CN115886685A - small robotic endoscope - Google Patents

Abstract

The present invention relates to a medical endoscope comprising a reusable part, into which either of two different disposable parts can be manually snapped, thereby forming two different assembled endoscopes. When one of the disposable portions is assembled with the reusable portion, a motor in the reusable portion robotically rotates the cannula about the rear end of the disposable portion. The motor robotically rotates the forward end of the cannula when the other disposable portion is assembled with the reusable portion. Another medical endoscope is generally disposable and has a motorized cannula tip angle. The other has a manually controlled angle.

Description

small robotic endoscope

related application

This application is a continuation-in-part of US Patent Nos. 17/941,884, 17/843,217, and 17/349,674, and claims priority to Provisional Patent Application No. 63/417,340, filed October 19, 2022.

17/941,884 is a partial continuation of each of 17/745,526, 17/720,143, 17/521,397, 17/473,587 (now patent 11,330,973), 17/362,043 and 16/363,209, claiming priority to 4 provisional applications .

17/745,526 is a continuation-in-part of 17/473,587, filing priority to five provisional applications.

17/720,143 is a continuation of parts of 17/521,397.

17/521,397 filed priority to 5 provisional applications.

17/473,587 is a continuation-in-part of each of 17/362,043 (now patent 11,350,816), PCT/US19/36060, and 16/363,209, claiming priority to 17 provisional applications.

17/362,043 (now patent 11,350,816) filed priority to 13 provisional applications.

PCT/US19/36060 is a continuation-in-part of 16/363,209, claiming priority to 7 provisional applications.

16/363,209 is a continuation of PCT/US17/53171, claiming priority over 4 provisional applications.

PCT/US17/53171 claims priority to 15 provisional applications.

17/843,217 is a divisional case of 16/363,209.

17/349,674 is a continuation of parts of 16/664,082.

16/664,082 (now patent 11,071,442) claims priority to 26 provisional applications.

This application incorporates by reference the above patent applications in their entirety and claims all rights and interests in each of the above patent applications and applications incorporated by reference directly or indirectly by them, including U.S. provisional applications, U.S. nonprovisional The filing date of the application and the international application.

This patent application incorporates by reference the following U.S. patents and U.S. and international (PCT) patent applications:

16/972,989 filed December 7, 2020;

PCT/US21/50095, filed September 13, 2021;

17/835,624 filed on June 8, 2022;

PCT/US16/18670, filed February 19, 2016;

14/913,867, filed February 23, 2016, now Patent 10,874,287;

PCT/US16/65396, filed December 7, 2016;

15/371,858, filed February 20, 2018, now Patent No. 9,895,048;

15/462,331, filed March 17, 2017, now Patent 10,524,636;

15/651,526, filed July 17, 2017, now Patent 10,278,563;

15/855,532, filed December 27, 2017, now Patent No. 10,292,571;

PCT/US18/14880, filed January 23, 2018;

16/407,028, filed May 8, 2019, now Patent 11,253,141;

16/413,160, filed May 15, 2019, now Patent 10,869,592;

16/407,251, filed June 20, 2019, now Patent 11,013,141;

PCT/US20/38349, filed June 18, 2020;

PCT/US20/46018, filed August 12, 2020;

17/122,282 filed December 15, 2020;

17/145,466, filed January 11, 2021, now Patent 11,395,579;

17/370,575 filed July 8, 2021.

17/349,674, filed June 16, 2021; and

17/573,095 filed January 24, 2022.

technical field

This patent specification relates to endoscopic apparatus and methods. More specifically, some embodiments relate to portable instruments that include a reusable portion and a releasably attachable single-use portion.

Background technique

Endoscopes have long been used to view and treat internal tissues. In the case of both rigid and flexible conventional endoscopes, the optical system and associated components are relatively expensive and are reused many times. Therefore, stringent decontamination and disinfection procedures are required after each use, which adds significant expense in terms of equipment and labor. Disposable endoscopes have been developed and improved in recent years and typically consist of a single-use section that includes a cannula with a camera at the tip. The cannula is releasably connected to a reusable part that includes image processing electronics and a monitor. Disposable or single-use endoscopes greatly reduce the risk of cross-contamination and nosocomial illness, and eliminate the expense and time required to decontaminate and disinfect non-disposable endoscopes. Disposable endoscopes can find applications in medical procedures such as imaging and treatment of the male and female urinary and female reproductive systems and other internal organs. Embodiments of disposable or disposable endoscopes are discussed in the patents and applications incorporated by reference.

The subject matter described or claimed in this patent specification is not limited to that described in specific embodiments that solve any particular disadvantages or that operate only in environments such as those described above. Rather, the above background is provided only to illustrate the feasibility of some embodiments described herein in exemplary technical fields.

Contents of the invention

As stated in the originally filed claims, as may be amended at the time of filing this patent application, in some embodiments, a small robotic endoscope includes: a reusable portion configured to be grasped by hand , and have an elongated slot, the slot has an open side extending along the axis of the cannula; a single-use portion, including a cannula extending along the axis of the cannula; wherein the disposable portion has a front end and a rear end , and includes: an imaging module at the front, including one or more cameras and one or more light sources; a rear port at the rear, a front port at the front, and an internal channel extending from the rear port to the front port; an actuation element at the rear end configured to selectively alter a physical parameter of the cannula when actuated; and single-use electrical contacts at the rear end; wherein the reusable portion includes: an internal power supply; an internal motor; a gear shaft extending into the slot and coupled to the motor for selective rotation; a reusable electrical contact located in the slot; one or more manual an operable motor control button that causes the motor to drive the gear shaft in a selected angular direction; one or more manually operable image control buttons configured to control the imaging module; wherein the rear end of the disposable portion is Configured to engage said slots of the reusable part in a direction transverse to the axis of the cannula, thereby engaging said electrical contacts with each other in one movement and engaging the gear shaft with the drive element to form an assembled endoscope; and wherein, in the assembled endoscope: the one or more image control buttons are configured to selectively control transmission of image data from the imaging module to display an image; and the one or more The motor control button is configured to selectively control at least one of (a) the robotic rotation of the cannula about the cannula axis in a selected angular direction and through a selected angle and (b) the front end portion of the cannula in relation to The selected orientation of the intubation axis and the robot angle through the selected angle relative to the intubation axis.

In some embodiments, the small robotic endoscope may additionally include one or more of the following: (a) the one or more motor control buttons may be configured to selectively control the cannula about the cannula axis Robotic rotation in and through a selected angular orientation; (b) the one or more motor control buttons may be configured to selectively control the cannula tip portion in a selected orientation relative to the cannula axis and a robot angle through a selected angle relative to the axis of the cannula; (c) a display mounted on the reusable portion coupled to the imaging module and configured to display images obtained therewith; (d ) a display mounted on said reusable portion having a rear-facing side configured to display said image data and a front-facing side and comprising: a forward-facing camera module (FFC), configured to image objects at a considerable distance from it and including autofocus facilities with lenses configured to automatically maintain focus on said object during relative motion between the FFC and DFC; a forward facing lighting module (FFL) , the module is configured to illuminate the object: (e) the FFC module may include at least two cameras spaced apart in a direction transverse to the axis of the cannula, and configured to provide at least one of the following: (i ) stereoscopic images, (ii) images in the wavelength range of light that are different between at least two of said cameras; (f) the reusable portion may further include a latch configured to For movement between an open position and a closed position, in the open position, the catch clears the slot so that the disposable part and the reusable part are assembled by relative movement therebetween only in a direction transverse to the axis of the cannula. In the closed position, the latch retains the disposable and reusable parts as an assembled endoscope; (g) the injection needle is permanently mounted within the cannula and is configured to release the needle from the disposable movement between an extended position in which the front end of the injection needle protrudes and a retracted position in which the entirety of the injection needle is within the single-use part, and a device mounted on the single-use part and configured to move the injection needle between the extended and retracted positions a needle controller; (h) said cannula is configurable to rotate relative to the front end of the single-use part, and said drive element at the rear end of the single-use part comprises a first gear mounted within the assembled a gear shaft in the speculum so as to rotate about an axis transverse to the intubation shaft, a second gear meshed with the first gear for rotation about an axis parallel to the intubation shaft, a third gear connected to the second gear, to rotate therewith, and a fourth gear cooperating with the third gear, to rotate around the axis of the cannula so that the front end of the cannula rotates around the axis of the cannula relative to the rear end of the disposable portion; (i) the cannula The front end of the tube may be configured to be angled by said selected angle, and said drive element at the rear end of the disposable portion comprises a rotating disc mounted on a gear shaft in the assembled endoscope, thereby rotating about an axis transverse to the cannula shaft, and the disposable part includes a guide wire connecting the rotating disk to the distal end of the cannula, so that rotation of the rotating disk causes the front end of the cannula to be angled relative to the cannula shaft .

In some embodiments, a small robotic endoscope includes a set of reusable parts and two distinct single-use parts, wherein the first part has a motor-driven cannula rotation and the second part has a motor-driven A cannula front end angle in which the reusable portion is configured to be hand-held and has an elongated slot with an open face extending along the cannula axis, an internal motor and a a gear shaft in and is configured to be selectively rotated about the axis by a motor, and has an electrical contact in said slot. The first disposable portion is configured to snap into the slot only in a direction transverse to the axis of the cannula, thereby being coupled with the reusable portion to form a first assembled endoscope and comprising an imaging The front end of the module has a socket at the rear end configured to fit the gear shaft for rotation about the axis in the first assembled endoscope, and a gear set to connect the socket to the first disposable The front ends of the sections are connected for rotation about the cannula axis in a selected angular direction and to a selected degree relative to the rear end. The second disposable part is also configured to couple with the reusable part by snapping into the slot only in the direction transverse to the shaft of the sleeve, thereby forming a second assembled endoscope and comprising an imaging The front end of the module, with a socket at the rear end, is configured to fit over said gear shaft for rotation about the shaft axis in the second assembled endoscope, the guide wire connecting the socket with the front end of the second disposable part up, angling the front end of the second disposable portion relative to its rear end in a selected direction and to a selected degree relative to the axis of the cannula so that the same reusable portion forms the first endoscope, wherein the front end of the first disposable portion is robotically rotated, or a second endoscope wherein the front end of the single use portion is robotically tilted.

In some embodiments, a set includes a reusable portion and two distinct disposable portions, wherein the rear end of the first disposable portion further comprises a associated manual control to teach its angle relative to the rear end of the first disposable portion in a selected direction and to a selected degree relative to the axis of the cannula; (b) the angle of the second disposable portion The rear end may further comprise a manual control connected to said front end of the second disposable part so that it is in a selected direction and at a selected degree relative to the rear end of the second disposable part. (c) the reusable part may include at most one display mounted thereon, the rear face of which is configured to display images obtained with the imaging module, and the front face has a light source and one or more A forward-facing camera (FFC) configured to image an object in front of it and provide autofocus on said object as the endoscope moves relative to the object.

In some embodiments, a robotic endoscope, which is entirely disposable, includes a handle having a front end and a rear end configured to be grasped by a user, and further having a working a channel port, an internal motor having a motor shaft that rotates when the motor is energized, and a button configured to selectively energize the motor to rotate the motor shaft in and through a selected angular direction; a hub, Its rear end is permanently mounted on the front end of the handle for relative rotation about the cannula axis; a cannula with its rear end permanently fixed to the front end of the hub extends along the cannula axis and has an imaging module and a working channel port; a working channel having a constant internal area extending from the working channel port at the rear end of the handle to the working channel port at the front end of the cannula; a coupling element connecting the motor shaft to the front end of the cannula and configured to drive the motor rotation of the shaft in a selected angular direction is translated by the selected angle into an angle of the cannula tip to a selected degree relative to the cannula axis; and a transmission facility coupled to said imaging module to obtain the The images are transmitted to a monitor outside the single-use endoscope.

In some embodiments, the robotic endoscope described in the immediately preceding paragraph may further comprise one or more of the following: (a) a remote display and control facility coupled to said transport facility and configured to control said imaging module and display images acquired with the imaging module; (b) said transmission facility may be wireless.

In some embodiments, a generally disposable endoscope includes a handle having a front end and a rear end configured to be grasped by a user and further having a working channel opening at the rear end thereof, and configured to A lever that is manually movable between first and second positions relative to the handle; the cannula, with its rear end permanently affixed to the front end of the hub, extends along the cannula axis and has an imaging module and a working channel port at its front end a working channel with a constant internal area extending from the working channel opening at the rear end of the handle to the working channel opening at the front end of the cannula; a motion translation mechanism within the handle that is connected to the lever and the front end of the cannula and is configured to move the lever movement in a selected direction and degree to an angle of the cannula tip in a selected direction and degree relative to the axis of the cannula; Transmitted to a display external to the single-use endoscope.

In some embodiments, the robotic endoscope described in the immediately preceding paragraph may further include one or more of the following: (a) the lever may be configured to pivot about an axis transverse to the cannula axis, and the motion translation mechanism comprising an element coupled to a lever for rotation with pivoting of the lever and a guide wire connecting the element to the distal end of the cannula; (b) coupled to the transport facility and configured to control the imaging module and display imaging Remote display and control facility of images acquired by the module.

Description of drawings

In order to further clarify the above and other advantages and features of the protected subject matter of this patent specification, specific embodiments are described with the accompanying drawings. The drawings should be understood as depicting exemplary embodiments only, and therefore should not be considered as limiting the scope of the patent specification or the appended claims. The subject-matter of the invention is described and explained with particularity and detail using the following figures, in which:

Figure 1A is a perspective view of a first embodiment of an assembled endoscope with a cannula that can be mechanically rotated;

Figure 1B is a perspective view of the right side of an unassembled endoscope embodiment showing its reusable and single-use portions;

Figure 1C is a partially exploded perspective view of the left side of its disposable portion, and

Figure ID is a perspective exploded view of the left side of an example of an unassembled endoscope in some embodiments;

Fig. 2A is a right side view of the second embodiment of the assembled endoscope, wherein the cannula can be mechanically adjusted in angle;

Fig. 2B is a three-dimensional exploded view when the right side of the second endoscope embodiment is not assembled;

2C is an exploded perspective view of the left side of the second endoscope embodiment when it is not assembled;

Figure 2D is a bottom view of the left side of the disposable portion of the second endoscope embodiment;

Figure 2E is a perspective exploded view of the mechanism involving the angle of the cannula tip of the second endoscope embodiment, in some embodiments;

3 is a partial perspective view of the right side of a third endoscope example that may otherwise be like the endoscope embodiment of FIG. 1A or the endoscope embodiment of FIG. the addition of an illumination source to the front facet of , providing beams of light with respective selected wavelength ranges, and a further addition of a forward-facing camera (FFC) which may include an autofocus facility;

Figure 4A is a right side perspective view of a fourth endoscope embodiment, which is generally disposable, has a cannula that is both angled and rotatable under manual control, and is designed to work with a remote display use;

Fig. 4B is a perspective view of the left side thereof;

Figure 4C is an exploded perspective view of its components in some embodiments;

Figure 5A is a right side perspective view of a fifth endoscope embodiment that is generally disposable, has a cannula, is angled by robotic control, and rotates under manual control, and is designed For use with remote displays;

Figure 5B is a perspective view of the left side thereof;

Figure 5C is an exploded perspective view of components in some embodiments.

Detailed ways

A detailed description of the preferred embodiments is provided below. While several embodiments have been described, it should be understood that the novel subject matter described in this patent specification is not limited to any one or combination of embodiments described herein, but encompasses numerous alternatives, modifications and equivalents. Additionally, although numerous specific details are set forth in the following description in order to provide a thorough understanding, some embodiments may be practiced without some, or even all, of these details. Also, for the sake of clarity, certain technical material that is known in the prior art has not been described in detail to avoid unnecessarily obscuring the novel subject matter described herein. It should be clear that various features of one or more specific embodiments described herein may be used in combination with features of other described embodiments or with other features. Furthermore, the same reference numerals and designations in the various drawings denote the same elements.

Like numbers and names in the various figures indicate like elements. Furthermore, structurally and functionally similar parts are numbered with the same second and third digits. For the sake of brevity, parts with the same numbering of the last two digits are only described in relation to the figure in which they are mentioned first, and are not repeated in relation to the figure discussed subsequently.

Figures 1A-1D show a first embodiment of an endoscope. In some embodiments, this embodiment uses robotically controlled motorized rotation of the cannula about its long axis relative to the rear end portion of the single-use portion and the reusable portion to which the single-use portion is releasably attached, to form an assembled endoscope.

Figure 1A is a right side perspective view of an assembled endoscope 100 in some embodiments, and Figure 1B is a perspective exploded view of the right side of an endoscope 100 in some embodiments when not assembled, showing its reusable portion 102 and disposable Figure 1C is an exploded partial perspective view of the left side of the reusable part 102 in some embodiments, and Figure 1D is a perspective exploded view of the left side of the endoscope 100 when not assembled in some embodiments.

As shown in FIGS. 1A-1D , reusable portion 102 includes a handle 106 extending along handle axis B and configured to be hand-held. The reusable portion 102 has an elongated slot 108 seen in FIG. 1B , which has an open side towards the right and extends along a cannula axis A transverse to the handle axis B . Disposable portion 104 includes cannula 110 extending along cannula axis A and has rear end 112 releasably connected to reusable portion 102 at slot 108 and front end 114 with imaging module 116 comprising a or multiple cameras and one or more light sources. One or more rear ports 118, 120 are located at the rear end 122 of the cannula 110, one or more front ports 124 are located at the front end 114 of the cannula 110, and one or more internal passages 126 (shown in dashed lines) exit from the rear end. Ports 118, 120 extend to front port 124 to allow fluid to flow between the rear and front ports through channel 126, and/or to allow surgical tools to be inserted into one or more of rear ports 118, 120, through channel 126, and from One or more of the front ports 124 extend distally.

As shown in FIG. 1B, reusable portion 102 includes an internal power source 109, such as a battery, and an internal motor 111, which are schematically illustrated. Gear shaft 113 extends into slot 108, along axis C perpendicular to cannula axis A and handle axis B, and is coupled to motor 111 to select clockwise and counterclockwise about axis C at a selected angle of rotation as desired. Rotate violently. The motor 111 may be a stepper motor, which may be directly behind the gear shaft 113, causing the motor shaft to rotate about an axis parallel to the axis C. Gear shaft 113 has a polygonal outer surface and is configured to engage and drive cylinder 130 (FIG. 1C) in disposable portion 104 when endoscope 100 is assembled, as further described below. Handle 106 has buttons 115 and 117 on its front face to selectively couple power source 109 to motor 111 to robotically rotate gear shaft 113 in a selected angular direction. The buttons 115 , 117 are preferably positioned to be operated with the user's index and/or middle fingers grasping the handle 106 .

Reusable portion 102 preferably includes a display 142 mounted thereon and coupled to imaging module 116 . Both are preferably powered by power supply 109 . In addition, the reusable portion 102 has a button 144 at its rear end positioned to operate with the user's thumb grasping the handle 106 . Button 144 is operatively coupled to imaging module 116 at front end 114 of cannula 110 to control the operation of the imaging module, such as imaging functions, and can be coupled to display 142 to control display functions. Buttons 144 may include two or more buttons or another suitable interface to control respective functions of imaging module 116 and/or display 142 . The reusable portion 102 also includes a pivot lock 146, shown in the closed position in FIG. 1A to secure the reusable portion 102 and the disposable portion 104 together, and shown in the open position in FIG. 1B to The slot 108 allows the single use portion 104 to be snapped into the reusable portion 102 .

Reusable portion 102 preferably further includes electronics 119, shown schematically in FIG. 1A, coupled to imaging module 116 and/or display 142 and, if desired, buttons 115, 117, and 144 to facilitate handling Image data from and control imaging module 116 , control motor 111 , and control one or more of display 142 . As described below, electrical contacts 121 ( FIG. 1B ) in slots 108 of reusable portion 102 are configured to mate with electrical contacts 123 ( FIG. 1C ) of single-use portion 104 .

Disposable portion 104 includes a drive member 128 located within rear end 112 of disposable portion 104 that engages the gear shaft when reusable portion 102 and disposable portion 104 are assembled into the configuration shown in FIG. 1A . 113 match. Details of driven element 128 are shown in Figure 1C. As shown, the driven member 128 includes a cylindrical body 130 having a polygonal inner surface forming a receptacle and helical threads on the outside. When endoscope 100 is assembled as shown in FIG. 1A , cylinder 130 fits over gear shaft 113 ( FIG. 1B ). The polygonal inner surface 131 of the cylinder 130 mates with the extremely polygonal surface of the gear shaft 113 (FIG. IB) for rotation by the gear shaft 113 in the assembled endoscope. The drive mechanism 128 is operatively coupled to the cannula 110 to selectively rotate the cannula about the cannula axis A relative to the rear end 112 of the disposable portion 104 to selectively change a physical parameter of the cannula when actuated. , that is, the angular position of the cannula relative to the rear end 112 and the reusable portion 112 . The driving element 128 includes, in addition to the cylinder 130, a gear 132 which engages with the external helical thread of the cylinder 130 so as to rotate around an axis parallel to the axis A of the cannula, and a pinion affixed to the gear 132 at its rear end. Shaft 134, another gear 136 attached to the far end of shaft 134. A gear 138 meshes with gear 136 so as to rotate around the cannula axis A, and a shaft 140 connected to the gear 138 extends from its distal end and, if connected to the rear end of the cannula 110, selectively enables The cannula rotates about a cannula axis A relative to the proximal end 112 of the disposable portion 104 . Disposable portion 104 also includes an electrical contact 123 ( FIG. 1C ) configured to mate with electrical contact 121 ( FIG. 1B ) of reusable portion 102 such that endoscope 100 is assembled in FIG. 1A When configured, power, control, and image data are transferred between the reusable and single-use portions.

ID is a left side view of the unassembled endoscope 100 showing the left side of the rear end 112 of the reusable portion 102 enclosed within a housing with an opening into the inner surface 131 of the barrel 130 .

In some embodiments, the endoscope 100 permanently includes an injection needle 150 that moves between an extended position and a retracted position, wherein the front end of the needle 150 protrudes from the front end 114 of the cannula 110 and the front end of the needle 150 The front end is substantially or completely within the cannula 110 . The injection needle 150 can be manually moved between its positions by a knob 152 affixed to the rear end of the needle 150 and configured to slide relative to the rear end 112 of the disposable portion 104 . When ports 118 , 120 are configured in fluid flow communication with needle 150 , fluid can be injected into needle 150 through one of the ports. See for example patents 10,524,636 and 10,874,287 for details on how to incorporate injection needles into the single use portion of an endoscope.

In operation, the single-use portion 104 is provided to the user sealed in sterile packaging. The user tears open the package and assembles the disposable portion 104 and the reusable portion 102 into the configuration of the endoscope 100 seen in FIG. The polygonal opening (receptacle) of barrel 130 mates, and electrical contacts 121 and 123 mate to establish an electrical connection. No tools are required to assemble endoscope 100 . The user then locks the reusable portion 102 and the disposable portion 104 to each other by rotating the catch 146 from the open position seen in FIG. 1B to the closed position seen in FIG. 1A . A user may grasp and hold handle 106 to insert cannula 110 into a patient, eg, toward or into a urinary or reproductive organ. The cannula 110 can be robotically rotated relative to the handle 106, the angular direction and extent of rotation being controlled by manually operated buttons 115,117. Because the front end 114 is at an angle to the axis A as shown in FIGS. 1A and 1B , rotation of the cannula allows viewing of the internal organ from different directions. For example, through such rotation of cannula 110, imaging module 116 may be used to examine all or nearly all of the inner walls of the bladder. In some embodiments, the degree of rotation of cannula 110 may be limited, for example, to a semicircle or less in each direction, with appropriate mechanical stops preventing rotation of barrel 130 in each direction beyond a selected angle. (and the angle can be different in different angular directions), or the motor 111 is electronically controlled by the electronic device 119 . After the endoscope 100 has been used in a medical procedure, the user moves the catch 146 to its open position, pulls the reusable portion 102 away from the reusable portion 104 by hand, without tools, and proceeds in accordance with the procedures for disposing of medical waste. The program discards the used single-use portion. For other examples of rotating cannulas, see patents 9,895,048, 11,350,816, and 11,330,973, and US patent applications 17/745,526 and 17/835,624, which are incorporated by reference.

Figures 2A-2E illustrate an endoscope 200 that, in some embodiments, robotically controls the motorized angle of the tip of a cannula that is part of a single-use endoscope and that is reusable. A portion of a use portion that is releasably attached to the cannula to form an assembled endoscope.

2A is a right side view of the second assembled endoscope 200, FIG. 2B is a perspective exploded view of the right side of the endoscope 200 when it is not assembled, and FIG. 2C is an exploded perspective view of the left side of the endoscope 200 when it is not assembled 2D is a rear left side view of the single-use portion of endoscope 200, and FIG. 2E is a perspective exploded view of the mechanism involved in the angle of the cannula tip of endoscope 200, in some embodiments.

FIG. 2A shows an assembled endoscope 200 in which reusable portion 202 can be like reusable portion 202 in endoscope 100 except: (a) buttons 215, 217 control front end 214 of cannula 214 (b) the electronics 219 control parameters related to the angle of the front end 214 and in this respect replace the electronics 119 for controlling the rotation of the cannula, and (c) the mechanics of the electronic barrier can limit the angular extension. Reusable portion 202 is otherwise similar to reusable portion 102 of endoscope 100, except: (a) gear shaft 113 engages and rotates disc 203 with polygonal central opening (receptacle) 201 ( FIG. 2C ), which The disk replaces the drive element 128 in the endoscope 100, (b) a wire or cable transmits the angle adjustment force to the front end 214, (c) a control device 250 may be provided for the angle adjustment direction, (d) the cannula 210 is relative to the adjustable The rotation of the rear end 212 of the reusable portion 202 is manually controlled and (e) does not include an internal injection needle in the illustrated example.

Referring to FIG. 2A , buttons 215 , 217 control the angular direction and degree of front end 214 of cannula 210 . For example, button 215, when pressed, will cause front end 214 to curl upward at an angle as shown in FIG. The angle in the direction of the angle, so that the front end 214 is curled downward, as shown by the dotted line, or to a lesser or greater extent depending on how long the button 217 is depressed. Figure 2A shows the latch 146 in the open position, but in practice the latch will be in the closed position when the endoscope 200 is assembled and ready for use in a medical procedure.

Figure 2B shows the right side of reusable portion 202 and single-use portion 204, which may be assembled into endoscope 200, just as single-use portion 104 and reusable portion 102 discussed above. The single-use portion 204 can include a 3-position manually operated switch 250 that can be rotated by the user to the U position to limit the angular direction from curling up from the cannula axis A, and the D position to limit the angular direction to curling from the cannula axis A. Curl down, and a middle section where the front end 214 can be curled up or down depending on which button 215, 217 the user presses.

FIG. 2C shows the left side disposable portion 204 and reusable portion 202 of the endoscope 200 unassembled. Externally, in this view, except for the difference between the front ends 114 and 214, they are the same as the disposable portion 104 and reusable portion 102 seen in FIG. 1D. As shown in FIG. 2C, the rear end 212 of the disposable portion 204 includes a rear portion 252 that does not rotate relative to the reusable portion 202 in the assembled endoscope 200, and a portion 254 that can Rotatably mounted on portion 252 for rotation about cannula axis A relative to portion 252 . In the embodiment of endoscope 200, rotation of cannula 210 is manual—eg, a user grasps portion 254 or ports 118, 120 and rotates cannula 210 in a desired angular direction and degree. The maximum degree of rotation may be limited by mechanical stops of the non-rotating portion 252, eg, a half circle or less in each angular direction.

Figure 2D is a partial plan view of reusable portion 202 of endoscope 200, cut away from the left. Wires or cables 256 and 258 are fixed at fixed positions 260 and 262 of the disposable part 204, looped on the disc 203, and fixed at the position (not shown) of the front end 214 of the cannula 210 so that the circular Rotation of disc 203 in an angular direction pulls one of cables 256 and 258 and slacks the other, thereby angling front end 214 in an angular direction. Rotating the disk 203 in the opposite angular direction has the opposite effect on the front end 214 . As previously mentioned, mechanical stops may optionally be provided to engage the disc 203 to prevent rotation in one angular direction beyond a selected angle. The mechanical stopper can limit the rotation of the disk 203 to the same angle in each direction, and can also limit the rotation of the disk 203 to different angles in different angular directions.

2E is a cross-sectional view where the components of reusable portion 202 may be as in endoscopes 100 and 200 , and the components of disc 203 of disposable portion 204 are different from reusable portion 102 . The motor 111 is fixedly installed in the reusable parts 102 and 202, on the left side of the gear shaft 113, and is angularly connected with the buttons 115, 117 and the electronic device 119 or endoscope in the endoscope 100 by engaging the gears 260, 262. Buttons 215, 217 in mirror 200 and electronics 219 drive gear shaft 113 to a selected extent. As shown in FIG. 2E , the gear shaft 113 is fitted into the opening (socket) 201 of the disc 203 so that the disc 203 rotates together with the gear shaft 113 in the assembled endoscope 200 . The polygonal inner shape of the opening (socket) 201 fits closely with the polygonal circumference of the gear shaft 113 to ensure co-rotation, facilitate the installation of the disk 203 on the shaft 113 and the removal of the disk, and a sufficient tight fit to prevent rotation at the start, stop and undesired slipping or vibration when reversing. The cylindrical body 130 of the reusable part 102 is similarly fitted on the gear shaft 113 . For another embodiment of an endoscope in which the cannula rotates and has an angled front end, reference is made to incorporated patent 10,292,571.

In each endoscope 100 and 200, the motor 111 may be a stepper motor. In the endoscope 100, the motor 111 can be coupled with the electronic device 119, so as to be controlled and cause the electronic device 119 to keep a count of the number of steps of the motor 111, which is the rotation of the motor 11 about the axis A in the respective angular direction A measure of the angle of the cannula 110 , which is also controlled by the electronics 119 . Thus, the count stored in the electronic device 119 may be an indicator that the electronic device 119 may use to control parameters, such as how images from the imaging module 116 are displayed on the display 142 . In the endoscope 200, the electronics 219 may also count the number of motor steps as a measure of how much and in which direction the front end 214 has turned.

In one embodiment of endoscope 100, as cannula 110 is rotated, imaging module 116 therefore provides images at different angles from fixed vertical and horizontal planes, for example, relative to the room in which endoscope 100 is used in a medical procedure. The image on display 142 rotates in the same manner relative to display 142 at different angles. This mode of displaying images may be referred to as a "rotate image" mode. However, some professionals such as gynecologists may be used to the images they see with older rigid endoscopes that work like a traditional telescope and the view doesn't follow the rigid endoscope around The rotation of its major axis rotates. In endoscope 100, similar rotation of the image on display 142 may be provided by using a metric of motor 111 steps to rotate the image on display 142. To this end, the electronics 119 is configured to rotate the image on the display 142 in the same direction and to the same degree relative to the display 142 as the cannula 110 rotates relative to the rear end 112 of the reusable portion 102, using the number of motor steps and known image processing techniques developed for rotating images on computer screens. Accordingly, endoscope 100 may provide a "hold upright" mode to maintain the angular orientation of the image on display 142 relative to display 142 in the same angular orientation as the endoscope is currently viewing relative to the organ in the room. In some embodiments, the "hold upright" mode may be the only way to display images with endoscope 100 . In other embodiments, the endoscope 100 may provide both a "rotate image" mode and a "hold upright" mode, and the endoscope may provide a switch that enables the user to select one of the modes for the patient's procedure.

FIG. 3 is a partial perspective view of the right side of an endoscope 300 which may otherwise be like endoscope 100 or endoscope 200 but which, in some embodiments, has a display 302 on its front face A light source 304, providing a beam of light having a respective selected wavelength range, and further having a front camera (FFC) 306, which may include an autofocus facility, and has electronics configured to operate with said illumination source and front camera (FFC) device 308 . The light source 304 may include a set of LEDs emitting light in respective selected wavelength ranges, such as white light, blue light, green light, and the like. Catalyst 306 may include two or more cameras configured to image light in the same or each different wavelength range. For other examples of front facing cameras (FFCs) of reusable parts of endoscopes, see US Patent Application Nos. 17/473,587 and 17/835,624, which are incorporated by reference.

TLens技术，它被认为超越了许多传统语音线圈马达(VCM)的功能。预计在智能手机、可穿戴设备、消费类设备以及要求严格的工业或医疗应用中，将从语音线圈马达(VCM)技术迁移到新的

技术。

的基本结构与语音线圈马达(VCM)技术非常不同。语音线圈马达(VCM)技术通过移动镜筒来产生聚焦，而

不需要移动镜筒，只是通过光学机械方式连接到镜筒上，然后产生聚焦透镜效应来调整组合透镜组的光学特性。Catalyst 306 can be equipped with an autofocus facility, possibly of the type used in contemporary smartphones, with lenses that can be electronically focused to accommodate varying object heights and working distances. The lenses of the front facing cameras (FFCs) 306 may be liquid lenses, which are small mechanical electronically controlled units containing optical grade liquid. When a current or voltage is applied to a liquid lens cell, the cell changes shape. This change occurs within a few milliseconds and results in a change in the optical power, and thus the focal length and working distance to the object being imaged. In the embodiment of FIG. 3, the lenses of the front-facing cameras (FFCs) 306 may be controlled by the auto-focus facility of the front-facing cameras (FFCs). Alternatively, front-facing cameras (FFCs) 306 may provide lenses configured to move relative to the camera's image plane, using a voice-coil motor principle that involves a permanent magnetic field and controlling the spring by varying the DC current to the coil, thereby driving the The lens faces or faces away from the image plane. Voice coil motors (VCMs) are widely used in contemporary camera modules. Another option is

TLens technology, which is believed to surpass the capabilities of many traditional voice coil motors (VCMs). Migration from Voice Coil Motor (VCM) technology to newer

technology.

The basic structure of the voice coil motor (VCM) technology is very different. Voice Coil Motor (VCM) technology creates focus by moving the lens barrel, while

There is no need to move the lens barrel, but it is connected to the lens barrel through an optical mechanical method, and then produces a focusing lens effect to adjust the optical characteristics of the combined lens group.

Figure 4A is a right side view of an endoscope 400 which is generally disposable and has a cannula 410 which is both angled and rotatable under manual control and is designed to communicate with a remote Display 442 is used together, FIG. 4B is a left side view, and FIG. 4C is an exploded perspective view of its components in some embodiments.

Endoscope 400 includes a hub 454 with ports 418 , 420 that connect to one or more internal channels 426 in cannula 410 that extend to one or more ports 424 in cannula front 414 . An imaging module 416 is located at the front end 414 . Front end 414 is configured to be angled in a selected angular direction and to a selected degree under the control of lever 470, which rotates about axis D of pin 471 (FIG. 4C). Working channel port 472 at the rear end of handle 406 connects to a working channel that extends from the front end of port 472, through straight handle 406, through hub 454, through cannula 410 (which may also be one of channels 426) and at One of the ports 424 ends. Preferably, the cannula curve of the working channel from port 472 to front end 414 is straight, and when front end 414 is not angled, is straight and of the same diameter all the way to front end port 424. A cable 474 may connect the endoscope 400 to the external display 442, or the connection may be wireless, such as via WiFi, as indicated by the WiFi symbol. The control device 478 can be integrated with the display 442, or it can be a separate device, connected to the imaging module 416 through the cable 474 and the wires in the endoscope 400, and linked with the display 442 to control the imaging and display functions. Endoscope 400 can be manufactured relatively cheaply because it need not include a power supply or image processing electronics. Power may be provided by an external source, such as display 442 and/or control 478 or a separate source, while image processing may be performed by control 478 and/or display 442 .

Cannula 410 is affixed to hub 454 which is rotatably mounted on handle 406 for rotation about cannula axis A relative to handle 406 . As shown in FIGS. 4A and 4B , lever 470 can be manually rotated about pin 471 , typically by grasping handle 406 with the user's thumb.

4C is an exploded perspective view of the endoscope 400 assembly showing a unit comprising a cannula 410 and a hub 454 rotatably mounted to the forward end of the handle 406 by a connection 480 so as to co-rotate with the cannula 410 about axis A Rotate relative to the handle 46. The handle 406 includes a wheel half 482 mounted for rotation about axis D on a needle 471 on which a lever 470 is mounted for rotation. Half-wheel 482 functions like disc 203 .

The entire endoscope 400 is provided to the user in a sealed sterile package. During a medical procedure, the user tears open the packaging and connects the cable 474 to the remote display 442 and/or control 478, or establishes a wireless connection. The user controls the imaging module 416 via the display 442 and/or the controls 478, which modules are configured to perform the desired image processing, as described above for the endoscopes 100, 200, and 300. After the medical procedure is over, the entire endoscope 400 is disposed of as medical waste.

Figure 5A is a right side view of an endoscope 500 which is otherwise similar to endoscope 400 except that the angle of the front end 514 of the cannula 510 is robotically controlled by a motor 511 (Figure 5C) and buttons 515, 517 , and the mechanisms that transmit motion from the motor to the guidewire and cable differ. Figure 5B is a left side view thereof, and Figure 5C is an exploded perspective view of its components in some embodiments.

The components remote from the front end of handle 506 may be like the components remote from the front end of handle 406 . Corresponding components differ only by the first digit of their numbering. Handle 506 differs from handle 406 only in that handle 506 includes a motor 511 ( FIG. 5C ) that rotates plate 584 under control of buttons 515 , 517 instead of manual control of the angle of endoscope 400 .

Referring to FIG. 5C, the handle 506 is formed by half shells 506a and 506b and includes a motor 511 which rotates a gear shaft 560 about an axis D. A half wheel 582 is fitted on the gear shaft 560 to rotate therewith. A flat plate 584 is fixed on the half wheel. Wheel 582 rotates about axis D therewith.

Although the foregoing has been described in detail for purposes of clarity, it will be evident that certain changes and modifications can be made without departing from the principles of the invention. It should be noted that there are many alternative ways of implementing the processes and apparatus described herein. Accordingly, the present embodiments should be considered as illustrative rather than restrictive, and the body of work described herein is not limited to the details given herein, which may be modified within the scope and range of equivalents of the appended claims .

Claims (20)

1. A small robotic endoscope comprising: a reusable portion configured to be hand-held and having an elongated slot with an open face extending along the axis of the cannula; a single-use portion comprising a cannula extending along the cannula axis; Wherein, the disposable part has a front end and a back end, comprising: An imaging module located at the front end, including one or more cameras and one or more light sources; a rear port at the rear, a front port at the front, and an internal channel extending from the rear port to the front port; an actuation element located at the rear end configured to selectively alter a physical parameter of the cannula when actuated; and single-use electrical contacts located at the rear; Wherein, the reusable parts include: an internal power source; an internal motor; a gear shaft extending into said slot and cooperating with the motor for selective rotation; a reusable electrical contact located within said slot; One or more manually operated motor control buttons, connected to the power source and the motor, to cause the motor to drive the gear shaft in a selected angular direction; one or more manually operable image control buttons configured to control the imaging module; wherein the rear end of said disposable part is configured to fit into said slot of the reusable part in a direction transverse to the axis of the cannula, thereby interfitting said electrical contacts in a single movement, and cooperating the gear shaft with the drive element to form an assembled endoscope; and Among them, in the assembled endoscope: the one or more image control buttons are configured to selectively control transmission of image data from the imaging module for display; and The one or more motor control buttons are configured to selectively control at least one of: (a) robotic rotation of the cannula about the cannula axis in and through a selected angular direction, (b) The leading end portion of the tube is at a robotic angle at a selected orientation relative to the axis of the cannula and at a selected angle relative to the axis of the cannula. 2. The small robotic endoscope of claim 1, wherein the one or more motor control buttons are configured to selectively control the cannula in selected angular directions about the cannula axis and through selected Rotate the robot at a certain angle. 3. The small robotic endoscope of claim 1, wherein the one or more motor control buttons are configured to selectively control the cannula front end portion in a selected direction relative to the cannula axis and Robot angle through the selected angle relative to the axis of the cannula. 4. The small robotic endoscope of claim 1, further comprising a display mounted on the reusable portion, coupled to the imaging module, and configured to display images acquired therewith. 5. The small robotic endoscope according to claim 1 , further comprising a display mounted on the reusable part and having a rear-facing side and a front-facing side configured to display the image data ,include: A forward-facing camera module (FFC) configured to image objects at a greater distance from it and including an autofocus facility with lenses configured to automatically maintain said the focus of the object; and A forward lighting module (FFL) configured to illuminate the object. 6. The small robotic endoscope according to claim 5, characterized in that said camera module (FFC) comprises at least two cameras spaced apart in a direction transverse to the axis of the cannula and configured to provide the following At least one of: (a) a stereoscopic image, (b) an image of a wavelength range of light that differs between at least two of said cameras. 7. The small robotic endoscope of claim 1, wherein the reusable portion further includes a latch configured to move between an open position and a closed position, in which the lock The clasp clears the slot so that relative movement therebetween of the disposable and reusable parts assembles only in a direction transverse to the axis of the cannula. In the closed position, the clasp retains the disposable and reusable parts as An assembled endoscope. 8. The small robotic endoscope of claim 1, further comprising an injection needle permanently mounted within the cannula and configured to inject and The entirety of the needle moves between retracted positions within the single-use portion, and a needle controller mounted to the single-use portion and configured to move the injection needle between the extended and retracted positions. 9. The small robotic endoscope according to claim 1, wherein the cannula is configured to rotate relative to the front end of the single-use part, and the drive element at the rear end of the single-use part comprises a second A gear mounted on the gear shaft in the assembled endoscope for rotation about an axis extending across the cannula shaft. A second gear meshed with the first gear to rotate around an axis parallel to the shaft of the cannula, a third gear connected to the second gear to rotate therewith, and a fourth gear cooperating with the third gear to rotate around the shaft of the cannula The tube axis rotates so that the front end of the cannula rotates about the cannula axis relative to the rear end of the disposable part. 10. The small robotic endoscope of claim 1, wherein the front end of the cannula is configured to be angled by the selected angle, and the drive element located at the rear end of the single-use portion comprises a rotating disk mounted on a gear shaft in the assembled endoscope so as to rotate about an axis transverse to the cannula shaft, and the single-use part includes coupling the rotating disk to the front end of the cannula. The guidewire is attached so that rotation of the rotating disk causes the tip of the cannula to be angled relative to the cannula axis. 11. A small robotic endoscope set consisting of a reusable part and two distinct single-use parts, where the first part has a motor-driven cannula rotation and the second part has a motor-driven Cannula tip angle, where: The reusable portion is configured to be hand-held and has an elongated slot having an open face extending along the axis of the cannula, an internal motor and a gear shaft extending into said slot, and configured For selective rotation about the axis by the motor, and an electrical contact in said slot. The first disposable portion is configured to snap into the slot only in a direction transverse to the axis of the cannula, thereby being coupled with the reusable portion to form a first assembled endoscope and comprising an imaging the front end of the module; the rear end has a socket configured to mate with the gear shaft for rotation about the axis in the first assembled endoscope, and a gear set that connects the socket to the first disposable the front end of the use part is connected for rotation relative to the rear end about the axis of the cannula in a selected angular direction and to a selected extent; The second disposable part is also configured to couple with the reusable part by snapping into the slot only in the direction transverse to the shaft of the sleeve, thereby forming a second assembled endoscope and comprising an imaging the front end of the module; the rear end has a socket configured to fit over said gear shaft for rotation about the shaft axis in the second assembled endoscope, and the guide wire connects the socket to the front end of the second disposable part rising so that the front end of the second disposable portion is angled relative to the rear end thereof in a selected direction and to a selected degree relative to the cannula axis; The same reusable part thus forms a first endoscope in which the front end of the first disposable part is robotically rotated, or a second endoscope in which the front end of the single-use part is robotically tilted. 12. The small robotic endoscope set consisting of a reusable part and two different disposable parts according to claim 11, wherein the rear end of the first disposable part further comprises a Manual control associated with the front end of the first disposable portion so that it is angled relative to the rear end of the first disposable portion in a selected direction and to a selected degree relative to the cannula axis. 13. The small robotic endoscope set consisting of a reusable part and two different disposable parts according to claim 11, wherein the rear end of the second disposable part further comprises a The front end of the second disposable part is manually controlled to rotate about the cannula axis in a selected direction and to a selected degree relative to the rear end of the second disposable part. 14. A small robotic endoscope set consisting of a reusable part and two different single-use parts according to claim 11, wherein the frontmost part of the reusable part includes a display mounted thereon , and having a rear face configured to display images acquired with the imaging module, and a front face having a light source and one or more forward facing cameras (FFCs) configured to image objects in front of it, and provide autofocus on the object as the endoscope moves relative to the object. 15. A robotic endoscope, which is disposable in its entirety, comprising: a handle having a front end and a rear end configured to be grasped by the user's hand and further having a working access opening at the rear end thereof, an internal motor having a motor shaft rotatable when the motor is energized, and a button configured to selectively energize the motor to rotate the motor shaft in a selected angular orientation and through a selected angle; a hub, the rear end of which is permanently mounted to the front end of the handle for relative rotation about the axis of the cannula; a cannula with its rear end permanently secured to the front end of the hub, extending along the cannula axis and having an imaging module and a working channel port at its front end; a working channel with a constant internal area extending from the working channel port at the rear end of the handle to the working channel port at the front end of the cannula; a coupling element connecting the motor shaft to the cannula tip and configured to translate rotation of the motor shaft in a selected angular direction through a selected angle to the cannula tip in a selected orientation and relative to the cannula axis The angle of the selected degree of ; and A transmission facility coupled to the imaging module to transmit the images it acquires to a display external to the single-use endoscope. 16. The robotic endoscope of claim 15, further comprising a remote display and control facility associated with the transport facility and configured to control the imaging module and display images acquired with the imaging module. 17. The robotic endoscope of claim 16, wherein said transmission facility is wireless. 18. An integrally disposable endoscope comprising: A handle having a front end and a rear end configured to be grasped by a user and further having a working access port at the rear end thereof, and a handle configured to be positioned relative to the handle between first and second positions Manually moved levers; a cannula with its rear end permanently secured to the front end of the hub, extending along the cannula axis and having an imaging module and a working channel port at its front end; a working channel of constant internal area extending from the working channel port at the rear end of the handle to the working channel port at the front end of the cannula; a motion translation mechanism within the handle, which is connected to the lever and the cannula tip and is configured to translate movement of the lever in a selected direction and to a selected extent to the cannula tip in a selected direction and to a selected extent relative to the angle of the cannula axis; and The transmission device connected with the imaging module is used to transmit the obtained image to the display outside the disposable endoscope. 19. The endoscope of claim 18, wherein the lever is configured to pivot about an axis transverse to the axis of the cannula, and the kinematic translation mechanism includes an element coupled to the lever to follow the pivoting of the lever. Rotate in turn, and the wire connecting the element to the tip of the cannula. 20. The endoscope of claim 18, further comprising a remote display and control facility associated with the transmission facility and configured to control the imaging module and display images acquired with the imaging module.

Images