EP4366624A1 - Endoscope with a removable sensor - Google Patents

Endoscope with a removable sensor

Info

Publication number
EP4366624A1
EP4366624A1 EP22773029.8A EP22773029A EP4366624A1 EP 4366624 A1 EP4366624 A1 EP 4366624A1 EP 22773029 A EP22773029 A EP 22773029A EP 4366624 A1 EP4366624 A1 EP 4366624A1
Authority
EP
European Patent Office
Prior art keywords
sensor
endoscope
tube portion
cable
detachably mountable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22773029.8A
Other languages
German (de)
French (fr)
Inventor
Wolfgang Mayer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hoya Corp
Original Assignee
Hoya Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hoya Corp filed Critical Hoya Corp
Publication of EP4366624A1 publication Critical patent/EP4366624A1/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/0014—Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe

Definitions

  • the present disclosure relates to an endoscope with a removable sensor.
  • Such an endoscope can be, for example, an ultrasound endoscope.
  • An ultrasound endoscope has an ultrasonic sensor (ultrasound sensor), for example, at the distal end portion (or section) of the ultrasound endoscope.
  • the ultrasonic sensor generates an ultrasound image of a region or area of a patient that is to be examined.
  • the endoscope may have a position sensor to determine the position of a specific portion of the endoscope.
  • the endoscope has a tube portion for insertion (to be inserted) into a patient.
  • a distal end portion is provided on the distal side of the tube portion.
  • the sensor is mountable (configured to be mounted) on this endoscope externally (from outside).
  • the sensor is configured to be (can be) removed from the endoscope again.
  • the sensor which is detachably mounted on the endoscope, can retrieve (query or sample) desired information to be retrieved by the sensor concerning the portion of the endoscope on which the sensor is temporarily mounted and provide this information to the operator.
  • the sensor can retrieve information about the position and orientation of the portion of the endoscope to which the sensor is temporarily mounted and provide this information to the operator.
  • the sensor can be detachably mountable on the distal end portion of the endoscope and connected to a signal transmission cable (signal transmitting cable) that is configured to be connected to a signal processing device at the end of the signal transmission cable that is opposite to the sensor. Thereby, the sensor can be used to reliably determine information about the position and orientation of the distal end portion of the endoscope in space and in relation to (relative to/with respect to) the patient.
  • the endoscope can also be provided without a signal transmission cable and the sensor signals from the sensor can be transmitted wirelessly by means of a suitable device.
  • the signal transmission cable can be detachably mountable on the tube portion of the endoscope which connects the distal end portion of the endoscope to a proximal grip unit (handle unit) of the endoscope, wherein a processor connector (processor terminal) that is configured to be connected to a processor is provided on the proximal side of the proximal grip unit.
  • a processor connector processor terminal
  • the signal transmission cable does not interfere with the handling of the endoscope.
  • the sensor can be detachably mountable on the endoscope by means of a snap-in connection (click-in/on connection), a detachable (releasable) adhesive connection, or a mechanical plugin connection. Thereby, the sensor can be mounted on the endoscope and removed again with ease.
  • the signal transmission cable can be detachably mountable on the tube portion by means of a snap-in connection, a detachable adhesive connection, or a mechanical plug-in connection. Thereby, the signal transmission cable can be mounted on the tube portion and removed again with ease.
  • a slip-on sheath (slip-on cover/ coating) can be detachably mountable on the tube portion, the signal transmission cable being integrated in the slip-on sheath.
  • a slip-on sheath which serves as a signal transmission cable, can have a surface that facilitates the insertion of the tube portion and does not impede it.
  • the tube portion will only experience a slight increase in diameter when the slip-on sheath is arranged on the tube portion.
  • the outer appearance of the tube portion when fitted with the slip-on sheath matches that of a conventional tube portion.
  • the distal end portion of the endoscope may have (include) an ultrasonic sensor (ultrasound sensor), and the sensor may be detachably mountable on the endoscope in relation to (relative to/with respect to) the ultrasonic sensor in such a way that relative positional information between the sensor and the ultrasonic sensor is known or can be determined (is identifiable). This allows the exact position of the ultrasonic sensor in space and in relation to the patient to be determined reliably.
  • the sensor can be detachably mountable on the endoscope at any suitable position.
  • the sensor can be detachably mountable on the distal end portion of the endoscope adjacent to the ultrasonic sensor. Thereby, the relative position between the detachably mounted sensor and the ultrasonic sensor can be determined easily.
  • the sensor can be a Hall effect sensor (Hall sensor) or any other position determination sensor, such as a so-called EM sensor.
  • Hall sensor Hall effect sensor
  • EM sensor a passive sensor
  • a passive sensor can be used which for example receives electromagnetic or other emissions from an active sensor that is detachably mountable on the endoscope (which outputs an emission or radiation permanently or when switched on).
  • the position determination can be realised by the sensor in a technically simple and cost-effective way.
  • the signal processing device can be a separate unit from the processor (control device).
  • the information determined by the detachably mountable sensor can be handled separately from the information processed in the processor.
  • the signal processing device can be a unit combined with the processor.
  • the signal processing device can be integrated in the processor or plugged into it.
  • Fig. i shows an example of an endoscope on which a sensor is detachably mounted.
  • Fig. 2 shows a spring clip for detachably mounting a cable of the sensor on the endoscope.
  • Fig. 3 shows a perspective view in which the spring clip of Fig. 2 is mounted on a tube portion (insertion portion) of the endoscope.
  • Fig. 4 shows a perspective view of a distal portion of an endoscope with a detachably mounted sensor.
  • Fig. 5 shows a perspective view of the distal portion of the endoscope of Fig. 4, wherein the position of an ultrasound image is indicated symbolically.
  • Fig. 6 shows a perspective view of the distal portion of the endoscope of Fig. 4, wherein the position of an ultrasound image is indicated symbolically and a biopsy tool has been pushed forward through a working channel.
  • Fig. 7 shows a distal portion of an endoscope, wherein a mountable sensor has been detached from the endoscope.
  • Fig. 8 shows the distal portion of the endoscope of Fig. 7 with the sensor mounted on the endoscope.
  • Fig. 9 shows a second example of a ring element for the detachable fastening of a cable of a sensor to an endoscope.
  • Fig. 10 shows a perspective view of the second example with the ring element of Fig. 9 mounted on the tube portion of the endoscope.
  • Fig. 11 shows a perspective view of an open ring element according to the second example.
  • Fig. 12 shows a perspective view of the open ring element when positioned on a tube portion of an endoscope.
  • Fig. 13 shows a third example of an endoscope on which a sensor is mounted.
  • Fig. 14 shows a fourth example of an endoscope on which a sensor is mounted. DESCRIPTION OF THE EXAMPLES
  • Fig. i shows a perspective view of an endoscope io.
  • the endoscope io is designed as an ultrasound endoscope.
  • the endoscope io has a grip unit too as a control body of the endoscope io.
  • the grip unit too has optional control knobs no, for example for pivoting a distal portion 300.
  • an insertion portion 120 for a working channel is formed at the grip unit 100.
  • the working channel extends to the distal portion 300 in an insertion portion of the endoscope 10 embodied as a tube portion 200.
  • the tube portion 200 extends from the distal side of the grip member 100 and is used for insertion into a patient for the purposes of examination, treatment, etc.
  • the tube portion 200 is thus connected on its distal side to the distal portion 300.
  • An endoscope cable 400 is connected to the grip unit too on the proximal side of the grip unit too.
  • the endoscope cable 400 is used to supply power to the grip unit too and to transfer data between the grip unit too and a processor 801 (shown schematically in Fig. 1).
  • a processor connector 500 is provided at the proximal end of the endoscope cable 400.
  • the processor connector 500 is used to make a connection (to be connected) to the processor 801.
  • the processor 801 evaluates data obtained by the endoscope 10 and displays it on a display (not shown).
  • the distal portion 300 has an ultrasonic head or ultrasonic sensor 30, for example, see Fig. 5.
  • the distal portion 300 also comprises the working channel outlet 320, as indicated in Figures 5, 6 and 7. Otherwise, the distal portion 300 may have any other known functions.
  • the ultrasonic sensor 30 has a signal output window 31.
  • the ultrasonic sensor 30 can emit/ receive ultrasonic signals in a pre-determined detection range, shown as angular range 36, via the signal output window 31.
  • the angle bisector 35 of the angular range 36 indicates the alignment of the ultrasonic sensor 30, see Figures 5 and 6.
  • the received signals are routed to the processor 801 via a signal line running in the endoscope 10.
  • the ultrasonic signals are evaluated in a known manner.
  • an instrument 321 can be pushed forward (advanced) out of the working channel outlet 320 to a region sampled by the ultrasonic sensor 30 in the angular range 36 in a known manner.
  • the instrument 321 can be a biopsy probe for tissue examination.
  • a sensor 28 can be used as a position determination sensor, which is coupled with the distal portion 300 of the ultrasound endoscope.
  • the sensor 28 is detachably mounted on the endoscope 10 as part of a sensor assembly 20.
  • the sensor 28 is detachably mounted on the distal portion 300 of the endoscope 10. More precisely, the sensor 28 is arranged in a distal connection element 27 which forms the distal end of the sensor assembly 20.
  • the sensor 28 is embedded in the distal connection element 27.
  • the distal connection element 27 can be made of plastic.
  • the distal connection element 27 is detachably mountable on a predetermined docking portion 37 of the distal portion 300. In other words, the distal connection element 27 is detachably mountable on a predetermined docking portion 37 of the ultrasonic sensor 30.
  • the docking portion 37 can be formed on the outer circumference of the distal portion 300.
  • the docking portion 37 may have positioning devices such as projections/protrusions and recesses or snap-in hooks, snap-in lugs, etc., which allow the docking portion 37 to be positioned accurately relative to the ultrasonic sensor 30.
  • the distal connection element 27 may be equipped with appropriate counter-/ mating devices that engage with the positioning devices of the docking portion 37 when the distal connection element 27 is mounted on the docking portion 37. This defines a unique relative positional relationship between the distal connection element 27 and the docking portion 37. This in turn defines a unique relative positional relationship between sensor 28 and the ultrasonic sensor 30, since the position of the sensor 28 in the distal connection element 27 is known.
  • the distal connection element 27 can be removably mounted on the docking portion 37 in a rotationally secured (non-rotating) and non-displaceable manner.
  • the distal connection element 27 is formed in a U-shape with two wing portions 271 and 272.
  • the sensor 28 is arranged in at least one of the wing portions 271 and 272.
  • the sensor 28 can also extend over the entire distal connection element 27.
  • the sensor 28 can also be otherwise integrated in the distal connection element 27.
  • the sensor 28 can be cast in the distal connection element 27.
  • the senor 28 is embodied as a position determination sensor.
  • the sensor 28 is a sensor with preferably 6 degrees of freedom (data of three translations and three rotations; translations along three perpendicular axes forward/backward, up/down and left/right, combined with rotations about a transverse axis, a longitudinal axis and a vertical axis) for detecting the position of the ultrasonic sensor 30.
  • the senor 28 is embodied as a Hall sensor.
  • a known field generator is used at the deployment location of the endoscope 10 for generating a magnetic field.
  • the position of the sensor 28 embodied as a Hall sensor is determined. Thereby, the position and orientation of the ultrasonic sensor 30 is known, next to which the sensor 28 is located at a known distance from the ultrasonic sensor 30.
  • the sensor assembly 20 is constructed as a connection cable.
  • the sensor assembly 20 has a cable 21 with the distal connection element 27 at the distal end and a plug connector 24 at the proximal end, see Fig. 1.
  • the sensor 28 is therefore connected to the plug connector 24 via the cable 21.
  • the plug connector 24 is located at the proximal end of the cable 21.
  • the plug connector 24 can be plugged into the processor 801 mentioned above or into a signal processing device 802 separate from this processor 801.
  • the signal processing device 802 is shown schematically in Fig. 1.
  • the length of the cable 21 is approximately equal to the length of the tube portion 200 of the endoscope 10 plus the length of the endoscope cable 400 of the endoscope 10.
  • the cable 21 is mounted on the tube portion 200 of the endoscope 10 by means of a detachable fastening device 22.
  • the cable 21 can be provided with one or more fastening devices 22.
  • a plurality of fastening devices 22 are provided along the length of the tube portion 200 on the cable 21 (five fastening devices 22 are shown in Fig. 1).
  • the respective fastening device 22 can be detachably mounted on the tube portion 200.
  • the fastening device 22 is constructed as a spring clip, which is described in more detail below.
  • Fig. 2 shows a spring clip 22 build in in the cable 21 as a fastening device.
  • the spring clip 22 has a streamlined shape and has a main body 223 through which the cable 21 extends lengthwise. More specifically, the cable 21 is routed at the inner circumference of the main body 223. The main body 223 cannot be displaced (is not displaceable) relative to the cable 21.
  • a first wing 221 and a second wing 222 extend from the main body 223.
  • the first wing 221 and the second wing 222 are shaped in such a way that they can enclose portions of an outer circumference of the tube portion 200 of the endoscope 10.
  • the spring clip 22 is firmly attached to the tube portion 200, as shown in Fig. 3.
  • the wings 221 and 222 are elastic. This allows them to be bent open so that the space between the wing 221 and the wing 222 is widened to allow the wings 221, 222 to slide around the outer circumference of the tube portion 200.
  • the wings 221 and 222 are designed as flat, leaf-like wings.
  • the outer diameter at the wings 221 and 222 of the spring clip 22 is only slightly larger than the outer diameter of the tube portion 200.
  • the cable 21 of the sensor assembly 20 can be detachably mounted on the tube portion 200 by means of the respective fastening device 22, as shown in Figures 1 and 4. This allows the cable 21 to be mounted on the tube portion 200 tightened so that it does not have any disturbing cable loops, see Fig. 1.
  • the tube portion 200 can be inserted into a patient without interference from the cable 21.
  • the sensor assembly 20 is detachably mounted on the endoscope 10 in such a way that the distal connection element 27 is detachably mounted on the docking portion 37 in a rotationally secure and non- displaceable manner, and the fastening devices 22 of the cable 21 are clipped in at suitable positions on the tube portion 200 in such a way that the cable 21 rests tightly against the tube portion 200.
  • the endoscope 10 is now ready for use.
  • the exact position of the ultrasonic sensor 30 can be determined. Any change in the position and/or orientation of the ultrasonic sensor 30 can be determined by the sensor 28.
  • the sensor assembly 20 with the cable 21, the fastening device 22 and the sensor 28 has a very small lateral/width dimension (very small dimension in a direction perpendicular to the extension direction) and rests tightly against the tube portion 200.
  • the fastening device 22 prevents the cable 21 from being displaced or rotated relative to the tube portion 200.
  • the sensor assembly 20 mounted on the tube portion 200 has scarcely any effect on the handling during insertion and in the operation of the endoscope 10.
  • the sensor 28 When mounted on the distal portion 300, the sensor 28 has a fixed and well-defined relationship to the ultrasonic sensor 30. Since the sensor 28 has a fixed and well-defined relationship to the ultrasonic sensor 30, the exact position and orientation of the ultrasonic sensor 30 can be determined by the sensor 28. The secure positioning of the sensor 28 on the docking portion 37 prevents accidental rotation or displacement of the sensor 28.
  • the exact position and orientation, including any change in the position and/or orientation of the ultrasonic sensor 30, can thus be detected by the sensor 28.
  • the exact position of the region to be examined by the ultrasonic sensor 30, including the ultrasonic sensor 30 itself, can thus be determined particularly reliably in space and in relation to the patient and can be displayed on a display. It is possible to superimpose/overlay the ultrasound images with other imaging techniques, such as CT and MR. Three-dimensional ultrasound images can also be generated.
  • the sensor 28 can be mounted on and removed again from the endoscope 10 simply and quickly.
  • An endoscope can be retrofitted with the sensor, which is detachably mountable from outside.
  • the distal connection element 27 has a small radial dimension.
  • the distal connection element 27, when detachably mounted on the distal portion 300 only slightly increases the radial dimension at the distal portion 300.
  • the distal connection element 27, when detachably mounted on the distal portion 300 scarcely affects the insertion of the tube portion 200 and the handling of the tube portion 200 during insertion and in the operation of the endoscope 10.
  • the relatively inexpensive sensor 28 can be replaced by another sensor 28 without the need to make changes to the relatively expensive endoscope 10.
  • the sensor module 20 with the sensor 28 can be used on an endoscope later on as a retrofit.
  • the endoscope 10 can also be used without the sensor assembly 20, i.e. without the sensor 28, if desired by the user. This provides the user with an endoscope that can be equipped with a position determination function as required, to determine the position and orientation of an ultrasonic sensor.
  • the fastening device 22 is embodied in the form of a spring clip.
  • the fastening device 22 is embodied in the form of an elastic strap holder (strap) 2022, see Figures 9 and 10.
  • the elastic strap holder 2022 has an elastic strap 2024, at the end of which a ring 2025, acting as an eye, is fixedly arranged. At an end opposite to the ring 2025, the strap 2024 is connected to a main body 2026, which is fixedly connected to the cable 21.
  • the main body 2026 serves as a cable fastening for the strap holder 2022 and cannot be displaced relative to the cable 21.
  • a protrusion 2027 is formed, which points radially outwards. The outer diameter of the protrusion 2027 is selected such that the protrusion 2027 penetrates the ring 2025. This allows the ring 2025 to be fitted onto the protrusion 2027, see Figures 9 and 10.
  • the strap 2024 has a length that is matched to the circumferential dimension of the tube portion 200. More precisely, the length of the strap 2024 is chosen in such a way that the strap 2024 extends around the circumference of the tube portion 200 in a tight fit and is hooked into the ring under tension, see Figures 12 and 10.
  • the function of the elastic strap holder 2022 is similar to that of the spring clip of the first example.
  • the elastic strap holder 2022 serves as a fastening device, with which the cable 21 of the sensor assembly 20 is detachably mounted on the tube portion 200 in a fixed and secure manner such that the cable 21 is temporarily fixed relative to the tube portion 200 in a non- displaceable and non-rotatable manner.
  • Fig. 13 shows the third example of an endoscope on which a sensor is mounted.
  • a sensor assembly with a cable 21 is detachably mounted on the endoscope.
  • the structure is similar to that of the first example.
  • the cable 21 in the third example is also detachably fastened to the endoscope cable 400.
  • permanently integrated fastening devices 22 are provided at the proximal region of the cable 21, which can be temporarily mounted on the endoscope cable 400 in such a way that the cable 21 can be temporarily fastened to the endoscope cable 400 tightly.
  • the fastening devices 22 at the proximal region of the cable 21 can have the same design as in the first or second example.
  • the cable 21 is routed to the processor or to the signal processing device, into either of which the plug connector 24 is inserted, not in a loose state, but fastened to the endoscope cable 400.
  • the cable 21 and the endoscope cable 400 are prevented from getting into impairment. A so-called cable tangle is avoided.
  • Fig. 14 shows a fourth example of an endoscope on which a sensor is mounted.
  • the sensor 28 in this example is a wirelessly operating sensor.
  • This sensor 28 is detachably mounted on the distal end portion 300 of the endoscope 10, e.g. by plug-on means or snap-in means.
  • the detachable mounting of the sensor 28 on the distal end portion 300 can be accomplished as in the first example.
  • the sensor 28 can be powered wirelessly, and the sensor 28 can transmit information wirelessly. This means that the sensor 28 does not require a cable or a cable fastening.
  • the structure corresponds to the endoscope 10 and the sensor assembly 20 from Figure 1.
  • the sensor assembly 20 has a plurality of fastening devices 22 along its longitudinal extent. In at least one of the fastening devices 22 or in multiple fastening devices 22 or in all of the fastening devices 22, an additional sensor for determining a position is integrated.
  • the exact position of the tube portion 200 in the patient can be determined and preferably displayed on a display, for example.
  • an instrument 321 embodied as a biopsy probe is pushed forward from the working channel outlet to a region sampled by the ultrasonic sensor 30 in the angular range 36.
  • the present disclosure is not limited to this.
  • the instrument 321 can be any other instrument or else a micro-endoscope.
  • the docking portion 37 does not need to have positioning devices.
  • the positional relationship between sensor 28 and ultrasonic sensor 30 can also be defined otherwise.
  • a distal connection element 27 comprising the sensor 28 can be detachably mountable on the endoscope 10 by means of a snap-in connection, a detachable adhesive connection, or a mechanical plug-in connection or any other detachable connection.
  • the sensor 28 does not need to be integrated in the distal connection element 27.
  • the sensor 28 can be positioned proximally to the connection element 27.
  • the sensor 28 can be integrated in the cable 21 of the sensor assembly 20 proximally to the connection element 27.
  • the senor 28 is in a unique and precisely known positional relationship with the ultrasonic sensor 30.
  • the positional relationship between the sensor 28 and the ultrasonic sensor 30 can be predefined or can at least be determinable.
  • the sensor 28 is embodied as a Hall effect sensor.
  • the sensor 28 can be embodied by applying any suitable technical principle for determination of a position.
  • the sensor 28 can be embodied as a magnetic 3D position sensor (such as NDI Aurora) or as 5D sensors or 6D sensors.
  • the sensor 28 can also be embodied as any inductive, capacitive or magnetic sensor to detect the position and orientation of the ultrasonic sensor 30 in space.
  • a number of further position detection sensors can be mounted at regular intervals along the tube portion 200 to detect the position of the tube portion 200 in the body. This allows the position of the tube portion 200 of the endoscope in the body to be visualised.
  • These further position detection sensors can use the same technical principle for position detection as the sensor 28, or they can be position detection sensors of a different type.
  • the sensor 28 is used for position detection of the ultrasonic sensor 30.
  • the present disclosure is not limited to this.
  • the sensor 28 can be a sensor for position detection of a different endoscope portion except for an ultrasonic sensor.
  • the sensor 28 does not need to be a sensor for position detection, but can be a gas sensor, a biosensor for decoding DNA, a sensor for detecting molecules, or an optical sensor.
  • the fastening device is designed as a spring clip 22.
  • the fastening device is designed as an elastic strap holder 2022.
  • Other ways to fasten the cable 21 to the tube portion 200 can be used.
  • a detachable snap-in fastener, an adhesive tape, a Velcro fastener, an elastic ring for pushing through the endoscope etc. can be selected as a fastening device.
  • a separate sheath member can be pushed onto the tube portion 200, wherein the sheath member has the function of the cable 21.
  • further sensors can be integrated in this separate sheath member along the longitudinal extent of the sheath element.
  • the external appearance of such an alternative endoscope would be the same as an endoscope 10 in Fig. 1 without a sensor assembly 20.
  • This separate sheath member can be removable from the endoscope 10 and therefore temporarily mountable on it.
  • This separate sheath member can be used to determine the position and orientation of the ultrasonic sensor 30 and the tube portion 200 as described in the above examples.
  • the separate sheath member not only provides guiding for the cable and sensor, but also protects the patient from injury. Because the separate sheath member can be formed so as to have few or no undercuts, it provides good protection against contamination.
  • the present disclosure is preferably applicable to an ultrasound endoscope. However, the present disclosure can also be applied to any other type of endoscope.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Optics & Photonics (AREA)
  • Endoscopes (AREA)

Abstract

The present disclosure relates to an endoscope (10) with a tube portion (200) for insertion into a patient, a distal end portion (300) being provided on a distal side of the tube portion (200),and at least one sensor (28). The sensor (28) is detachably mountable on the endoscope (10).

Description

Endoscope with a removable sensor
FIELD OF THE DISCLOSURE
The present disclosure relates to an endoscope with a removable sensor.
BACKGROUND
Such an endoscope can be, for example, an ultrasound endoscope. An ultrasound endoscope has an ultrasonic sensor (ultrasound sensor), for example, at the distal end portion (or section) of the ultrasound endoscope. The ultrasonic sensor generates an ultrasound image of a region or area of a patient that is to be examined. The endoscope may have a position sensor to determine the position of a specific portion of the endoscope.
SUMMARY OF THE DISCLOSURE
It is an object of the present disclosure to reliably determine the exact position of a specific endoscope portion or of the region to be examined in space and in relation to the patient.
This object is achieved by means of an endoscope according to claim i.
Examples thereof are detailed in the dependent claims.
The endoscope has a tube portion for insertion (to be inserted) into a patient. A distal end portion is provided on the distal side of the tube portion. The sensor is mountable (configured to be mounted) on this endoscope externally (from outside). The sensor is configured to be (can be) removed from the endoscope again.
The sensor, which is detachably mounted on the endoscope, can retrieve (query or sample) desired information to be retrieved by the sensor concerning the portion of the endoscope on which the sensor is temporarily mounted and provide this information to the operator.
If the sensor is designed as a position determination sensor (position detection sensor), the sensor can retrieve information about the position and orientation of the portion of the endoscope to which the sensor is temporarily mounted and provide this information to the operator. The sensor can be detachably mountable on the distal end portion of the endoscope and connected to a signal transmission cable (signal transmitting cable) that is configured to be connected to a signal processing device at the end of the signal transmission cable that is opposite to the sensor. Thereby, the sensor can be used to reliably determine information about the position and orientation of the distal end portion of the endoscope in space and in relation to (relative to/with respect to) the patient.
Alternatively, the endoscope can also be provided without a signal transmission cable and the sensor signals from the sensor can be transmitted wirelessly by means of a suitable device.
The signal transmission cable can be detachably mountable on the tube portion of the endoscope which connects the distal end portion of the endoscope to a proximal grip unit (handle unit) of the endoscope, wherein a processor connector (processor terminal) that is configured to be connected to a processor is provided on the proximal side of the proximal grip unit. Thus, the signal transmission cable does not interfere with the handling of the endoscope.
The sensor can be detachably mountable on the endoscope by means of a snap-in connection (click-in/on connection), a detachable (releasable) adhesive connection, or a mechanical plugin connection. Thereby, the sensor can be mounted on the endoscope and removed again with ease.
The signal transmission cable can be detachably mountable on the tube portion by means of a snap-in connection, a detachable adhesive connection, or a mechanical plug-in connection. Thereby, the signal transmission cable can be mounted on the tube portion and removed again with ease.
A slip-on sheath (slip-on cover/ coating) can be detachably mountable on the tube portion, the signal transmission cable being integrated in the slip-on sheath. Such a slip-on sheath, which serves as a signal transmission cable, can have a surface that facilitates the insertion of the tube portion and does not impede it. Furthermore, if a particularly thin slip-on sheath is selected, the tube portion will only experience a slight increase in diameter when the slip-on sheath is arranged on the tube portion. The outer appearance of the tube portion when fitted with the slip-on sheath matches that of a conventional tube portion. In addition, the use of the slip-on sheath ensures in a particularly advantageous way that the signal transmission cable is not displaced (does not move) on the tube portion. The signal transmission cable is thus arranged on the tube portion in a rotationally and positionally secured manner. The distal end portion of the endoscope may have (include) an ultrasonic sensor (ultrasound sensor), and the sensor may be detachably mountable on the endoscope in relation to (relative to/with respect to) the ultrasonic sensor in such a way that relative positional information between the sensor and the ultrasonic sensor is known or can be determined (is identifiable). This allows the exact position of the ultrasonic sensor in space and in relation to the patient to be determined reliably. The sensor can be detachably mountable on the endoscope at any suitable position.
The sensor can be detachably mountable on the distal end portion of the endoscope adjacent to the ultrasonic sensor. Thereby, the relative position between the detachably mounted sensor and the ultrasonic sensor can be determined easily.
The sensor can be a Hall effect sensor (Hall sensor) or any other position determination sensor, such as a so-called EM sensor. For example, a passive sensor can be used which for example receives electromagnetic or other emissions from an active sensor that is detachably mountable on the endoscope (which outputs an emission or radiation permanently or when switched on). Thereby, the position determination can be realised by the sensor in a technically simple and cost-effective way.
In addition, in a combination (set) of an endoscope with the detachably mountable sensor, a signal processing device and a processor, the signal processing device can be a separate unit from the processor (control device). Thereby, the information determined by the detachably mountable sensor can be handled separately from the information processed in the processor.
In addition, in a combination of an endoscope with the detachably mountable sensor, a signal processing device and a processor, the signal processing device can be a unit combined with the processor. The signal processing device can be integrated in the processor or plugged into it.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. i shows an example of an endoscope on which a sensor is detachably mounted.
Fig. 2 shows a spring clip for detachably mounting a cable of the sensor on the endoscope. Fig. 3 shows a perspective view in which the spring clip of Fig. 2 is mounted on a tube portion (insertion portion) of the endoscope.
Fig. 4 shows a perspective view of a distal portion of an endoscope with a detachably mounted sensor.
Fig. 5 shows a perspective view of the distal portion of the endoscope of Fig. 4, wherein the position of an ultrasound image is indicated symbolically.
Fig. 6 shows a perspective view of the distal portion of the endoscope of Fig. 4, wherein the position of an ultrasound image is indicated symbolically and a biopsy tool has been pushed forward through a working channel.
Fig. 7 shows a distal portion of an endoscope, wherein a mountable sensor has been detached from the endoscope.
Fig. 8 shows the distal portion of the endoscope of Fig. 7 with the sensor mounted on the endoscope.
Fig. 9 shows a second example of a ring element for the detachable fastening of a cable of a sensor to an endoscope.
Fig. 10 shows a perspective view of the second example with the ring element of Fig. 9 mounted on the tube portion of the endoscope.
Fig. 11 shows a perspective view of an open ring element according to the second example.
Fig. 12 shows a perspective view of the open ring element when positioned on a tube portion of an endoscope.
Fig. 13 shows a third example of an endoscope on which a sensor is mounted.
Fig. 14 shows a fourth example of an endoscope on which a sensor is mounted. DESCRIPTION OF THE EXAMPLES
Examples of the present disclosure are described in the following.
First example
At first, a first example will be described with reference to Figures i to 8.
General structure
Fig. i shows a perspective view of an endoscope io. In the first example, the endoscope io is designed as an ultrasound endoscope.
The endoscope io has a grip unit too as a control body of the endoscope io. The grip unit too has optional control knobs no, for example for pivoting a distal portion 300. In addition, an insertion portion 120 for a working channel, for example, is formed at the grip unit 100. The working channel extends to the distal portion 300 in an insertion portion of the endoscope 10 embodied as a tube portion 200. The tube portion 200 extends from the distal side of the grip member 100 and is used for insertion into a patient for the purposes of examination, treatment, etc. The tube portion 200 is thus connected on its distal side to the distal portion 300. When pivoting the distal portion 300, the distal portion 300 is moved relative to the tube portion 200 (relative to the distal end of the tube portion 200).
An endoscope cable 400 is connected to the grip unit too on the proximal side of the grip unit too. The endoscope cable 400 is used to supply power to the grip unit too and to transfer data between the grip unit too and a processor 801 (shown schematically in Fig. 1). A processor connector 500 is provided at the proximal end of the endoscope cable 400. Thus, the endoscope cable 400 extends from the grip unit too to the processor connector 500. The processor connector 500 is used to make a connection (to be connected) to the processor 801. The processor 801 evaluates data obtained by the endoscope 10 and displays it on a display (not shown).
The distal portion 300 has an ultrasonic head or ultrasonic sensor 30, for example, see Fig. 5. The distal portion 300 also comprises the working channel outlet 320, as indicated in Figures 5, 6 and 7. Otherwise, the distal portion 300 may have any other known functions. The ultrasonic sensor 30 has a signal output window 31. The ultrasonic sensor 30 can emit/ receive ultrasonic signals in a pre-determined detection range, shown as angular range 36, via the signal output window 31. The angle bisector 35 of the angular range 36 indicates the alignment of the ultrasonic sensor 30, see Figures 5 and 6. The received signals are routed to the processor 801 via a signal line running in the endoscope 10. The ultrasonic signals are evaluated in a known manner.
As shown in Fig. 6, an instrument 321 can be pushed forward (advanced) out of the working channel outlet 320 to a region sampled by the ultrasonic sensor 30 in the angular range 36 in a known manner. The instrument 321 can be a biopsy probe for tissue examination.
In order to be able to display the exact position of the region to be examined in space and in relation to the patient, a sensor 28 can be used as a position determination sensor, which is coupled with the distal portion 300 of the ultrasound endoscope.
In this example, the sensor 28 is detachably mounted on the endoscope 10 as part of a sensor assembly 20. In this example, the sensor 28 is detachably mounted on the distal portion 300 of the endoscope 10. More precisely, the sensor 28 is arranged in a distal connection element 27 which forms the distal end of the sensor assembly 20. For example, the sensor 28 is embedded in the distal connection element 27. The distal connection element 27 can be made of plastic. The distal connection element 27 is detachably mountable on a predetermined docking portion 37 of the distal portion 300. In other words, the distal connection element 27 is detachably mountable on a predetermined docking portion 37 of the ultrasonic sensor 30.
The docking portion 37 can be formed on the outer circumference of the distal portion 300. The docking portion 37 may have positioning devices such as projections/protrusions and recesses or snap-in hooks, snap-in lugs, etc., which allow the docking portion 37 to be positioned accurately relative to the ultrasonic sensor 30. The distal connection element 27 may be equipped with appropriate counter-/ mating devices that engage with the positioning devices of the docking portion 37 when the distal connection element 27 is mounted on the docking portion 37. This defines a unique relative positional relationship between the distal connection element 27 and the docking portion 37. This in turn defines a unique relative positional relationship between sensor 28 and the ultrasonic sensor 30, since the position of the sensor 28 in the distal connection element 27 is known. The distal connection element 27 can be removably mounted on the docking portion 37 in a rotationally secured (non-rotating) and non-displaceable manner.
In this example, the distal connection element 27 is formed in a U-shape with two wing portions 271 and 272. The sensor 28 is arranged in at least one of the wing portions 271 and 272. The sensor 28 can also extend over the entire distal connection element 27. The sensor 28 can also be otherwise integrated in the distal connection element 27. The sensor 28 can be cast in the distal connection element 27.
In the present example the sensor 28 is embodied as a position determination sensor. The sensor 28 is a sensor with preferably 6 degrees of freedom (data of three translations and three rotations; translations along three perpendicular axes forward/backward, up/down and left/right, combined with rotations about a transverse axis, a longitudinal axis and a vertical axis) for detecting the position of the ultrasonic sensor 30.
In this example, the sensor 28 is embodied as a Hall sensor. For this purpose, a known field generator is used at the deployment location of the endoscope 10 for generating a magnetic field. The position of the sensor 28 embodied as a Hall sensor is determined. Thereby, the position and orientation of the ultrasonic sensor 30 is known, next to which the sensor 28 is located at a known distance from the ultrasonic sensor 30.
The sensor assembly 20 is constructed as a connection cable. The sensor assembly 20 has a cable 21 with the distal connection element 27 at the distal end and a plug connector 24 at the proximal end, see Fig. 1.
In the sensor assembly 20, the sensor 28 is therefore connected to the plug connector 24 via the cable 21. The plug connector 24 is located at the proximal end of the cable 21. The plug connector 24 can be plugged into the processor 801 mentioned above or into a signal processing device 802 separate from this processor 801. The signal processing device 802 is shown schematically in Fig. 1.
The length of the cable 21 is approximately equal to the length of the tube portion 200 of the endoscope 10 plus the length of the endoscope cable 400 of the endoscope 10. The cable 21 is mounted on the tube portion 200 of the endoscope 10 by means of a detachable fastening device 22. Along the length of the tube portion 200, the cable 21 can be provided with one or more fastening devices 22. In this example, a plurality of fastening devices 22 are provided along the length of the tube portion 200 on the cable 21 (five fastening devices 22 are shown in Fig. 1). The respective fastening device 22 can be detachably mounted on the tube portion 200.
In this example, the fastening device 22 is constructed as a spring clip, which is described in more detail below.
Fig. 2 shows a spring clip 22 build in in the cable 21 as a fastening device.
The spring clip 22 has a streamlined shape and has a main body 223 through which the cable 21 extends lengthwise. More specifically, the cable 21 is routed at the inner circumference of the main body 223. The main body 223 cannot be displaced (is not displaceable) relative to the cable 21.
A first wing 221 and a second wing 222 extend from the main body 223. The first wing 221 and the second wing 222 are shaped in such a way that they can enclose portions of an outer circumference of the tube portion 200 of the endoscope 10. As a result, the spring clip 22 is firmly attached to the tube portion 200, as shown in Fig. 3. The wings 221 and 222 are elastic. This allows them to be bent open so that the space between the wing 221 and the wing 222 is widened to allow the wings 221, 222 to slide around the outer circumference of the tube portion 200.
The wings 221 and 222 are designed as flat, leaf-like wings. When the spring clip 22 is detachably mounted on the tube portion 200 as described above, as shown in Fig. 3, the outer diameter at the wings 221 and 222 of the spring clip 22 is only slightly larger than the outer diameter of the tube portion 200.
This means that the cable 21 of the sensor assembly 20 can be detachably mounted on the tube portion 200 by means of the respective fastening device 22, as shown in Figures 1 and 4. This allows the cable 21 to be mounted on the tube portion 200 tightened so that it does not have any disturbing cable loops, see Fig. 1.
Since the cable 21 is securely arranged on the tube portion 200 by means of the fastening device 22, the tube portion 200 can be inserted into a patient without interference from the cable 21. Mode of operation
The sensor assembly 20 is detachably mounted on the endoscope 10 in such a way that the distal connection element 27 is detachably mounted on the docking portion 37 in a rotationally secure and non- displaceable manner, and the fastening devices 22 of the cable 21 are clipped in at suitable positions on the tube portion 200 in such a way that the cable 21 rests tightly against the tube portion 200.
The endoscope 10 is now ready for use. The exact position of the ultrasonic sensor 30 can be determined. Any change in the position and/or orientation of the ultrasonic sensor 30 can be determined by the sensor 28.
Effects of the present disclosure
The sensor assembly 20 with the cable 21, the fastening device 22 and the sensor 28 has a very small lateral/width dimension (very small dimension in a direction perpendicular to the extension direction) and rests tightly against the tube portion 200. The fastening device 22 prevents the cable 21 from being displaced or rotated relative to the tube portion 200. Thus, the sensor assembly 20 mounted on the tube portion 200 has scarcely any effect on the handling during insertion and in the operation of the endoscope 10.
When mounted on the distal portion 300, the sensor 28 has a fixed and well-defined relationship to the ultrasonic sensor 30. Since the sensor 28 has a fixed and well-defined relationship to the ultrasonic sensor 30, the exact position and orientation of the ultrasonic sensor 30 can be determined by the sensor 28. The secure positioning of the sensor 28 on the docking portion 37 prevents accidental rotation or displacement of the sensor 28.
The exact position and orientation, including any change in the position and/or orientation of the ultrasonic sensor 30, can thus be detected by the sensor 28. This allows the position of the ultrasound image determined by the ultrasonic sensor 30 in space and in relation to the patient to be determined and visualised. The exact position of the region to be examined by the ultrasonic sensor 30, including the ultrasonic sensor 30 itself, can thus be determined particularly reliably in space and in relation to the patient and can be displayed on a display. It is possible to superimpose/overlay the ultrasound images with other imaging techniques, such as CT and MR. Three-dimensional ultrasound images can also be generated. The sensor 28 can be mounted on and removed again from the endoscope 10 simply and quickly.
The principle explained above can also be applied to already existing endoscopes. An endoscope can be retrofitted with the sensor, which is detachably mountable from outside.
The distal connection element 27 has a small radial dimension. Thus, the distal connection element 27, when detachably mounted on the distal portion 300, only slightly increases the radial dimension at the distal portion 300. Thus, the distal connection element 27, when detachably mounted on the distal portion 300, scarcely affects the insertion of the tube portion 200 and the handling of the tube portion 200 during insertion and in the operation of the endoscope 10.
Since the sensor assembly 20 with the sensor 28 is formed separately from the endoscope 10, the relatively inexpensive sensor 28 can be replaced by another sensor 28 without the need to make changes to the relatively expensive endoscope 10.
The sensor module 20 with the sensor 28 can be used on an endoscope later on as a retrofit.
Since the sensor assembly 20 with the sensor 28 is formed separately from the endoscope 10, the endoscope 10 as required can also be used without the sensor assembly 20, i.e. without the sensor 28, if desired by the user. This provides the user with an endoscope that can be equipped with a position determination function as required, to determine the position and orientation of an ultrasonic sensor.
Second example
In the following, a second example will be described with reference to Figures 9 to 12.
In the first example, the fastening device 22 is embodied in the form of a spring clip. In this second example, the fastening device 22 is embodied in the form of an elastic strap holder (strap) 2022, see Figures 9 and 10.
The elastic strap holder 2022 has an elastic strap 2024, at the end of which a ring 2025, acting as an eye, is fixedly arranged. At an end opposite to the ring 2025, the strap 2024 is connected to a main body 2026, which is fixedly connected to the cable 21. The main body 2026 serves as a cable fastening for the strap holder 2022 and cannot be displaced relative to the cable 21. On the main body 2026, a protrusion 2027 is formed, which points radially outwards. The outer diameter of the protrusion 2027 is selected such that the protrusion 2027 penetrates the ring 2025. This allows the ring 2025 to be fitted onto the protrusion 2027, see Figures 9 and 10.
The strap 2024 has a length that is matched to the circumferential dimension of the tube portion 200. More precisely, the length of the strap 2024 is chosen in such a way that the strap 2024 extends around the circumference of the tube portion 200 in a tight fit and is hooked into the ring under tension, see Figures 12 and 10.
The function of the elastic strap holder 2022 is similar to that of the spring clip of the first example. The elastic strap holder 2022 serves as a fastening device, with which the cable 21 of the sensor assembly 20 is detachably mounted on the tube portion 200 in a fixed and secure manner such that the cable 21 is temporarily fixed relative to the tube portion 200 in a non- displaceable and non-rotatable manner.
Third example
In the following, a third example is described with reference to Fig. 13.
Fig. 13 shows the third example of an endoscope on which a sensor is mounted.
A sensor assembly with a cable 21 is detachably mounted on the endoscope. The structure is similar to that of the first example. In addition to the detachable fastening of the cable 21 to the tube portion 200 (as in the first example), the cable 21 in the third example is also detachably fastened to the endoscope cable 400. For this purpose, permanently integrated fastening devices 22 are provided at the proximal region of the cable 21, which can be temporarily mounted on the endoscope cable 400 in such a way that the cable 21 can be temporarily fastened to the endoscope cable 400 tightly.
The fastening devices 22 at the proximal region of the cable 21 can have the same design as in the first or second example.
The cable 21 is routed to the processor or to the signal processing device, into either of which the plug connector 24 is inserted, not in a loose state, but fastened to the endoscope cable 400. In the third example, the cable 21 and the endoscope cable 400 are prevented from getting into impairment. A so-called cable tangle is avoided.
Fourth example
Fig. 14 shows a fourth example of an endoscope on which a sensor is mounted.
The sensor 28 in this example is a wirelessly operating sensor. This sensor 28 is detachably mounted on the distal end portion 300 of the endoscope 10, e.g. by plug-on means or snap-in means. The detachable mounting of the sensor 28 on the distal end portion 300 can be accomplished as in the first example.
The sensor 28 can be powered wirelessly, and the sensor 28 can transmit information wirelessly. This means that the sensor 28 does not require a cable or a cable fastening.
Fifth example
In the following, a fifth example, not shown separately in the drawings, is described.
In this example, the structure corresponds to the endoscope 10 and the sensor assembly 20 from Figure 1.
The sensor assembly 20 has a plurality of fastening devices 22 along its longitudinal extent. In at least one of the fastening devices 22 or in multiple fastening devices 22 or in all of the fastening devices 22, an additional sensor for determining a position is integrated.
In this example, in addition to accurately determining the position of the ultrasonic sensor 30, the exact position of the tube portion 200 in the patient can be determined and preferably displayed on a display, for example.
Alternatives
The examples disclosed here can be combined arbitrarily.
In the first example, an instrument 321 embodied as a biopsy probe is pushed forward from the working channel outlet to a region sampled by the ultrasonic sensor 30 in the angular range 36. The present disclosure is not limited to this. The instrument 321 can be any other instrument or else a micro-endoscope.
The docking portion 37 does not need to have positioning devices. The positional relationship between sensor 28 and ultrasonic sensor 30 can also be defined otherwise. A distal connection element 27 comprising the sensor 28 can be detachably mountable on the endoscope 10 by means of a snap-in connection, a detachable adhesive connection, or a mechanical plug-in connection or any other detachable connection.
The sensor 28 does not need to be integrated in the distal connection element 27. The sensor 28 can be positioned proximally to the connection element 27. The sensor 28 can be integrated in the cable 21 of the sensor assembly 20 proximally to the connection element 27.
It is sufficient only that the sensor 28 is in a unique and precisely known positional relationship with the ultrasonic sensor 30. The positional relationship between the sensor 28 and the ultrasonic sensor 30 can be predefined or can at least be determinable.
In the first and second examples, the sensor 28 is embodied as a Hall effect sensor. The sensor 28 can be embodied by applying any suitable technical principle for determination of a position. For position detection, the sensor 28 can be embodied as a magnetic 3D position sensor (such as NDI Aurora) or as 5D sensors or 6D sensors. The sensor 28 can also be embodied as any inductive, capacitive or magnetic sensor to detect the position and orientation of the ultrasonic sensor 30 in space.
In addition to the sensor 28, a number of further position detection sensors can be mounted at regular intervals along the tube portion 200 to detect the position of the tube portion 200 in the body. This allows the position of the tube portion 200 of the endoscope in the body to be visualised. These further position detection sensors can use the same technical principle for position detection as the sensor 28, or they can be position detection sensors of a different type.
In the examples, the sensor 28 is used for position detection of the ultrasonic sensor 30. The present disclosure is not limited to this. The sensor 28 can be a sensor for position detection of a different endoscope portion except for an ultrasonic sensor. In addition, the sensor 28 does not need to be a sensor for position detection, but can be a gas sensor, a biosensor for decoding DNA, a sensor for detecting molecules, or an optical sensor. In the first example, the fastening device is designed as a spring clip 22. In the second example, the fastening device is designed as an elastic strap holder 2022. Other ways to fasten the cable 21 to the tube portion 200 can be used. A detachable snap-in fastener, an adhesive tape, a Velcro fastener, an elastic ring for pushing through the endoscope etc., can be selected as a fastening device.
Furthermore, a separate sheath member can be pushed onto the tube portion 200, wherein the sheath member has the function of the cable 21. In addition to the sensor 28 near to the ultrasonic sensor 30, further sensors can be integrated in this separate sheath member along the longitudinal extent of the sheath element. The external appearance of such an alternative endoscope would be the same as an endoscope 10 in Fig. 1 without a sensor assembly 20. This separate sheath member can be removable from the endoscope 10 and therefore temporarily mountable on it. This separate sheath member can be used to determine the position and orientation of the ultrasonic sensor 30 and the tube portion 200 as described in the above examples. The separate sheath member not only provides guiding for the cable and sensor, but also protects the patient from injury. Because the separate sheath member can be formed so as to have few or no undercuts, it provides good protection against contamination.
The present disclosure is preferably applicable to an ultrasound endoscope. However, the present disclosure can also be applied to any other type of endoscope.
List of reference signs
10 endoscope
20 sensor assembly
21 cable
22 spring clip (fastening device)
24 plug connector
27 distal connection element
28 sensor
30 ultrasonic sensor
31 signal output window
35 angle bisector
36 angular range of the ultrasonic sensor
37 docking portion 100 grip unit no control knobs 120 insertion portion 200 tube portion
221 wing
222 wing
223 main body
271 wing portion
272 wing portion 300 distal portion
320 working channel outlet
321 instrument 400 endoscope cable 500 processor connector
801 processor
802 signal processing device 2022 elastic strap holder
2024 strap
2025 ring
2026 main body
2027 protrusion

Claims

Claims
1. An endoscope (io) comprising a tube portion (200) for insertion into a patient, a distal end portion (300) being provided on a distal side of the tube portion (200), and at least one sensor (28), wherein the sensor (28) is detachably mountable on the endoscope (10).
2. The endoscope according to claim 1, wherein the sensor (28) is detachably mountable on the distal end portion (300) of the endoscope (10) and configured to be supplied with energy wirelessly, the sensor (28) being configured to transmit information wirelessly.
3. The endoscope according to claim 1, wherein the sensor (28) is detachably mountable on the distal end portion (300) of the endoscope (10) and is connected to a signal transmission cable (21) which is configured to be connected to a signal processing device (802) at an end (24) of the signal transmission cable (21) opposite to the sensor (28).
4. The endoscope according to claim 3, wherein the signal transmission cable (21) is detachably mountable on the tube portion (200) of the endoscope (10) which connects the distal end portion (300) of the endoscope (10) to a proximal grip unit (too) of the endoscope (10), wherein on a proximal side of the proximal grip unit (too) a processor connector (500) is provided that is configured to be connected to a processor (801).
5. The endoscope according to any one of claims 1 to 4, wherein the sensor (28) is detachably mountable on the endoscope (10) by means of a snap-in connection, a slip-on connection, a detachable adhesive connection, or a mechanical plug-in connection.
6. The endoscope according to any one of claims 3 to 5, wherein the signal transmission cable (21) is detachably mountable on the tube portion (200) by means of a snap-in connection, a detachable adhesive connection, or a mechanical plug-in connection.
7. The endoscope according to any one of claims 3 to 6, wherein a slip-on sheath is detachably mountable on the tube portion (200), the signal transmission cable (21) being integrated in the slip-on sheath.
8. The endoscope according to any one of claims 1 to 7, wherein the distal end portion (300) of the endoscope (10) comprises an ultrasonic sensor (30), and the sensor (28) is detachably mountable on the endoscope (10) in relation to the ultrasonic sensor (30) such that relative positional information between the sensor (28) and the ultrasonic sensor (30) is known or can be determined.
9. The endoscope according to claim 8, wherein the sensor (28) is detachably mountable on the distal end portion (300) of the endoscope (10) adjacent to the ultrasonic sensor (30).
10. The endoscope according to any one of claims 1 to 9, wherein the sensor (28) is a Hall effect sensor.
11. A combination of an endoscope (10) according to any one of claims 1 to 10, a signal processing device (802), and a processor (801), wherein the signal processing device (802) is a unit separate from the processor (801).
12. A combination of an endoscope (10) according to any one of claims 1 to 10, a signal processing device (802), and a processor (801), wherein the signal processing device (802) and the processor (801) form a common unit.
EP22773029.8A 2021-08-31 2022-08-31 Endoscope with a removable sensor Pending EP4366624A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021122444 2021-08-31
PCT/IB2022/058155 WO2023031813A1 (en) 2021-08-31 2022-08-31 Endoscope with a removable sensor

Publications (1)

Publication Number Publication Date
EP4366624A1 true EP4366624A1 (en) 2024-05-15

Family

ID=83361278

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22773029.8A Pending EP4366624A1 (en) 2021-08-31 2022-08-31 Endoscope with a removable sensor

Country Status (4)

Country Link
EP (1) EP4366624A1 (en)
JP (1) JP7675278B2 (en)
CN (1) CN117642123A (en)
WO (1) WO2023031813A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117653209A (en) * 2022-09-06 2024-03-08 通用电气精准医疗有限责任公司 Method and system for ultrasound-assisted endoscopy

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190080454A1 (en) * 2016-05-19 2019-03-14 Avantis Medical Systems, Inc. Methods for polyp detection
US20210068784A1 (en) * 2014-11-06 2021-03-11 Covidien Lp System for tracking and imaging a treatment probe

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2241037T3 (en) * 1996-02-15 2005-10-16 Biosense Webster, Inc. PRECISE DETERMINATION OF THE POSITION OF ENDOSCOPES.
US6248074B1 (en) * 1997-09-30 2001-06-19 Olympus Optical Co., Ltd. Ultrasonic diagnosis system in which periphery of magnetic sensor included in distal part of ultrasonic endoscope is made of non-conductive material
JPH11128228A (en) * 1997-10-28 1999-05-18 Olympus Optical Co Ltd Ultrasonic probe device
US8182422B2 (en) * 2005-12-13 2012-05-22 Avantis Medical Systems, Inc. Endoscope having detachable imaging device and method of using
JP6438460B2 (en) * 2013-05-17 2018-12-12 アヴァンティス メディカル システムズ， インコーポレイテッド Secondary imaging endoscope device
WO2017009905A1 (en) * 2015-07-10 2017-01-19 オリンパス株式会社 Flexible tube insertion device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210068784A1 (en) * 2014-11-06 2021-03-11 Covidien Lp System for tracking and imaging a treatment probe
US20190080454A1 (en) * 2016-05-19 2019-03-14 Avantis Medical Systems, Inc. Methods for polyp detection

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2023031813A1 *

Also Published As

Publication number Publication date
WO2023031813A1 (en) 2023-03-09
JP7675278B2 (en) 2025-05-12
CN117642123A (en) 2024-03-01
JP2024527917A (en) 2024-07-26

Similar Documents

Publication Publication Date Title
US20210228285A1 (en) System for detecting catheter electrodes entering into and exiting from an introducer
US9113813B2 (en) Locatable catheter
US11647891B2 (en) Endoscope device
EP3091917B1 (en) Needle guidance systems for use with ultrasound devices
JP4130226B2 (en) Precise positioning of endoscope
US20240316317A1 (en) Backend mechanism of a catheter control system
US20220225862A1 (en) Endoscope and overtube
WO2023031813A1 (en) Endoscope with a removable sensor
EP3482671B1 (en) Sensor sleeve for receiving a tool
US20050187538A1 (en) Remote control device for a medical probe
WO2023163215A1 (en) Medical manipulator system, control device, and control method
EP3426178B1 (en) A system for navigated punction, biopsy or ablation comprising a needle-like instrument and a removable sensor carrier
JP4406133B2 (en) Endoscope position detection device for endoscope
JP7346367B2 (en) hand marker
JPH0342895Y2 (en)
JPS646815Y2 (en)

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20240208

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20250319