or Optionally deployment new tool for other to perform the operation, and/or restarts search pattern.Optionally, in the remote of sleeve 642 Execution is fetched when end is retained in inner cavity and/or operative site and/or tool is disposed and/or mode changes.Optionally, it is performing the operation Later, restore the search to suspicious object.Optionally, when identifying and/or being diagnosed to be other objects, it can be used and optionally protect Same conduit in the lumen is stayed to dispose other treatment tools and/or probe into tool and/or diagnostic tool.

Reinforcing ring

Figure 27 A, Figure 27 B illustrate the reinforcer of embodiment according to the present invention.Optionally, conduit and/or sleeve (such as Sleeve 2742) it may include structure (such as ring 2792).When conduit is coiled in inner cavity, which can for example keep work The geometry of channel 2728 and/or guiding channel 2732.For example, reinforcer guiding channel 2728 can be kept open and/or It keeps longitudinal opening 2744 open and/or keeps guiding channel 2732 open.

Viewing tool

Figure 28 illustrate embodiment according to the present invention for sensing and/or other options of viewing tool.Some , can be with deployment tool 2834a in embodiment, 2834b is under all angles and/or under various frequency bands and/or synergistically It senses, diagnose, illuminating and/or object observing.For example, can cooperate with using having an overlapped view 2894a, two of 2894b at As sensor is to generate stereoscopic vision.Alternatively or additionally, it can be inserted, manipulate, fetch and/or reinsert single sensing Device is with from each viewing point object.It is alternatively possible to be realized using guiding piece 1432 and/or bracket 2830 to tool The control of 2834a, 2834b.It alternatively or additionally, can be in conduit and/or other tools and/or other sensors after reforwarding Different sensors is disposed, fetches and/or redeployed when row for the different task in inner cavity.In some embodiments, It can be during treating operation from the multiple sensors of catheter deployment, such as allow to perform the operation from multiple angles.

Forward direction deployment tool

Figure 29 A illustrates forward direction deployment tool 2934a according to certain embodiments of the present invention.In some embodiments In, tool 2934a and/or sensor can be deployed in and locate before distal end of catheter.For example, observation sensor and/or camera shooting Machine can be deployed on the bracket 2930 located before conduit and/or sleeve 642 and/or endoscope.Optionally, in search disease When structure changes and/or symptom, forward direction deployment can provide improved visual angle.Alternatively or additionally, forward direction deployment can be in order to From opposite side object and/or operation (for example, the sensor tool 2934b disposed near conduit can observe operation and/ Or the video camera tool 2934a of nearside (for example, object 2990 in the 2994a of the visual field) and/or the forward direction deployment of object The distal side (for example, object 2990 in the 2994b of the visual field) of operation and/or object can be observed).Alternatively or additionally, relatively The visual field can be provided by single sensor in different positions and time.For example, sensor can be moved to different location and Conduit is not moved and/or does not interrupt operation.It optionally, can be in the opposite side of object when executing treatment and/or diagnosis operation The one or more tools of upper deployment and/or video camera.Optionally, overlapping the visual field (such as forward vision 2994c and 2994a or The backward visual field 2994b and 2994d) it can be used for binocular vision and/or for feature and wide-angle lens and/or for different bands View (for detecting and/or identifying and/or diagnosing various objects and/or structure).

Figure 29 B, Figure 29 C illustrate the tool with protective cover 2996 of embodiment according to the present invention.It optionally, is work Have 2934a and protective cover 2996 is provided.For example, shield 2996 can protect internal chamber wall from the damage of tool.For example, shield can be with Including cushion, sacculus and/or big blunt surface.Optionally, shield 2996 can be distensible.For example, tool 2934a can To be transferred into and out inner cavity by service aisle 628.When tool 2934a passes through channel 628, shield 2996 optional can be located in In contraction state.When tool 2934a is disposed in the lumen, shield 2996 can optionally be expanded.For example, working as tool 2934a When (for example, as illustrated in Figure 29 B) be deployed in the front of sleeve 642, shield 2996 can protect intestinal wall not by tool 2934a It pierces through.Alternatively or additionally, when tool 2934a is supported on the outer surface of sleeve 642 (for example, as schemed in Figure 29 C Show), shield 2996 can protect intestinal wall from being scraped by tool 2934a.Alternatively or additionally, cushion and/or shield can To protect frangible tool.Optionally, shield 2996 can be expanded and/or be shunk by inflating and/or deflating.

Outer guide

Figure 30 A- Figure 30 G illustrates the conduit with outer guide of embodiment according to the present invention.Optionally, external Guiding piece can be connected to the outer surface of conduit.For example, outer guide channel may include narrow with the longitudinal direction being connected to outside conduit Seam.For example, outer guide can be used for transmitting big load into inner cavity and/or big load sent out inner cavity.For example, big Load may include tool and/or sample and/or combination thereof, is greater than the service aisle of conduit and/or does not fit through Service aisle.It outer guide can be used is transmitted to tool and/or sensor and led along the position of catheter path without moving Pipe itself.For example, tool or sensor can if conduit is entangled firm and/or caught and/or blocked and/or reversed and/or twisted together To be moved to problem location.Outer guide can optionally be used as urgent conduit, so as to for example in the service aisle quilt of conduit From inner cavity removing tool when obstruction.Alternatively or additionally, outer guide can be used for guiding catheter.For example, first seal wire etc. It can be positioned in inner cavity and for externally guiding piece by conduit and/or sleeve steering to operative site.Alternatively or additionally Ground, outer guide can be used for for the second conduit being transmitted to the position of the first conduit.

In some embodiments, conduit may include various guiding pieces.For example, sleeve 3042 includes two exterior guidings Part 3032a and 3032c, the guiding piece include longitudinal the slit 3036a, 3036c being connected to the outer surface of conduit.It is alternatively or attached Add ground, conduit may include inner guide 3032b, 3032d, 3032e, can be connected to (example with the service aisle 3028 of conduit Such as it is connected to by longitudinal direction slit 3036e) and/or can completely and/or partly be closed.Optionally, the service aisle of sleeve 3042 3028 include longitudinal slit 3044.Alternatively or additionally, conduit may include that outer guide and/or closed work are logical Road.

Figure 30 B- Figure 30 E illustrates the use outer guide 3032a and/or bracket 3030 of embodiment according to the present invention Folded swatch bag 3034 deployment.For example, bag 3034 can be transmitted to operative site (for example, as schemed in a folded configuration It is illustrated in 30A- Figure 30 E).Bag 3034 can optionally be deployed to opening state and/or once dispose turn on (for example, such as It is illustrated in Figure 30 D, Figure 30 E).Bag 3034 optionally rotates 2998 to required orientation.

In some embodiments, shield 3096 can be attached to the conduit near external orbital.Optionally, optional shield Cover 3096 can be can collapse and/or it is inflatable.Alternatively or additionally, shield can be attached to tool, such as bag 3034 and/or bag 3034 Support bracket 3030.

What Figure 30 F illustrated embodiment according to the present invention fetches the sample with large sample using outer guide 3032a Product bag 3034.For example, can be along the external retrieval large sample of conduit.

Figure 30 G illustrates the optional shield 3096 of embodiment according to the present invention.For example, bag 3034 can be in contraction Inner cavity is inserted by narrow entrance under the folding of state and/or non-shielding status (for example, with shield 3096) (such as to pass through Lead to the anus and/or rectum of colon).Once shield 3096 can be expanded in inner cavity (such as colon).Optionally, it is protecting In the case that cover 3096 is in expansion state (such as protecting the colon wall not scraping of bedding bag 3034), by bag 3034 with folded state edge Outer guide 3032a is transmitted to operative site.Optionally, bag 3034 surgical site dispose and/or open and/or with it is big Sample is returned along the outside of sleeve 3042 together.

Alternative cross section

Figure 31 A- Figure 31 F illustrate according to certain embodiments of the present invention for service aisle and/or interface channel It is various can arrangement.In spirit of the invention, conduit may include and/or not include one or more service aisles, interior Portion's guiding piece (such as being connected to one or more service aisles), outer guide (such as being connected to the outer surface of conduit) and/ Or closed guiding piece.Optionally, service aisle may include longitudinal opening and/or can be closed.Interface channel Two channels (such as service aisle and/or guiding channel) can be interconnected and/or channel can be connected to conduit Outer surface.

Figure 31 A illustrate according to certain embodiments of the present invention have longitudinal opening and the not work of guiding channel Channel 3128a.

Figure 31 B, which illustrates eccentric closing service aisle 3128b according to certain embodiments of the present invention and/or closes, to be drawn Pathway 3132a, 3132b.

Figure 31 C illustrates eccentric closing service aisle 3128c according to certain embodiments of the present invention and/or inside is drawn Pathway 3132c and/or outer guide channel 3132d and/or closing guiding channel 3132e.

Figure 31 D illustrates the geometry of interconnecting channel according to certain embodiments of the present invention.For example, two or more Multiple service aisle 3128d, 3128c, 3128f can be by individually connecting guiding channel 3132f interconnection.It is alternatively possible to make Tool is transmitted in inner cavity by one in service aisle 3128d-f with along the bracket that guiding channel 3132f advances.It is optional Ground, tool can be deployed in the inner cavity of distal end of catheter.Optionally, once intracavitary inside, bracket can be twisted (for example, class It is similar to the torsion deployment of bracket 530 and tool 534 between Fig. 6 D and Fig. 6 E).For example, can by the 3128d-f of channel not Tool is fetched with channel.For example, the sample sack folded can be inserted by channel 3128e, and by channel 3128d and greatly Sample is fetched from the inner cavity that it is inserted into together, projects through to the channel part guiding channel 3132f (for example, similar In bag 1770 from the mode outstanding of opening 644 in Figure 17 E).In some embodiments, do not have when in guiding channel 3132f When bracket, channel 3128d-f can be connected to by guiding channel 3132f.Optionally, bracket can have sufficiently large cross section With filling channel 3132f.When in big bracket insertion guiding channel 3132f, it can optionally be cut off between the 3128d-f of channel Connection.Alternatively or additionally, bracket can have geometry, which to be inserted into guiding channel when bracket It can be at least connected to over a part of its length between some or all of channels when in 3132f in the 3128d-f of channel.

In some embodiments, service aisle 3128d can be connected to the outer of conduit by connecting guiding channel 3132g Surface.Optionally, when not having bracket to be inserted into guiding channel 3132g, then there is service aisle 3128d longitudinal slit (such as to draw Pathway 3132g).Optionally, when bracket is inserted into guiding channel 3132g, service aisle 3128d is along its overall length and/or part The external discrete of length and conduit.Alternatively or additionally, bracket can have geometry, which to insert when bracket It can be at least connected to over a part of its length between channel 3128d and conduit outside when entering in guiding channel 3132g.

In some embodiments, service aisle (such as channel 3128d, 3128f) may be coupled to one or more connect It connects guiding channel (such as guiding channel 3132f, 3132g) and/or is connected to one or more secret guiding channels (such as channel 3132i, 3132h), which is not attached to another channel and/or inner cavity.

Figure 31 E illustrates the conduit cross section of embodiment according to the present invention, big with opening to catheter outer surface The channel service aisle 3128g and/or longitudinally connected guiding channel 3132j and/or four secret guiding channel 3132k-3132n. For example, sleeve 3142 can be functionally equivalent to sleeve 1142 when not having bracket in guiding channel 3132j.For example, working as There are when bracket in guiding channel 3132j, sleeve 3142 can be functionally equivalent to sleeve 1442.

In some embodiments, connection guiding channel can have non-circular cross sections.For example, being illustrated in Figure 31 F The T shape for connecting service aisle 3128i and 3128h connects guiding channel 3132o.

Distal side finger-shaped material

Figure 32 A- Figure 32 C illustrates the intracavitary probe (example with distal side finger-shaped material 3282 of embodiment according to the present invention Such as sleeve 3242).Optionally, finger-shaped material 3282 can be directed toward independently of the distal end of sleeve.For example, in Figure 32 A, shown in refer to Shape object 3282 is directed inwardly toward, and for example in Figure 32 B, shown in finger-shaped material 3282 from service aisle 3228 and/or conduit and/or The axis of intracavitary probe is outwardly.In some embodiments, each finger-shaped material 3282 can be and can independently be directed toward.Some In embodiment, all or some finger-shaped materials can by it is synchronous and/or simultaneously in a manner of be directed toward.For finger-shaped material, can wrap Include guiding piece and/or channel.By guiding finger-shaped material, operator can optionally be guided in multiple channels of distal end of catheter.It can Independently and/or in a synchronous manner to guide finger-shaped material and/or channel.

In some embodiments, the distal end of sleeve 3242 can be surrounded by finger-shaped material 3282.In some embodiments, Being surrounded sleeve with finger-shaped material 3282 and/or being directed inwardly toward finger-shaped material 3282 can make it easier to manipulate sleeve in the lumen 3242.Finger-shaped material 3282 be directed toward in a synchronous manner can it is for example stable and/or guidance be located at service aisle 3228 in tool The distal end of 3234a.Finger-shaped material 3282 is directed toward in a synchronous manner can for example peomote 3242 distal end of sleeve in the lumen Steering.The movement of finger-shaped material 3282 can be unlocked from entanglement convenient for sleeve 3242 and/or related tool.

The use finger-shaped material 3282 and/or bracket 3230 that Figure 32 C illustrates embodiment according to the present invention manipulate in inner cavity Tool 3234b.In some embodiments, finger-shaped material 3282 may include guiding piece 3232.For example, guiding piece 3232 can be with Finger-like region 3283 is extended to from the main region 3243 of sleeve 3242.Optionally, bracket 3230 is along guiding piece 3232 from sleeve 3242 proximal end advances to the distal end of finger-shaped material 3282, and/or passes through from the proximal end of sleeve 3242 to the distal end of finger-shaped material 3282 Guiding piece 3232.Optionally, the tool 3234b being mounted on bracket 3230 by be directed toward finger-shaped material 3282 be pointed to and/or Guidance is in the lumen.

In some embodiments, intracavitary probe can have one or several finger-shaped materials, the different finger-like on single sleeve Object can have different geometries, and/or single finger-shaped material may include multiple guiding pieces.Optionally, in finger-shaped material Guiding piece can be continuous with the guiding piece in the main region of conduit.Alternatively or additionally, the guiding piece in finger-shaped material can It is separated with the guiding piece in the main region with conduit.In some embodiments, guiding piece can be on the inner surface of finger-shaped material. In some embodiments, guiding piece can be located on the surface between two finger-shaped materials.In some embodiments, guiding piece can On the outer surface of finger-shaped material.Optionally, the intracavitary probe of service aisle not may include finger-shaped material.Optionally, finger-like Object may include one or more guide tracks.In some embodiments, finger-shaped material can be used for material (such as fluid) It is directed to the intracorporal position of living organism.For example, fluid can reach finger-shaped material by channel in catheter main body and/or pipe.Example Such as, fluid can be opened by the distal end in channel and/or pipe arrival finger-shaped material in finger-shaped material and/or from the distal side of finger-shaped material Mouth leaves and/or reaches position.

Finger-shaped material control mechanism

Figure 33 is the exploded view of the sleeve 3342 including single distal side finger-shaped material 3382 of embodiment according to the present invention.It can Selection of land, pulley and/or cable 3384 can control the movement of finger-shaped material 3382.For example, cable 3384 can be passed along sleeve 3342 It is delivered to distal openings.The user of the proximal end of sleeve 3342 can control the tension on cable 3384 so that finger-shaped material 3382 refers to To one or the other direction.

In some embodiments, guiding piece 3332a can be extended to finger-shaped material from the main region 3343 of sleeve 3342 3382 distal end.Alternatively or additionally, guiding piece 3332b can be terminated in the end of the main region 3343 of sleeve 3342. In some embodiments, the guiding piece 3332a of finger-shaped material can be logical with the work of conduit in its overall length and/or partial-length Road 3328 is connected to.For example, finger-shaped material can be connected in finger region 3383 with service aisle 3328.For example, guiding piece can To include connection slit 3336.Alternatively or additionally, the guiding piece on finger-shaped material and/or guiding piece it is a part of can with it is interior The outer surface and/or guiding channel connection of chamber and/or conduit.

Fill the finger-shaped material of slit

Figure 34 illustrates the finger-shaped material 3482 of embodiment according to the present invention, cooperates narrow in the distal end of endoscope 3442 Seam 3444.For example, the distal end of endoscope 3442 and/or service aisle 3428 may include slit 3444 and/or longitudinal opening, one A or multiple finger-shaped materials are located in longitudinal opening.For example, user can make finger-shaped material 3482 outwardly to open slit or make Finger-shaped material 3482 is directed inwardly toward with closed slits.Alternatively or additionally, finger-shaped material can be opened and/or be closed from different directions Slit and/or slit can be bigger than finger-shaped material.Alternatively or additionally, finger-shaped material can be assembled in recess.

The frame of conduit

Figure 35 A- Figure 35 D illustrates the frame of conduit according to certain embodiments of the present invention.In some embodiments In, frame may include the backbone being directed toward along an edge of conduit.Backbone can be made of connector and/or spacer.Frame Element can be used as the rib for being connected to spinal spacer and/or connector.For example, spacer can limit in spacer regions The distance between element.The element of frame can keep the shape (such as preventing channel collapse) of catheter channel.Optionally, frame Backbone can take up the region along the single edge of conduit.The cross section of limitation backbone is considered that along conduit cross section The various positions in channel.Channel can communicate with each other and/or be connected to the external of conduit.For example, longitudinal slit can be by one Channel is connected to another channel and/or channel is connected to the outside of conduit.

What Figure 35 A illustrated embodiment according to the present invention includes having the side of the conduit 3542 of the frame of single backbone saturating View.In some embodiments, the backbone of frame can be by the serial spacer 3583a-h that is connected by connector 3580a-d It constitutes.Element 3582b-e is alternatively coupled to spacer 3583a-h and/or connector 3580a-d.

In some embodiments, connector 3580a-d may include the hinge towards variation.It can be by by vertical orientation The combination of connector and horizontal orientation connector is bent and is bent the series of elements in any direction.For example, connector can be with alternately Mode orientation.For example, being orientated around the curved connector 3580b of Horizontal-shaft vertical between such as spacer 3583e and spacer Between 3583d.The connector 3580a around vertical axis horizontal curvature is orientated between such as spacer 3583b and spacer 3583c Between.Alternatively or additionally, some connectors can be bent (such as to the right) and other connectors in phase negative side in one direction Be bent upwards (such as to the left).Optionally, end (such as the spacer of conduit is made by crooked joint 1480b and/or 3580d 3583a) raise.Optionally, turn round the end (such as 3583a) of conduit to the right by crooked joint 1480a and/or 3580c Turn.Alternatively or additionally, connector may include ball-and-socket joint and/or flexible material and/or other connectors.Optionally, conduit Length and/or element 3582b-e between interval can be fixed by backbone.For example, can be by surrounding element 3582b-e Epispinal axis rotates the bending to realize conduit.For example, the distance between element 3582b-e in spine regions optionally by Spacer limits.Optionally adjusted according to the steering of conduit the element 3582b-e that is in area or not spine regions it Between distance.It is bent downwardly for example, lower part steering cable is pulled to may cause conduit.Reduce for example, lower part is pulled to turn to cable The distance between the element of conduit bottom, while the distance between element at the top of conduit (is located at conduit by the spacer of backbone Center top) keep.For example, it is bending to the right to pull right turn cable to can lead to conduit.For example, right turn cable is pulled to reduce The distance between element on the right side of conduit, at the same the distance between element at catheter center by the spacer of backbone (positioned at leading The center top of pipe) it keeps.

Optionally, frame can run through the whole length of conduit.For example, frame can prevent channel collapse, prevent from reversing And/or limitation is along the rotation of entire conduit.Alternatively or additionally, frame can be only located at the proximate distal ends of conduit.For example, frame Frame can be located in the distal region of following length: less than length of the half of conduit, and/or less than 1/8 length of conduit, And/or 1/16 length less than conduit, and/or less than 1/32 length of conduit, and/or less than 1/64 length of conduit Degree.For example, the length of the frame area of conduit be smaller than 2cm and/or be less than 4cm and/or be less than 8cm and/or be less than 37cm and/ Or it is less than 32cm and/or is less than 64cm.

In some embodiments, frame can assist the steering of endoscope.Alternatively or additionally, such as when along inner cavity When manipulating endoscope, frame can prevent channel collapse, prevent from reversing and/or limit along the whole of endoscope and/or partial Rotation.The manipulation of endoscope can for example and/or by steering cable and/or for example, by actuator as described below pass through Any mode known in the art carries out.

Figure 35 B illustrates the cross-sectional view of the frame of the conduit of embodiment according to the present invention.In some embodiments, The backbone of frame can advance along an edge of conduit.For example, backbone is made of connector 3580a-d in Figure 35 A- Figure 35 C, These connectors are advanced along top (back side) edge of conduit.Optionally, backbone can be contained in continuous elevated regions 3598, The continuous elevated regions include be, for example, less than conduit cross section product 1/10.Alternatively or additionally, backbone can be contained in 1/64 less than conduit cross section product and/or 1/50 less than conduit cross section product and/or long-pending less than conduit cross section 1/36 And/or less than the 1/25 of conduit cross section product and/or long-pending less than conduit cross section 1/16 and/or less than conduit cross section product 1/9 and/or less than conduit cross section product 1/4 region in.

In some embodiments, the cross section of conduit includes service aisle 3528.Optionally, service aisle may include With the longitudinal slit 3536 being connected to outside conduit.Alternatively or additionally, service aisle can by the second slit 3536 ' with compared with Small guiding channel 3532a connection.

Figure 35 C illustrates conduit frame, and wherein insertion piece 3584a-d is limited between element 3582a-e.Example Such as, insertion piece 3584a restriction element 3582a downward torsion (for example, when element 3582a is reversed downwards, insertion piece 3584a Between element 3582a and the bottom of element 3582b, so that connector 3580e be prevented to be bent too far).For example, insertion piece (for example, when element 3582b is reversed to the right, insertion piece 3584a is between element for the lateral twisting of 3584b restriction element 3582a Between 3582b and the right side of element 3582c, so that connector 3580a be prevented to be bent too far).The minimum curvature of guiding-tube bend half Diameter depends on the size ratio of frame part.For example, for connector 3580a length than element 3582a, element 3582b and insertion When the width (along the length of conduit) of part 3584a is longer, connector will more greatly rotate.

Figure 35 D illustrates the alternative cross section of the conduit with frame of embodiment according to the present invention.In the reality of Figure 35 D It applies in mode, frame has the backbone advanced at the top of the conduit including connector 3580e.It is logical that cross section optionally includes big work Road 3528 ' and multiple smaller guiding channel 3532b-f.For example, guiding channel 3532d have with conduit outside be connected to and also with Longitudinal slit that service aisle 3528 ' is connected to.For example, guiding channel 3532e, 3532c have and to be connected to service aisle 3528 ' Longitudinal slit.For example, guiding channel 3532b, 3532f include the longitudinal slit being connected to the outer surface of conduit.

Actuator for turning to endoscope

Figure 36 A- Figure 36 C illustrates the use of the actuator of embodiment turned to for endoscope according to the present invention.It causes Dynamic device optionally allows the various pieces of independent control endoscope.In some embodiments, compared to cable is for example turned to, solely Vertical control can be conducive to endoscope and more accurately turn to.

Figure 36 A, Figure 36 B respectively illustrate the example in collapsed configuration and extended configuration of embodiment according to the present invention Property magnetism steering actuator 3686a.Operator is optionally shunk or is stretched the actuator in patient bore using remote controler.

Figure 36 C illustrates the element of embodiment according to the present invention connected by connector 3680a-d with actuator 3686a-d The endoscope frame that 3682a-c is constituted.Optionally, by selectively stretching and/or retraction actuator 3686a-d, can make Endoscope turns to.For example, in order to turn upwards towards end member 3682a, it will retraction actuator 3686a, while stretching actuating Device 3686b.For example, in order to turn to end member 3682a to the right, it will retraction actuator 3686d, while extension actuator 3686c.For example, each actuator can be one or more conducting wires, the power supply of external tothe endoscope is advanced to.Can pass through to Its respective wires with currents individually controls each actuator.Optionally, solid conductor may be coupled to more than one cause Dynamic device.Alternatively or additionally, controller can be located in endoscope.Controller can be according to from the received control of external tothe endoscope Signal processed controls each actuator.The wire count advanced in entire endoscope is optionally reduced using controller.

Fixed endoscope

Figure 37 A- Figure 37 C illustrate embodiment according to the present invention have can anchor tip endoscope.For example, interior peep Mirror is inserted into desired position and/or configuration (for example, guiding piece 3732 and/or service aisle 3728 can be inserted in and lead On silk).Then optionally endoscope is secured in position.Optionally, it can then be removed in the case where endoscope is held in place Seal wire.Optionally, fixed endoscope can be used for close to the position and/or the stabilized platform as the tool in the position. Optionally, fixation can be reversible.For example, after usage, endoscope can be again movable and/or be removed from patient.

In the illustrative embodiments of Figure 37 A- Figure 37 C, connector 3780a-c passes through a series of different size of balls 3781 Reversibly fix.Ball 3781 is optionally packed between frame element (such as element 3782) and/or around connector 3780a-c, And/or it is clipped between two sleeves 3742a, 3742b.Optionally, when ball 3781 can move freely, then with connector 3780a-c is mobile, and ball 3781 is re-distributed.Optionally, when ball 3781 is fixed, connector 3780a-c is optionally also consolidated It is fixed.For example, vacuum can be applied to the area where ball 3781, to make the space collapse between sleeve 3742a and sleeve 3742b And/or fixed ball 3781 and/or connector 3780a-c.When allowing air between sleeve 3742a and sleeve 3742b, Then ball 3781 and/or connector 3780a-c are again movable.

Figure 37 A illustrates the ball 3781 of embodiment according to the present invention being packed between two sleeves 3742a, 3742b.

Figure 37 B illustrates the ball 3781 of embodiment according to the present invention being packed in around frame element 3782.

Figure 37 C is the cross-sectional view of the ball 3781 of embodiment being packed in around connector 3780a-c according to the present invention.Scheming In 37C, outer sleeve 3742a is cut away around connector 3780a-c to illustrate fixed system.Connector 3780a is illustrated, wherein ball 3781 is in place.Connector 3780b, 3780c are illustrated, wherein ball 3781 is removed for preferably illustrating connector.

Closed channel

Figure 38 A is the distal side perspective view of the sleeve with closed channel of embodiment according to the present invention.In some implementations In mode, sleeve 3842 may include in the closed channel in distal end.For example, sealing element 3858b (such as can be schemed with sealed passage Channel 3828b shown in 38B), it makes it from being exposed to patient.

In some embodiments, sealing element 3858b can be with the distal end of closed channel 3828b.Alternatively or additionally, close Sealing 388b can be with a part of length of sealed passage 3828b.For example, closed channel 3828b can be sealed along its length and be exempted from In being exposed to other channels, such as service aisle 3828a and/or guiding channel 632.

Figure 38 B is the nearside perspective view of the sleeve with closed channel of embodiment according to the present invention.In some implementations In mode, sleeve 3842 can be single use.Alternatively or additionally, it can clean and reuse sleeve 3842.? In some embodiments, channel 3828b and/or part of it can be with permanent seals.Alternatively or additionally, channel 3828b can To be openable.For example, channel 3828b can be opened for cleaning and/or sterilizing.For example, sealing element 3858b may include Removable plug and/or removable inner sleeve.Optionally, plug and/or inner sleeve can be single use.It is optional Ground, inner sleeve can be placed and/or be installed on the tool.For example, tool and/or sleeve can be inserted into from channel 3828b together And/or it fetches.Alternatively or additionally, in insertion and/or removing tool, sleeve or plug can retain in the channel.

In some embodiments, the channel 3828b of sealing can protect tool from exposure to patient.For example it is difficult to Clean tool can be inserted into the patient in sealed passage.Lead to for example, sealing can be inserted in steering mechanism and/or video camera In road.

Steering mechanism

Figure 39 A- Figure 39 B is the nearside perspective view of the sleeve of embodiment and removable steering mechanism according to the present invention.? In some embodiments, 3952 intracavitary probe 3950 of steering mechanism can be inserted in closed channel 3928b and/or operationally connect It is connected to sleeve 3942.For example, channel 3928b can be sealed relative to other channels of patient body and/or sleeve 3942.It is optional Ground, channel 3928b and/or intracavitary probe 3950 can be it is pieceable, such as to prevent intracavitary probe 3950 in sleeve 3928b Middle rotation.In some embodiments, the distal part of intracavitary probe 3950 can be with the shifting of the distal part of guide sleeve 3942 It is dynamic, such as navigating in patient's body.Optionally, in closed channel, inner probe 3950 be protected against pollution and/or From polluting patient.Optionally, when sleeve 3942 is when patient's body is in place, intracavitary probe can be removed from channel 3928b 3950, and/or channel 3928b can be used for another tool and/or function.Optionally, to reusable set Before cylinder 3950 is cleaned and/or sterilized and/or before abandoning the sleeve being intended for single use, inner cavity is removed from sleeve 3942 and is visited First 3950.

In some embodiments, sealed passage (such as channel 3928b) and/or steering mechanism's endoscope (are peeped in such as Mirror 3950) certain distance can be extended, length of the distance in the sleeve (such as sleeve 3942) that it is formed in and/or is inserted into Between the 1% to 50% of degree, and/or be formed in and/or be inserted at it the 50% to 80% and/or 80% of the length of sleeve To between 90% and/or 90% to 98% and/or 98% to 100%.

In some embodiments, sealed passage can be used together with various tools.For example, can be simultaneously and/or continuous Multiple tools are inserted into sealed passage by ground.For example, channel 3928b may include window (for example, in its distal seal And/or along its side wall).It is alternatively possible to place light source and/or imaging sensor (such as video camera) in the channel.Alternatively Ground or additionally, tool may include radiation source and/or transceiver.In general, sealed passage can reduce cleaning and/or disinfection tool The needs of (such as complex instrument).

Figure 39 A illustrates the nearside of the sleeve 3942 of embodiment according to the present invention, intracavitary probe 3950 and shield 3979 View.In some embodiments, sealed passage can have the cross section of no rotational symmetry (for example, not being circular). For example, all or part of channel 3928b and/or intracavitary probe 3950 can have irregular approximate rectangular cross section.Example Such as, all or part of non-circular cross sections of channel 3928b and/or intracavitary probe 3950 can match, so that inner probe 3950 are prevented from and/or prevent from rotating in the 3928b of channel.Alternatively or additionally, intracavitary probe 3950 can engage channel The connector of 3928b, such as to fix the relative position of intracavitary probe 3950 and/or sleeve 3942 and/or orientation.

In some embodiments, sleeve can not include that may include in the channel of both ends open and/or sleeve Both ends open simple service aisle and/or may include multiple service aisles and/or one or more sealed passage.Alternatively Ground or additionally, sleeve may include guiding channel and/or other service aisles.

In some embodiments, for example, steering system can make the distal part of endoscope be bent at most 30 degree and/or extremely More 60 degree and/or at most 90 degree and/or at most 135 degree and/or at most 180 degree and/or at most 279 degree and/or up to more 360 Degree.The diameter and/or width of the insertable part of intracavitary probe steering system can be in such as 0mm to 1mm and/or 1mm to 2mm And/or between 2mm to 4mm and/or 4mm to 8mm and/or 8mm to 26mm and/or 18mm to 36mm.For example, inner cavity The length for steering system of popping one's head in can be in 1mm to 30mm and/or 30mm to 100mm and/or 100mm to 300mm and/or 300mm To 1m and/or 1m to 2m.The diameter and/or width of closed channel can be in such as 0mm to 1mm and/or 1mm To 2mm and/or 2mm to 4mm and/or between 4mm to 8mm and/or 8mm to 26mm and/or 18mm to 36mm.Example Such as, the length of closed channel can 1mm to 30mm and/or 30mm to 100mm and/or 100mm to 300mm and/or 300mm extremely Between 1m and/or 1m to 2m.

Figure 39 B illustrates the proximal view of the sleeve 3942 of embodiment according to the present invention, wherein inserting inner probe 3950 and shield 3979 be connected to steering system 3952.In some embodiments, shield can protect and/or shield steering Mechanism 3952 is from pollution.For example, the pollution of the fluid from the service aisle 3928a for passing through conduit can be prevented.For example, shield Cover 3979 may be coupled to portions of proximal and the steering mechanism 3952 of sleeve.Optionally, shield 3979 is assembled to sleeve 3942. For example, shield can be assembled to sleeve 3942 with determining orientation and/or determine steering mechanism 3952 relative to sleeve 3942 orientation.Alternatively or additionally, steering system and/or intracavitary probe can be connected to set in the case where no shield Cylinder.

In some embodiments, extension 3929 can extend from the proximal end in channel.For example, extension 3929 makes work The proximal open of channel 3928a is kept at a distance with steering mechanism 3952.In some embodiments, make the opening and steering in channel Device, which is kept at a distance, can prevent cross contamination.For example, extension 3929 may include the extension of inner tube and/or sleeve 3942 Portion.In some embodiments, extension can extend from the proximal open of close passage (such as channel 3928b).

In some embodiments, sleeve may include closed channel (such as channel 3928b), with or without The channel (such as channel 3928a) of both ends open.

Figure 40 is the flow chart diagram of the method for turning to sleeve in the lumen of embodiment according to the present invention.Some In embodiment, 4001 sleeves are provided for conduit.Sleeve optionally includes closed channel, and the closed channel is in its distal part Closing.Optionally, closed channel includes proximal open.Optionally, steering mechanism's insertion 4002 is into closed channel, such as passes through The proximal open in the channel.In some embodiments, steering mechanism is used to make the distal part of sleeve to turn to 4003 by interior Chamber, such as to reach interested region.Optionally, after sleeve reaches its destination, steering mechanism is fetched from channel 4019.For example, channel can be used for another tool and/or steering mechanism can be used for another sleeve.

Manipulation instrument

Figure 41 A is the nearside perspective view of the multichannel sleeve of embodiment according to the present invention.In some embodiments, it covers Cylinder may include one or more sealed passage 4128b and/or one or more service aisle 4128a and/or one or more Guiding piece, such as guiding channel 4132a and/or 4132b.Optionally, channel 4128b can have with determining orientation engagement tool Shape.For example, channel 4128b has half moon shape.

In some embodiments, steering mechanism 4152 can be inserted in sealed passage 4128b (for example, such as institute in Figure 41 B Diagram).Optionally, bracket can be inserted in guiding channel 4132a-b, and/or one or more tools can pass through work Make channel 4128a and enters patient's body.Optionally, service aisle 4128a has distal openings 4160.

Figure 41 B is the distal side perspective view of the sleeve with exemplary tool of embodiment according to the present invention.In some realities It applies in mode, one or more tools can be inserted into the inner cavity of patient by user by service aisle 4128a.Optionally, Tool is connected to the distal part of bracket.For example, can be by the portions of proximal of movable support bracket come manipulation instrument.

In some embodiments, bracket 4130a and/or 4130b may be provided in the distal part and nearside of sleeve 4142 It is directly connected between part.For example, bracket 4130a-b can be continuous component.For example, being located at outside the distal part of sleeve Bracket 4130a-b distal part, and/or the middle section in sleeve 4142, and/or the proximal open positioned at sleeve Outer portions of proximal can be directly connected to move together at least one direction.For example, the longitudinal direction of the portions of proximal of bracket Movement can cause the identical longitudinal movement of middle section and/or distal part.Optionally, bracket 4130a-b can be elasticity 's.For example, some relative movements of portions of proximal and/or middle section and/or distal part can be in one or more directions Upper generation, but they may tend to back to determining relative position.For example, portions of proximal, middle section and/or distal side Partial position can be determined by fixed stress-strain relation.Optionally, stress-strain diagram can be along the length of bracket Degree is continuous.For example, the portions of proximal of bracket can cause the identical of middle section and/or distal part around the torsion of its longitudinal axis And/or proportional torsion is mobile.Optionally, bracket 4130a-b is flexible.For example, bracket 4130a-b can be with sleeve 4142 are bent together to cooperate along curved body cavity.Optionally, bracket not part and/or middle section and/or remote at its proximal end It is hinged between side section.For example, bracket can not include hinge and/or non-resilient connector.

Optionally, bracket (such as its distal part) directly and/or rigidly and/or is elastically connected to installation part. For example, bracket 4130a is connected to installation part 4140a and/or bracket 4130b is connected to installation part 4140b.Optionally, work Tool 4134 (for example including video camera 546a and/or light source 551a and/or sensor and/or pusher and/or cutter and/or Pliers etc.) it is connected to installation part (such as installation part 4140a-b).Connection between tool and installation part can be optionally permanent And/or it is reversible.Optionally, tool 4134 is illustrated as being supported by installation part to the outer surface of sleeve 4142.Optionally, tool The distal part of bracket is connected to (for example, outside the distal part of sleeve and/or suffering from by rigidity and/or flexible connector Person's is interior intracavitary) and/or the middle section (such as in sleeve) of bracket and/or the portions of proximal of bracket (such as in sleeve It holds except portions of proximal and/or outside the patient's body and/or by user).

In some embodiments, by the portions of proximal relative to sleeve movable support bracket, user makes the distal side of bracket Part and/or tool are in an identical manner relative to as sleeve type and/or proportionally moving.For example, close relative to bracket Power of the sleeve in one or more directions (such as longitudinal and/or torsion) in side section is directly as relative to the remote of sleeve The power of side section is transmitted to the tool in bracket distal part, and (power can the identical and/or such as summary due to friction loss It is small).For example, (such as longitudinal and/or turn round in one or more directions relative to another bracket in the portions of proximal of a bracket Turn) on power directly as the relative to force transmission relative to the tool in bracket portions of proximal, (power can be identical and/or for example It is smaller due to friction loss).By making the portions of proximal of one or more brackets and/or tool relative to each other and/or phase Mobile for conduit, user can move and/or manipulate the tool in patient bore.For example, as described above, making pusher phase Pliers movement can be opened and/or is closed pliers, and/or can be with moving blade with cutting sample and/or sampling etc.. Optionally, it is mobile to can be used as a unit for tool and/or bracket.For example, can be outside the patient's body by user in patient's body Interior movement and/or manipulation instrument, without individually controlling and/or without hinge and/or actuator and/or hinged member With patient contact, in conduit and/or in patient's body.For example, single service aisle and/or more than one work can be passed through Multiple tools are continuously moved into and/or are removed patient and/or manipulate multiple tools in patient's body by channel.

Figure 42 A- Figure 42 B illustrates the multiplexing tool endoscope for passing through sleeve 3942 and being inserted into of embodiment according to the present invention 4250.It is alternatively possible to which design tool is other tool vacating space in endoscope.For example, 4234 quilt of video camera tool Design has the recess for bracket 730a and 730b.For example, pliers tool 734a can be removed to dispose video camera 4234 (such as by torsion bracket 730a so that tool 734a is downwardly away from the movement of video camera tool 4234).Optionally, then tool It is disposed upwards before 4234 move distally to other tools and by reversing bracket 4130a.

Detection and identification

Figure 43 A- Figure 43 B is the perspective view diagram of the multiple-camera endoscope of embodiment according to the present invention.In some realities It applies in mode, there may be include imaging sensor (for example, forward direction video camera 546a and/or video camera 4346a and/or backward Video camera 546b and/or video camera 4346b) multiple tools 4234,4334.The output of sensor can be by processor 4347 Reason.The output of video camera may be displayed on one or more output equipments 4349.For example, the output of a video camera can be shown Show on an output equipment and/or the output of another video camera may be displayed on individual output equipment.Alternatively Or additionally, processor 4347 can handle data and/or a kind of data are shown on an output equipment and in another equipment Another data of upper display.

In some embodiments, identify important objects, such as it is doubtful be disease symptoms and/or disease precursor object. Optionally, processor 4347 shows the data turned to for sleeve on an output equipment 4349.For example, being turned to for sleeve Data may include image from single forward direction video camera 546a and/or from multiple forward direction video camera 546a, 4346a's Image collages and/or other auxiliary informations.Turning to data may be displayed in the first display equipment.

In some embodiments, processor 4347 shows the information about important objects on an output device.For example, place Reason device 4347 may include the suspicious object in image and/or collecting the software of the data about those objects for identification.Example Such as, conduit may include the sensor for non-picture data.For example, working as the remote of the sleeve 3842 including tool 4234 and 4334 End is close and/or when by object, processor 4347 from each sensor collection data and/or determine the object whether be Important objects.For the important objects of identification, processor 4347 optionally collects the image of object (for example, different images can From different angle and/or amplification factor and/or different wavelength) and/or about object non-picture data.It is optional Ground, processor 4347 are shown in the second display equipment (and/or on the individual window in the first display equipment) about object Data.For example, the data of display may include each image of object and/or the estimation size and/or temperature of object.Processing Image and/or non-picture data can be used to determine whether object is important and/or whether can show to user in device.Alternatively Or additionally, can on the first display display indicator to notify user to detect important objects.For example, can be each Important objects use individually display equipment and/or window.Alternatively or additionally, processor 4347 can be in a display And/or certain types of all objects (for example, all suspicious polyps) is shown in window, while in individually display equipment Show the object (for example, suspicious infection site) of Second Type.Optionally, user can choose using various tools come into one Step explores some objects.

In some embodiments, conduit may include an imaging sensor and/or one or more for navigation For detecting and/or identifying the imaging sensor of object.For example, a forward sense device can be used for the steering and/or inspection of object It surveys.Optionally, before one or more to and/or backward sensor can identify optionally for detection and/or further.

In some embodiments, some sensors can be included in the service aisle 3828a's across sleeve 3842 Multiplexing has on endoscope (such as tool 4234 on endoscope 4250).Optionally, pass through service aisle using guiding piece 632 Other tools (such as tool 4334) are directly placed in interested region by 3828a.Sensor (such as 4246a, 4246b, 4346a and/or 4346b) alternately through wire channel and/or wireless channel processor 4347 is sent by output data.Place It manages device 4347 and transmits data to display 4349 alternately through wire channel and/or wireless channel.

It is expected that in the period of patent is since the application, it will develop many relevant technologies, therefore the range of term It is intended to a priori include all these new technologies.

As used herein, term " about " refers to ± 10%.

The terms "include", "comprise", " containing ", " having " and its conjugate mean " including but not limited to ".

Term " by ... form " mean " including but being limited to ".

Term " substantially by ... form " mean composition, method or structure may include other compositions, step and/or Change composition claimed, method or structure in part, the only other compositions, step and/or partial sterility matter Basis and novel feature.

As used herein, unless the context is clearly stated, singular "one", "an" and "the" include plural number It refers to.For example, term " a kind of compound " or " at least one compound " may include multiple compounds, including its mixture.

In entire application, each embodiment of the invention can be presented with range format.It should be appreciated that range format Description just for the sake of convenienct and succinct, be not construed as the mechanical limitation to the scope of the invention.It is intended, therefore, that The description of range specifically discloses all possible subrange and each numerical value within the scope of this.For example, it is believed that all As 1 to 6 range description have specifically disclosed subrange, 1 to 3,1 to 4,1 to 5,2 to 4,2 to 6,3 to 6 etc., with And each number in the range, for example, 1,2,3,4,5 and 6.Range regardless of range, this is all suitable for.

Whenever instruction numberical range herein, intention includes the numerical value of any record in indicated range (score or integer).Word " range between the first designation number and the second designation number " with " from the first designation number to It includes the first and second designation numbers and they it that the range of second designation number ", which is used interchangeably herein and means, Between all scores and integer number.

It should be appreciated that for the sake of clarity certain spies of the invention described in the context of individual embodiment Sign can also combine offer in single embodiment.On the contrary, for simplicity and in the context of single embodiment Each feature of the invention of description can also be individually or in the form of any suitable sub-portfolio or in an appropriate form It is provided in the embodiment of any other description of the invention.Certain features described in the context of each embodiment It is not considered as the essential feature of those embodiments, unless the embodiment does not act as in the case where those no elements With.

Although having been combined a specific embodiment of the invention describes the present invention, it is apparent that many substitutions, modification and change Change it will be apparent to those skilled in the art that.The spiritual and wide of appended claims is fallen into accordingly, it is intended to cover All these substitutions, modifications and variations in general range.

The all publications, patents and patent applications referred in this specification pass through reference and are integrally incorporated this specification In, degree is as specifically and individually pointed out that each individual publication, patent or patent application will be incorporated by reference into this Text.In addition, being not necessarily to be construed as recognizing that such bibliography is available to the reference of any bibliography or mark in the application Make the prior art of the invention.Using paragraph heading, they are not necessarily to be construed as necessarily limiting.

Claims

1. a kind of for conveying the conduit of material between the intracorporal region of the living organism outside living organism, comprising:

Sleeve, comprising:

Service aisle comprising for the external proximal open entered from the living organism and for being located in the life living Distal openings in the region of object；

Multiple elongated guide members, at least part along the length of the service aisle extends, each in the guiding piece It is a to be connected to along at least 5cm length of the service aisle with the service aisle；

Tool can be opened in the first position outside the proximal open, the second position in the service aisle and the distal side It is conveyed between the third place outside mouthful；And

At least one guides fitting in bracket, with the multiple elongated guide members；The bracket:

It is connected to the tool at the cross-section center for deviateing the tool,

Along at least one described guiding piece, proximally position advances to distal position, thus by the tool from the second position It is transmitted to the third place, and

The axis rotation of at least one guiding piece is surrounded in the distal position, to the tool be moved away from described 4th position of the axis of service aisle.

It is described to take the photograph wherein the kit includes video camera, and in the 4th position 2. conduit as described in claim 1 The lens of camera clear up the external cross section of the conduit.

3. conduit as described in claim 1, further includes the installation part outside the service aisle, the installation part will be described Tool support is outside the service aisle.

4. conduit as described in claim 1 further includes longitudinal opening, the length is at least the one of the length of the service aisle Half, the opening is connected between the service aisle and the region.

5. conduit as claimed in claim 4 further includes the reinforcer for keeping the longitudinal opening to open.

6. a kind of for conveying the conduit of material between the intracorporal region of the living organism outside living organism, comprising:

Sleeve comprising service aisle, the service aisle include for opening from the external nearside entered of the living organism Distal openings in mouth and the region for being located in the living organism, the service aisle are configured for tool in institute State the first position outside proximal open, the second position in the service aisle and between the third place outside the distal openings Conveying；And

Installation part, in the outside of the service aisle, the installation part is by the tool support outside the service aisle At the third place in a part of the sleeve.

7. conduit as claimed in claim 6, wherein the installation part is substantially by the tool support in the service aisle Cross section profile except.

8. a kind of method for executing one or more tasks in the region of living organism, the region can passage path into Enter, which comprises

One or more elongated guide members of at least part positioning of length along the path are provided, it is one or more of Each of guiding piece is connected to along described at least part of the length with the path, and including opening with nearside The sleeve in the closed channel of mouth and distal end；

First tool is inserted into the position on the path；

Steering mechanism is inserted into the proximal open；

The distal part of the sleeve is introduced into the region, while turns the distal part with the steering mechanism To；

Block at least 50% of the cross section in the path at the position with first tool；And

First tool is transmitted in the region by the first guiding piece in one or more of guiding pieces The path is dredged at position, to fetch the steering mechanism by the proximal open.

9. a kind of method for executing one or more tasks in the region of living organism, the region can pass through conduit Service aisle enter, the service aisle include in the distal openings in the region and the proximal open outside the region, The described method includes:

One or more elongated guide members of the length positioning along the service aisle are provided, in one or more of guiding pieces Each be connected to along the length with the service aisle, each of one or more of guiding pieces all have closely Side opening and distal openings and offer are connected to the first bracket of the tool at the cross-section center for deviateing the tool, The length of the first guides fitting in the bracket and the elongated guide members, first bracket is logical greater than the work Road；

Block at least the 50% of the cross section of the service aisle at certain position with first tool；

First tool is transmitted along the service aisle by the guiding piece, and sends out the described of the service aisle Distal openings；And

The work is dredged with axis of the movement tool far from the service aisle by reversing the proximal end of the guiding piece Channel.

10. method as claimed in claim 9, further includes:

By the tool support in the region on the outer surface of the conduit far from the service aisle.

11. method as claimed in claim 9, wherein the service aisle and the closed channel with proximal open are included in In sleeve, the method also includes:

Steering mechanism is inserted into the proximal open；

The distal part of the sleeve is introduced into the region, while turns the distal part with the steering mechanism To；And

The steering mechanism is fetched by the proximal open.

12. conduit as claimed in claim 6, wherein the kit includes lens, and in the third place, the lens Clear up the external cross section of the conduit.

13. conduit as claimed in claim 6, further includes:

Length is at least 50% closed channel of the sleeve, and the closed channel has for outside the living organism The proximal open and all closed channels that portion enters are closed relative to the region；

14. conduit as claimed in claim 13, further includes:

Pieceable accessory, for preventing the steering mechanism relative to the rotation of the closed channel.

15. conduit as claimed in claim 13, wherein the channel and the steering mechanism have matched non-rotational symmetry Cross section so that the steering mechanism is prevented and can not rotate in the channel.

16. conduit as claimed in claim 15, wherein the steering mechanism is assembled in the channel with single-orientated.

17. conduit as claimed in claim 16, wherein the closed channel is relative to the regional seal.

18. conduit as claimed in claim 13, further includes:

Service aisle comprising for the external proximal open entered from the living organism and for being located in the life living Distal openings in the region of object, the service aisle are used for first position of the tool outside the proximal open, described It is conveyed between the third place outside the second position and the distal openings in service aisle.

19. conduit as claimed in claim 18, wherein the closed channel is sealed relative to the service aisle.

20. conduit as described in claim 1, further includes:

Closed channel has the proximal open for entering outside the living organism and seals relative to the region It closes；