GB2531320A

GB2531320A - Remote operations device

Info

Publication number: GB2531320A
Application number: GB1418372.7A
Authority: GB
Inventors: Baldwin Po Man Yeung; Terence Gourlay
Original assignee: AGILITY SURGICAL Ltd
Current assignee: AGILITY SURGICAL Ltd
Priority date: 2014-10-16
Filing date: 2014-10-16
Publication date: 2016-04-20
Also published as: GB201418372D0

Abstract

An operational unit 30 for a remote operations device such as an endoscope or borescope, the operational unit 30 being located or locatable at a distal end of the operations device , the operational unit 30 including or being configured to receive one or more tools or devices 55, 60 e.g. camera or illumination tools; the operational unit 30 including one or more motors, actuators or other device for producing motive force; wherein the one or more motors; actuators or other device for producing motive force, motion or action are configured to move, articulate and/or operate at least one of the tools or devices 55, 60 and/or a part of the operational unit 30 or remote operations device relative to another part of the operational unit 30 or remote operations device.

Description

Intellectual Property Office Application No. GB1418372.7 RTI\4 Date:1 April 2015 The following terms are registered trade marks and should be read as such wherever they occur in this document: Faulhaber (registered) Intellectual Property Office is an operating name of the Patent Office www.gov.uk/ipo

REMOTE OPERATIONS DEVICE

FIELD OF INVENTION

The present invention relates to devices for performing actions and operations remotely from a user. Optionally but not essentially, the device may be a surgical device such as an endoscope and associated devices and methods for operating an endoscope.

BACKGROUND OF INVENTION

Devices for performing examinations and actions in spaces where physical access and/or line of sight is difficult to obtain endoscopes and borescopes.

Applications for such devices include endoscopes for medical and surgical use and borescopes for accessing enclosed spaces in complex machinery.

Such devices typically consist of a proximate end that includes operating controls and image viewing apparatus, an intermediate portion that typically include a rigid or flexible shaft or tube and a distal end that typically includes image collection system and often one or more devices such as scissors, manipulators, cauterisers, gas/liquid injectors, suction equipment, lighting apparatus and/or the like.

An example of image collection arrangement has the image collection system comprising a lens system, connected to fibre optic cabling for relaying the image collected by the lens system through the shaft or tube to the image viewing apparatus (e.g. a CCD or CMOS imaging system, in turn collected to a processing device and screen, or an eyepiece) at the proximate end. Another example of an image collection arrangement has the imaging system at the distal end, and the signal transmitted back to the proximate end for viewing on a screen.

Movement of the endoscope and operation of any devices at the distal end is typically carried out using cables that extend from the proximate end to the distal end and can be retracted and extended by operating a suitable controller at the proximate end, in order to pull or release the cables to operate the endoscope and/or any devices at the distal end.

It may be at least one object of at least one embodiment of the present invention to obviate or mitigate at least one problem with the prior art.

It may be at least one object of at least one embodiment of the present invention to improve the precision and/or dexterity of use of a remote operations device such as an endoscope or borescope.

SUMMARY OF INVENTION

Aspects of the present invention are defined by the independent claims.

Preferred but optional features are defined by the dependent claims.

A first aspect of the present invention may relate to an operational unit for a remote operations device, such as an endoscope or borescope. The operational unit may be or comprise a distal end operational unit that may be located or configured to be located at a distal end of the remote operational device. For example, the operational unit may be for an end of the remote operations device that is furthest from a user or operator and/or insertable into a target, body or system, such as a target, body or system to be examined and/or upon which an action or operation is to be performed, in use.

The operational unit may comprise or be configured to receive one or more tools or devices. The operational unit may comprise one or more motors, actuators or other devices for producing motive force, motion or action. The one or more motors, actuators or other device for producing motive force, motion or action may be configured to move, articulate and/or operate at least one of the tools or devices and/or a part of the operational unit or remote operations device relative to another part of the operational unit or remote operations device.

The one or more motors, actuators or other devices for producing motive force, motion or action may be or comprise a niicromotor or micromotors.

The operational unit may comprise one or more handling systems. One or more or each of the tools or devices and/or part or parts of the operational unit or remote operations device may comprise, be comprised in, mounted or mountable on or in, and/or coupled or couplable with a respective handling system. The handling system may be configured to move, articulate and/or operate at least one of the tools or devices and/or a part of the operational unit or remote operations device relative to another part of the operational unit or remote operations device. One or more or each of the handling systems may be operable using one or more of the motors, actuators or other devices for producing motive force, motion or action.

One or more or each of the handling systems may be coupled to the corresponding one or more of the motors, actuators or other devices for producing motive force, motion or action by at least one corresponding actuation member, such as a linear actuation member. The actuation member may be or comprise a rigid actuation member. Optionally, the linear actuation member may comprise or be comprised in a worm drive, screw or threaded member, and/or the like. One or more or each actuation member may be coupled to the respective handling system or systems by a movable, flexible or articulated linkage. The articulated or loose linkage may comprise a bar or link member of one of the actuation member or handling system slidably, translatably and/or rotatably provided in a slot or hole of the other of the actuation member or handling system.

The operational unit may comprise a support structure. At least one or more or each handling system may be mounted or mountable on the support structure.

The handling system may comprise at least a first movable part. The first movable part may be rotatable, pivotable, slidable, translatable and/or otherwise movable relative to at least one other part, such as at least part of the support structure and/or a second or further movable part, e.g. responsive to a corresponding motor, actuator or other device for producing motive force, motion or action. The first movable part may be movable, e.g. rotatable, pivotable, slidable, translatable and/or otherwise movable relative to at least one other part in at least one (e.g. a first) plane or direction and/or along, round or over at least one (e.g. a first) axis. One or more of the motors, actuators or other devices for producing motive force, motion or action may be configured to move, e.g. rotate, pivot, slide, translate and/or otherwise move the first part relative to the at least one other part, such as at least part of the support structure and/or the second or further movable part.

The handling system may comprise at least a second and/or further movable part. The second and/or further movable part may be rotatable, pivotable, slidable, translatable and/or otherwise movable relative to at least one other part, such as at least part of the support structure and/or the first, second and/or further movable part, e.g. responsive to a corresponding motor, actuator or other device for producing motive force, motion or action. The second and/or further movable part may be movable, e.g. rotatable, pivotable, slidable, translatable and/or otherwise movable relative to the at least one other part in at least one (e.g. a second and/or further) plane or direction and/or along, round or over at least one (e.g. a second and/or further) axis. One or more of the motors, actuators or other devices for producing motive force, motion or action may be configured to move, e.g. rotate, pivot, slide, translate and/or otherwise move the second and/or further part relative to the at least one other part.

The first plane, direction or axis may be perpendicular to the second and/or further plane, direction or axis.

For example, the first part may be mounted or mountable on the support structure. The first part may be movable, e.g. rotatable, pivotable, slidable, translatable, on or relative to the support structure round the first rotation axis or in the first direction or plane by at least one of the motors, actuators or other devices for producing motive force, motion or action. The second part may be movable, e.g. rotatable, pivotable, slidable, translatable, on or relative to the support structure round the first rotation axis or in the first direction or plane with the first part, e.g. the second part may be mounted on the first part such that the first and second parts move together round the first rotation axis or in the first direction or plane but may be arranged such that the second part moves relative to and/or independently of the first part around the second rotation axis or in the second direction or plane.

The first part may comprise a rotatable spindle. The rotatable spindle may be mounted on the support structure. The first part may comprise a flange, which may extend laterally from the first part, e.g. from the spindle. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the flange, e.g. via the corresponding actuation member.

The second part may be movably, e.g. rotatably, pivotable, slidably or translatably, mounted or mountable on or to the first part. The second part may be movable, e.g. rotatable, pivotable, slidable, translatable, on or relative to the first part round the second rotation axis or in the second direction or plane by at least one other of the motors, actuators or other devices for producing motive force, motion or action.

The first part may comprise a support for movably, e.g. rotatably, pivotable, slidably or translatably, supporting the second part. The support may comprise a U-shaped support and may comprise opposing arms for supporting the second part.

The second part may comprise a flange portion. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the flange portion, e.g. via the corresponding actuation member.

The handling system may comprise at least a third part. The third part may be movably mounted, e.g. rotatably or pivotably or slidably and/ or translatably mounted to the second part, e.g. to the flange portion of the second part. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the second part via at least the third part.

The handling system may comprise at least a fourth part. The fourth part may be coupled or coupleable to the third part. The fourth part may be slidably or otherwise movably coupled or coupleable to the third part. The fourth part may be movably mounted, e.g. rotatably or pivotably or slidably and! or translatably mounted, to the support structure. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the fourth part, e.g. via the corresponding actuation member. The corresponding motor, actuator or other device for producing motive force, motion or action may be configured to move, e.g. rotate, pivot or translate, the fourth part and thereby move the third and/or second parts, e.g. relative to the first part and/or support structure.

One or more or each handling system may be configured to move the corresponding tool or device and/or the at least one part of the remote operations device relative to the at least one other part of the remote operations device through at least two degrees of freedom.

The operational unit may be configured to move the tools or devices and/or the at least one part of the remote operations device relative to the at least one other part of the remote operations device through at least two, e.g. three, such as four, five or more degrees of freedom.

The one or more motors, actuators or other devices for producing motive force, motion or action may be dimensioned in millimetres or less, e.g. sub-millimetres. For example, at least one dimension, e.g. the diameter, of the one or more motor, actuator or other device for producing motive force may be less than 10mm, such as 5mm or less, e.g. between 2 and 4mm. The length or longest dimension of the motor may be less than 40mm, e.g. less than 30mm, such as between 10 and 25mm. At least one or each of the motors, actuators or other devices for producing motive force may have a reduction ratio of at least 100:1, e.g. at least 120:1 such as approximately 125:1. At least one or each of the motors, actuators or other devices for producing motive force may be configured to generate a maximum continuous push force of between 0.5N and iON, e.g. between iN and SN, e.g. between 3 and 4N. At least one or each of the motors, actuators or other devices for producing motive force may be configured to generate a maximum intermittent push force of between 1 and 20N, e.g. between 2 and iON, such as between 3 and SN.

The one or more motors, actuators or other devices for producing motive force, motion or action may be a MEMS (micro electro-mechanical system) device. The one or more motors, actuators or other devices for producing motive force, motion or action may comprise an electrostatic motor. The one or more motors, actuators or other devices for producing motive force, motion or action may comprise a linear motor and/or a rotating motor. The one or more motors, actuators or other device for producing motive force, motion or action may comprise a piezoelectric and/or ultrasonic motor.

The at least one of the parts (e.g. the second part) of at least one or each handling system may comprise, be configured to receive or be coupled or coupleable to the tool or device and/or at least one part of the remote operations device that is movable relative to at least one other part of the remote operations device. For example, the at least one part (e.g. the second part) of at least one or each handling system may comprise a channel or passage for receiving at least pad of the tool or device. The tool or device may be mounted or mountable or coupled or coupleable to at least one of the parts (e.g. the second part) of at least one or each handling system such that the tool or device moves with the respective part (e.g. the second part) of at least one or each handling system.

In this way, the handling system(s) may be configured to articulate or operate the tools or devices and/or move at least one part of the remote operations device relative to at least one other part of the remote operations device responsive to the one or more motors, actuators or other devices for producing motive force, motion or action, which may be located in the operational unit, i.e. at the distal end or tip of the remote operations device.

The at least one part (e.g. the second part) of the handling system may comprise a mounting and the tool or device may be mounted or mountable to the at least one part using the mounting. The mounting may comprise a releasably fixable mounting, for example, having a first configuration in which the tool or device is rigidly or fixably held by the mounting and/or second configuration with the tool or device is releasable from the mounting. The mounting may be switchable between the first and second configurations. For example, the mounting may comprise a cylinder or tunnel or other member adapted to receive a part of the tool or device, e.g. in an interference or press fit. The mounting may comprise a bayonet, screw, magnetic, and/or other suitable coupling. The tool or device may be integral with the first and/or second and/or further part.

The operational unit may comprise at least one sensor, which may comprise at least one sensor for monitoring a condition of the operational unit or remote operations device and/or at least one sensor for monitoring at least one property of the environment around the operational unit or remote operations device. The at least one sensor for monitoring a condition of the operational unit may comprise a position or displacement sensor, such as a linear displacement sensor, e.g. a strain sensor. The sensor may be configured to monitor a position, location, relative location or position, orientation and/or operational state of the tool or device and/or at least the first, second, third, fourth and/or further part and/or the at least one actuation member and/or the one or more motors, actuators or other devices for producing motive force, motion or action.

The one or more tools or devices may comprise surgical tools or devices.

Examples of suitable tools or devices include scissors, snips, knives, a lance, and/or other cutting devices. Further examples of suitable tools or devices include grips, manipulators, grabbers, probes and/or other gripping, holding, restraining or manipulating devices. Other examples of suitable tools or devices include cauterisers, staplers or other tissue repair devices. Examples of suitable tools or devices include gas supply apparatus or nozzles, injection systems, suction devices and/or other material provision or removals systems. However, it will be appreciated that other tools or devices suitable for use with an endoscope may be used.

The operational unit may comprise or be configured to receive one or more imaging systems. The imaging system may comprise a camera, such as a digital camera. The imaging system may comprise an optical system, which may comprise one or more lenses. The imaging system may comprise or be comprised in a sealed unit, such as a hermetically sealed unit. The imaging system may be configured to collect optical images. The imaging system may be connected or connectable to one or more light pipes, fibre optic cables or other light transmission systems. The imaging system may be configured to transmit the optical images, e.g. to an external imaging apparatus, which may be remotely located.

The operational unit may comprise or be configured to receive at least one light source and/or at least one optical system configured to emit light, which may comprise at least one lens and comprise and/or be configured to connect to a light source light pipe, fibre optic cable or other light transmission system for transmitting light from an external light source to the optical system.

The operational unit may comprise one or more communications systems for sending and/or receiving data. For example, the communications may be configured to communicate by wireless, wired and/or optical communications, e.g. with an external controller and/or a proximate end of the remote operations device. The communications system may be configured to receive control data for controlling the one or more motors, actuators or other devices for producing motive force, motion or action, e.g. from the controller and/or a remote location. The communications system may be configured to transmit data from the sensors, e.g. to the controller and/or the remote location.

The operational unit may comprise a housing. The articulation apparatus, e.g. the one or more motors, actuators or other devices for producing motive force, motion or action and/or at least one or more or each of the handling systems may be located in and/or mounted to the housing.

According to a second aspect of the present invention is a handling system or unit for a remote operations device, such as an endoscope or borescope. The handling system or unit may be coupled or coupleable with a tool or device. The handling system or unit may be configured to move, e.g. rotate, pivot, translate or slide, the tool or device. The handling system or unit may be or comprise a handling system or unit for an operational unit of the remote operations device, such as an operational unit as described above in relation to another aspect.

The handling system or unit may be operable using one or more motor, actuator or other device for producing motive force, motion or action. One or more or each of the handling systems may be coupled to the corresponding one or more of the motors, actuators or other devices for producing motive force, motion or action by at least one corresponding actuation member, such as a linear actuation member. The operational unit may comprise a support structure. At least one or more or each handling system may be mountable on the support structure.

The handling system may comprise at least a first movable part. The first movable part may be rotatable, pivotable, slidable, translatable and/or otherwise movable relative to at least one other part, such as at least part of the support structure and/or a second or further movable part. The first movable part may be movable, e.g. rotatable, pivotable, slidable, translatable and/or otherwise movable relative to at least one other part in at least one (e.g. a first) plane or direction and/or along, round or over at least one (e.g. a first) axis. One or more of the motors, actuators or other devices for producing motive force, motion or action may be configured to move, e.g. rotate, pivot, slide, translate and/or otherwise move the first part relative to the at least one other pad, such as at least pad of the suppod structure and/or the second or fudher movable pad.

The handling system may comprise at least a second and/or further movable part. The second and/or further movable part may be rotatable, pivotable, slidable, translatable and/or otherwise movable relative to at least one other pad, such as at least pad of the suppod structure and/or the first, second and/or further movable pad.

The second and/or further movable pad may be movable, e.g. rotatable, pivotable, slidable, translatable and/or otherwise movable relative to the at least one other pad in at least one (e.g. a second and/or fudher) plane or direction and/or along, round or over at least one (e.g. a second and/or fudher) axis. One or more of the motors, actuators or other devices for produdng motive force, motion or action may be configured to move, e.g. rotate, pivot, slide, translate and/or otherwise move the second and/or further pad relative to the at least one other pad.

The first plane, direction or axis may be perpendicular to the second and/or fudher plane, direction or axis.

For example, the first part may be mounted or mountable on the suppod structure. The first pad may be movable, e.g. rotatable, pivotable, slidable, translatable, on or relative to the support structure round the first rotation axis or in the first direction or plane by at least one of the motors, actuators or other devices for producing motive force, motion or action. The second pad may be movable, e.g. rotatable, pivotable, slidable, translatable, on or relative to the suppod structure round the first rotation axis or in the first direction or plane with the first part, e.g. the second part may be mounted on the first part such that the first and second parts move together round the first rotation axis or in the first direction or plane.

The first pad may comprise a rotatable spindle. The rotatable spindle may be mounted on the suppod structure. The first pad may comprise a flange, which may extend laterally from the first part, e.g. from the spindle. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the flange, e.g. via the corresponding actuation member.

The second pad may be movably, e.g. rotatably, pivotable, slidably or translatably, mounted or mountable on or to the first part. The second part may be movable, e.g. rotatable, pivotable, slidable, translatable, on or relative to the first pad round the second rotation axis or in the second direction or plane by at least one other of the motors, actuators or other devices for producing motive force, motion or action.

The handling system may comprise at least a third part. The third part may be movably mounted, e.g. rotatably or pivotably or slidably and! or translatably mounted to the second part, e.g. to the flange portion of the second part. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the second part via at least the third part.

The handling system may comprise at least a fourth part. The fourth part may be coupled or coupleable to the third part. The fourth part may be slidably or otherwise movably coupled or coupleable to the third part. The fourth part may be movably mounted, e.g. rotatably or pivotably or slidably and! or translatably mounted, to the support structure. The corresponding motor, actuator or other device for producing motive force, motion or action may be coupled or configured to be coupled (e.g. rotatably or slidably coupled or configured to be or slidably rotatably coupled) to the fourth part, e.g. via the corresponding actuation member. The corresponding motor, actuator or other device for producing motive force, motion or action may be configured to move, e.g. rotate, pivot or translate, the fourth part and thereby move the third and!or second parts, e.g. relative to the first part and/or support structure.

One or more or each handling system or unit may be configured to move the corresponding tool or device and!or the at least one part of the remote operations device relative to the at least one other part of the remote operations device through at least two degrees of freedom.

The at least one of the parts (e.g. the second part) of at least one or each handling system or unit may comprise, be configured to receive or be coupled or coupleable to the tool or device and/or at least one part of the remote operations device that is movable relative to at least one other part of the remote operations device. For example, the at least one part (e.g. the second part) of at least one or each handling system or unit may comprise a channel or passage for receiving at least part of the tool or device. The tool or device may be mounted or mountable or coupled or coupleable to at least one of the parts (e.g. the second part) of at least one or each handling system or unit such that the tool or device moves with the respective part (e.g. the second part) of at least one or each handling system or unit.

The at least one part (e.g. the second part) of the handling system or unit may comprise a mounting and the tool or device may be mounted or mountable to the at least one part using the mounting. The mounting may comprise a releasably fixable mounting, for example, having a first configuration in which the tool or device is rigidly or fixably held by the mounting and/or second configuration with the tool or device is releasable from the mounting. The mounting may be switchable between the first and second configurations. For example, the mounting may comprise a cylinder or tunnel or other member adapted to receive a part of the tool or device, e.g. in an interference or press fit. The mounting may comprise a bayonet, screw, magnetic, and/or other suitable coupling. The tool or device may be integral with the first and/or second and/or further part.

According to a third aspect of the present invention is a remote operations device such as an endoscope or borescope. The remote operations device may be configured to collect an image at a distal end of the remote operations device and transmit the image to the proximate end of the remote operations device. The remote operations device may be configured to carry out a remote operation at the distal end, which may be controlled from or via the proximate end. The remote operations device may comprise a proximate end, a distal end and an intermediate portion between the proximate and distal ends, wherein the distal end comprises or is configured to receive an operational unit, such as an operational unit of the first aspect.

The remote operations device may be or comprise a robotic or servo assisted remote operations device.

The operational unit may be modular and/or mountable and/or removably mountable at the distal end of the remote operations device. The operational unit may be integral with the intermediate portion.

The intermediate portion may comprise a rigid or flexible or articulated member, which may be hollow. The intermediate portion may comprise a shaft or tube.

The remote operations device may comprise or be configured to receive one or more tools or devices, such as such as surgical tools or devices. Examples of suitable tools or devices include scissors, snips, knives, a lance, and/or other cutting devices.

Further examples of suitable tools or devices include grips, manipulators, grabbers, probes and/or other gripping, holding, restraining or manipulating devices. Other examples of suitable tools or devices include cauterisers, staplers or other tissue repair devices. Examples of suitable tools or devices include gas supply apparatus or nozzles, injection systems, suction devices and/or other material provision or removals systems.

The operational unit may comprise one or more handling system or units for moving, articulating or operating at least one of the tools or devices and/or a part of the operational unit relative to another part of the operational unit or remote operations device. At least one or each tool or device may be movable, articulated or operable by a respective or associated handling system or unit. The one or more handling system or units may be or comprise a handling system or unit according to the second aspect.

The remote operations device may comprise a communication system, e.g. that communicates between the operational unit at the distal end of the remote operations device and a remote location, such as a proximate end of the remote operations device, e.g. via the intermediate portion of the operational device. The communications system may comprise a wired, wireless and/or optical communication system.

The remote operations device may comprise a proximate end, which may comprise one or more user controls, e.g. for controlling the operation or movement of the tools or devices and/or the remote operations device. The proximate end may comprise an endoscope or borescope handle.

The remote operations device may comprise at least one, e.g. two or more actuators, servo motors or other articulation devices, such as linear actuators, at the proximate end thereof. The actuators, servo motors or other articulation devices may be configured to move, e.g. actuate, linearly move or translate, at least one or the tools or devices.

At least one or each of the tools or devices may be or comprise flexible tools or devices that may comprise at least a flexible part and/or at least a part of the tool that extends through the intermediate portion may be configured to bend or flex. The actuators, servo motors or other articulation devices may comprise a macro-actuator and/or may be larger than the micromotors provided in the operational unit at the distal end of the remote operations device. The actuators, servo motors or other articulation devices may be configured to move the tool and/or device in a longitudinal direction of the remote operations device, e.g. in a distal and/or proximate direction.

The actuators, servo motors or other articulation devices may be configured to engage, couple and/or selectively couple with the tool or device, e.g. to automatically engage or couple with the tool or device. The actuators, servo motors or other articulation devices may be configured to engage, couple and/or selectively couple with the tool or device by motion or operation of the actuator in a corresponding direction, e.g. in a direction towards the distal end of the remote operations device. The actuators, servo motors or other articulation devices may be configured to directly or indirectly engage, couple and/or selectively couple with the tool or device.

The actuators, servo motors or other articulation devices may be configured to selectively disengage or uncouple from the tool or device, for example via movement in an opposite direction to the direction in which the actuators, servo motors or other articulation devices couple with the tool or device, e.g. by movement of the actuators, servo motors or other articulation devices past or proximately of a threshold position, such as a starting position.

The actuators, servo motors or other articulation devices may be configured to propel along a rail, track or guide, such as a linear rail, track or guide. The actuators, servo motors or other articulation devices may comprise, be coupled with or be configured to move or operate an engaging member, which may be configured to extend into an instrument channel for receiving the tool or device, e.g. to couple with or engage the tool or device.

The remote operations device, e.g. the proximate end or handle, may comprise at least one haptic feedback apparatus, which may comprise an actuator, pressure applying unit, vibrating unit, and/or the like. The haptic feedback apparatus may be configured to provide haptic feedback to a user or operator of the remote operations device.

The remote operations device may comprise or be configured to communicate with a controller. The controller may be configured to receive data from at least one sensor of the operational unit at the distal end of the remote operations device, such as positional information of at least part or all of one or more of the tools or devices and/or at least the first, second and/or further part of at least one articulation apparatus.

The controller may be configured to determine an actual position or actual change in position of at least part or all of the tool or device, e.g. relative to at least another part of the tool or device. The controller may be configured to determine a requested, theoretical or input position or change in position of at least part or all of the tool or device, e.g. relative to at least another part of the tool or device. The controller may be configured to determine a measure of the actual position or actual change in position of at least part or all of the tool or device relative to the requested, theoretical or input position or change in position of at least part or all of the tool or device, and may be configured to control or vary the haptic feedback accordingly.

The remote operations device may comprise an operating unit that is operable to control and/or operate at least one control of the remote operations device. The operating unit may be external to the proximate section or handle of the remote operations device. The operating unit may comprise one or more moving mechanisms, wherein each moving mechanism may be configured to operate a control, e.g. a manual control, of the remote operations device. At least one or each of the moving mechanisms may comprise an actuator or motor which may be configured or operable to move at least one coupling mechanism, wherein the coupling mechanism may be adapted to couple with or engage at least one of the controls, e.g. manual controls, of the remote operations device. The at least one control may be provided in or at the proximate end or handle portion of the remote operations device.

The control may comprise a dial, knob, switch, lever, handle, button and/or the like. The remote operations device may be configured to move and/or manipulate, e.g. to rotate, pivot, twist, translate, articulate, slide or otherwise move at least part or all of the coupling mechanism.

The operating unit may be configured to move or operate the at least one control and/or the move or manipulate the remote operations device, e.g. in order to operate the tool or instrument and/or to move or rotate the tool or instrument.

Operating the tool or instrument may comprise opening, closing, activating, deactivating and/or moving at least one part of the tool or instrument relative to at least one other part of the tool or instrument.

The operating unit may be operable responsive to, or may be controlled by the controller.

According to a fourth aspect of the present invention is an automation unit such as a proximate end or handle unit for a remote operations device, such as the remote operations device of the third aspect. The automation unit unit may be located or be configured to be located at the proximate end of the remote operations device. The automation unit unit may be comprised in or integral with the remote operations device or may be modular and/or selectively connectable to the remote operations device.

The automation unit may comprise may comprise at least one, e.g. two or more actuators, servo motors or other articulation devices, such as linear actuators, which may be configured to move, e.g. actuate, linearly move or translate, or operate at least one or the tools or devices comprised in or connected to a distal end of the remote operations device. The one or more tools or devices may be or comprise flexible tools or devices that may comprise at least a flexible part and/or at least a part of the tool that extends through the intermediate portion is configured to bend or flex. The actuators, servo motors or other articulation devices may be or comprise macro-actuators and/or may be larger than the micromotors provided in the operational unit at a distal end of the remote operations device. The actuators, servo motors or other articulation devices may be configured to move the tool and/or device in a longitudinal direction of the remote operations device, e.g. in a distal and/or proximate direction.

The actuators, servo motors or other articulation devices may be configured to engage, couple and/or selectively couple with a corresponding tool or device, e.g. automatically engage or couple with the tool or device. The actuators, servo motors or other articulation devices may be configured to engage, couple and/or selectively couple with the corresponding tool or device by motion or operation of the actuators, servo motors or other articulation devices in a corresponding direction, e.g. in a direction towards the distal end of the remote operations device. The actuators, servo motors or other articulation devices may be configured to directly or indirectly engage, couple and/or selectively couple with the tool or device.

The actuators, servo motors or other articulation devices may be configured to selectively disengage or uncouple from the tool or device, for example via movement in an opposite direction to the direction in which the actuator couples with the tool or device, e.g. by movement of the actuator past or proximately of a threshold position, such as a starting position.

At least one or each of the actuators, servo motors or other articulation devices may be configured to propel along a corresponding rail, track or guide, such as a linear rail, track or guide. At least one or each of the actuators, servo motors or other articulation devices may comprise, coupled with or be configured to move or operate a corresponding engaging member, which may be configured to extend into an instrument channel for receiving the tool or device, e.g. to couple with or engage the tool or device.

The automation unit may comprise at least one haptic feedback apparatus, which may comprise an actuator, pressure applying unit, vibrating unit, and/or the like.

The haptic feedback apparatus may be configured to provide haptic feedback to a user or operator of the remote operations device.

The automation unit may comprise or be configured to communicate with a controller.

The controller may be configured to control the actuators, servo motors or other articulation devices.

The controller may be configured to receive data from at least one sensor of the operational unit at the distal end of the remote operations device, such as positional information of at least part or all of one or more of the tools or devices and/or at least the first, second and/or further part of at least one articulation apparatus.

The controller may be configured to determine an actual position or actual position change of at least part or all of the tool or device, e.g. relative to at least another part of the tool or device. The controller may be configured to determine a requested, theoretical or input position or position change of at least part or all of the tool or device, e.g. relative to at least another part of the tool or device. The controller may be configured to determine a measure of the actual position or actual position change of at least part or all of the tool or device relative to the requested, theoretical or input position or position change of at least part or all of the tool or device, and may be configured to control or vary the haptic feedback accordingly.

According to a fifth aspect of the present invention is an operating unit that is operable to control and/or operate at least one control of a remote operations device, such as the remote operations device of the second aspect. The operating unit may be external to a proximate section or handle of the remote operations device. The operating unit may comprise one or more moving mechanisms, wherein at least one or each moving mechanism may be configured to operate a control, e.g. a manual control, of the remote operations device. At least one or each of the moving mechanisms may comprise an actuator or motor which may be configured or operable to move at least one coupling mechanism, wherein the coupling mechanism may be adapted to couple with or engage at least one of the controls, e.g. manual controls, of the remote operations device. The at least one control may be provided in the proximate end or handle portion of the remote operations device.

The control may comprise a dial, knob, switch, lever, handle, button and/or the like.

The remote operations device may be configured to move and/or manipulate, e.g. to rotate, pivot, twist, translate, articulate, slide or otherwise move at least pad or all of the tool or device, e.g. by moving the at least one coupling mechanism.

The operating unit may be configured to move or operate the at least one control and/or the move or manipulate the tool or device, e.g. in order to operate the tool or instrument and/or to move or rotate the tool or instrument. Operating the tool or instrument may comprise opening, closing, activating, deactivating and/or moving at least one part of the tool or instrument lelative to at least one other part of the tool or instrument.

According to a sixth aspect of the present invention is a method of manufacturing an operational unit for mounting at a distal end of a remote operations device or a remote operations device comprising an operational unit at a distal end thereof. The operational unit may be or comprise an operational unit according to the first aspect and/or the remote operations device may be or comprise a remote operations device according to the third aspect. The method may comprise providing the operational unit with at least one or more motor, actuator or other device for producing motive force, motion or action. The operational unit may comprise a housing or support structure. The at least one or more motor, actuator or other device for producing motive force, motion or action may be provided in or on the housing or support structure. The at least one or more motor, actuator or other device for producing motive force, motion or action may be or comprise a micromotor.

The method may comprise mounting one or more handling system or units to the support structure of the operational unit. At least one or each of the handling system or units may be or comprise a handling system or unit according to the second aspect.

The method may comprise coupling the at least one or more motor, actuator or other device for producing motive force, motion or action to a respective handling system or unit of the operational unit, e.g. such that the one or more motor, actuator or other device for producing motive force, motion or action is operable to rotate, pivot, translate, slide or otherwise move at least one of a first, second, third, fourth and/or further movable part of the respective handling system or unit.

According to a seventh aspect of the present invention is a method of fabricating a proximate end or handle unit for a remote operations device, such as the remote operations device of the third aspect. The proximate end or handle unit may be or comprise a proximate end or handle unit according to the fourth aspect. The proximate end or handle unit may be located or be configured to be located at the proximate end of the remote operations device. The proximate end or handle unit may be comprised in or integral with the remote operations device or may be modular and/or selectively connectable to the remote operations device.

The method may comprise may comprise providing at least one, e.g. two or more actuators, servo motors or other articulation devices, such as linear actuators, in or on a housing or support structure of the proximate end or handle unit. The at least one, e.g. two or more actuators, servo motors or other articulation devices may be configured to move, e.g. actuate, linearly move or translate, at least one or the tools or devices comprised in or connected to a distal end of the remote operations device.

The method may comprise mounting the actuator(s) on or to a rail, track or guide, such as a linear rail, track or guide. At least one or each of the actuators, servo motors or other articulation devices may comprise, be coupled with or be configured to move or operate an engaging member. The method may comprise extending the engaging member into an instrument channel for receiving the tool or device, e.g. to couple with or engage the tool or device.

The method may comprise providing at least one haptic feedback apparatus on or in the housing or support structure of the proximate end or handle unit. The haptic feedback apparatus may comprise an actuator, pressure applying unit, vibrating unit, and/or the like.

According to an eighth aspect of the present invention is a method of fabricating an operating unit that is operable to control and/or operate at least one control of a remote operations device, such as the remote operations device of the third aspect.

The operating unit may be or comprise an operating unit according to the fifth aspect.

The method may comprise providing one or more moving mechanisms on or in a housing or support structure of the operating unit, wherein each moving mechanism may be configured to operate a control, e.g. a manual control, of the remote operations device. At least one or each of the moving mechanisms may comprise an actuator or motor which may be configured or operable to move at least one coupling mechanism, wherein the coupling mechanism may be adapted to couple with or engage at least one of the controls, e.g. manual controls, of the remote operations device.

According to a ninth aspect of the present invention is a method of using an operational unit according to the first aspect and/or a remote operations device according to the third aspect. The method may comprise operating one or more motors, actuators or other device for producing motive force, motion or action, such as one or more micromotors or nanomotors located in the operational unit, e.g. at a distal end of the remote operations device in order to rotate, pivot, slide, translate and/or otherwise move or operate at least one tool and/or device, which may be attached to the distal end of the remote operations device.

The method may comprise or be comprised in a method of inspecting, examining or otherwise carrying out an operation or action on or in a piece of machinery or a system or device or apparatus. The method may comprise a non-medical or surgical use.

According to a tenth aspect of the present invention is a method of using a proximate end or handle unit according to the fourth aspect and/or a remote operations device according to the third aspect.

The method may comprise operating at least one, e.g. two or more actuators, servo motors or other articulation devices, such as linear actuators of the proximate end or handle unit in order to operate or move, e.g. actuate, linearly move or translate, at least one tool or device comprised in or connected to a distal end of the remote operations device.

According to an eleventh aspect of the present invention is a method of using an operating unit that is operable to control and/or operate at least one control of a remote operations device, such as the remote operations device of the second aspect.

The operating unit may be external to a proximate section or handle of the remote operations device.

The method may comprise operating one or more moving mechanisms, wherein at least one or each moving mechanism may be configured to operate a control, e.g. a manual control, of the remote operations device. The method may comprise coupling or engaging at least one of the controls of the remote operations device with at least one coupling mechanism. The method may comprise moving the at least one coupling mechanism using at least one or each of the moving mechanisms.

The method may comprise moving and/or manipulating, e.g. rotating, pivoting, twisting, translating, articulating, sliding or otherwise moving at least part or all of the tool or device, e.g. by moving the at least one coupling mechanism.

According to a twelfth aspect of the present invention is a controller for controlling an operational unit for a remote operations device, such as an endoscope or borescope. The operational unit may be a distal end unit located or mountable at a distal end of the of the remote operations device. The operational unit may be configured to move, articulate and/or operate at least one tool or device and/or a part of the remote operations device relative to another part of the remote operations device.

The controller may be or comprise a controller for controlling the operational unit according to the first aspect and/or the remote operations device according to the third aspect and/or the proximate end or handle unit according to the fourth aspect and/or the operating unit according to the fifth aspect and/or configured to implement the methods of any of the ninth to eleventh aspects.

The controller may comprise at least one processor. The controller may comprise at least one communications module.

The controller may be configured to send control data for controlling the one or more motors, actuators or other device for producing motive force, motion or action, e.g. using the communications system. The controller may be configured to receive data from the sensors of the operational unit, e.g. using the communications system.

The controller may be configured to determine an actual position or orientation or actual change in position or orientation of at least part or all of the at least one tool or the device, e.g. relative to at least another part of the tool or device. The controller may be configured to determine a requested, theoretical or input position or orientation or change in position or orientation of at least part or all of the tool or device, e.g. relative to at least another part of the tool or device. The controller may be configured to determine a measure of the actual position or orientation or actual change in position or orientation of at least part or all of the tool or device relative to the requested, theoretical or input position or orientation or change in position or orientation of at least part or all of the tool or device, and may be configured to control or vary haptic feedback provided by a haptic feedback apparatus accordingly.

According to a thirteenth aspect of the present invention is a computer program product for controlling the operational unit according to the first aspect and/or the remote operations device according to the third aspect and/or the proximate end or handle unit according to the fourth aspect and/or the operating unit according to the fifth aspect and/or configured to implement the methods of any of the ninth to eleventh aspects and/or for at least partially implementing or controlling the controller according to the twelfth aspect.

According to a fourteenth aspect of the present invention is a carrier medium comprising or carrying the computer program product of the thirteenth aspect.

According to a fifteenth aspect of the present invention is a processing apparatus or controller comprising or when programmed with the computer program product of the thirteenth aspect.

It should be understood that the individual features and/or combinations of features defined above in accordance with any aspect of the present invention or below in relation to any specific embodiment of the invention may be utilised, either severably and individually, alone or in combination with any other defined feature, in any other aspect or embodiment of the invention. Furthermore, the present invention is intended to cover apparatus configured to perform any feature described herein in relation to a method and/or a method of using or producing, using or manufacturing any apparatus feature described herein.

BRIEF DESCRIPTION OF DRAWINGS

The present invention will now be described by way of non-limiting example only with reference to the accompanying drawings of which: Figure 1 a schematic view of an endoscope or borescope; Figure 2 a schematic showing the connection of intermediate portions and a distal or front end unit of the endoscope or borescope of Figure 1; Figure 3 a side view of the distal or front end unit of the endoscope or borescope of Figure 1; Figure 4 a perspective view of the distal or front end unit of Figure 3; Figure 5 a front view of the distal or front end unit of Figure 3.

Figure 6 an exploded schematic side view of the distal or front end unit of Figure 3; Figure 7 an internal schematic view of the distal or front end unit of Figure 3 with an outer housing removed; Figure 8 a front view schematic of the distal or front end unit of Figure 3 with the outer housing removed; Figure 9 a perspective view of a support structure of the distal or front end unit of Figure 3; Figure 10 a front perspective view of a tool handling mechanism of the distal or front end unit of Figure 3; Figure 11 a front view of the tool handling mechanism of Figure 10 in a neutral configuration; Figure 12 a front view of the tool handling mechanism of Figure 10 in an upwardly pivoted configuration; Figure 13 a perspective view of a tool mount of the tool handling mechanism of Figure 10; Figure 14 a perspective view of a mount support of the tool handling mechanism of Figure 10; Figure 15 a perspective schematic view of a part of the tool handling mechanism of Figure 10; Figure 16 a perspective schematic view of another part of the tool handling mechanism of Figure 10; Figure 17 a schematic showing the connection of a proximate or back end unit, intermediate portions and a distal or front end unit of the endoscope or borescope of Figure 1; Figure 18 a perspective view schematic of a proximate or back end unit of the endoscope or borescope of Figures 1 and 15; Figure 19 a cut-away perspective schematic of an external operations unit for use with the endoscope or borescope of Figure 1; and Figure 20 a schematic of a system including the endoscope of Figure 1 and the external operations unit of Figure 19.

DETAILED DESCRIPTION OF DRAWINGS

Figure 1 shows an endoscope 5 or borescope apparatus according to an embodiment of the present invention. Although the embodiment will be described hereafter with reference to an endoscope 5, it will be appreciated that the description is equally applicable to a borescope. The endoscope 5 or borescope allows a user to carry out imaging or operations using tools at a location that is remote from the user.

In particular, in use, a tip end 10 of the endoscope 5 is generally located at the remote location, such as within a body, apparatus, or other environment where clear line of sight is difficult to obtain, whilst the other/opposite end 15 of the endoscope 5 is located at a different location, e.g. outwith the body, apparatus, or other environment.

The endoscope 5 comprises a user end unit 20 provided at a back or proximal end 15 of the endoscope, an intermediate portion 25 and a tip end unit 30 located at a front or distal end 10 of the endoscope 5, as shown in Figure 2. It will be appreciated that these may be selectively connectable together in a modular system or one or more or each of these units or portions may be integral.

The user end unit 20 comprises a handle portion 35 that is provided toward the user. The user end unit 20 also comprises any controls required to operate the endoscope 5 and connections to a controller 40 (see Figure 20) for controlling the endoscope 5 and processing data and displays for displaying images to the user.

The intermediate portion 25 comprises a hollow tube comprising rigid 45 and flexible 50 portions and extends from the user end unit 20 to the tip end unit 30. The flexible portions 50 of the intermediate portion 25 allow the endoscope 5 to extend along a tortuous or non-linear path between the user end unit 20 and the tip end unit 30. Cables, wires, fibre-optics and/or other services (not shown) that extend between the user end unit 20 and tip end unit 30 are located within the hollow intermediate portion 25.

As shown in Figures 1 to 8, the tip end unit 30 comprises a sealed digital camera 55 for capturing images and a light emitter 60. Examples of suitable light emitters 60 include a light source, e.g. an LED light source, or a lens that is connected to a fibre optic cable arrangement for emitting light transmitted from a light source at the user end 15 through a fibre optic cable arrangement running through the intermediate portion 25 to the lens. In this way, in use, the environment around the tip end 10 of the endoscope 5 can be illuminated using the light emitter 60 and images of the environment around the tip end 10 of the endoscope 5 can be captured using the camera 55. Optionally, the tip end 10 of the endoscope 5 can comprise one or more other systems conventionally found in or usable with endoscopes such as gas or liquid supply or injection apparatus, suction apparatus and/or sample or fluid collection apparatus, which may communicate gas and/or liquid between the user end 15 and the tip end 10 via suitable conduits located within the hollow intermediate portion 25.

The tip end unit 30 is also provided with one or more (in this example two) tool handling systems 65a, 65b mounted onto a support structure 70. In this way tools (not shown) can be mounted onto the endoscope 5 and each tool can be manipulated using a respective tool handling system 65a, 65b provided in the tip end unit 30 of the endoscope 5.

As shown in Figure 9, the support structure 70 comprises a rigid member that may be metallic or polymeric, for example, that has been formed with a pair of mounting portions for rotatably mounting the tool handling systems 65a, 65b, a mount for mounting the camera 55 and light emitter 60 on an underside of the support structure 70, and a plurality of chambers 80a-d, 85a-d for housing a plurality of micromotors 90a-90d for operating the tool handling systems 65a, 65b and a plurality of linear displacement sensors 95a-95d in the form of microstrain sensors, for example, for measuring an actual configuration or position of the tool handling systems 65a, 65b.

The support structure 70, camera 55, micromotors 90a-90d, tool handling systems 65a, 65b, linear displacement sensors 95a-95d and light emitter 60 are all provided within a housing 97, as shown in Figures 3 to 6.

In this particular example, each tool mounting system 65a, 65b comprises four pads, that are operable together to provide the necessary articulation of the tool.

As shown in Figures 10 to 16, each tool handling system 65a, 65b comprises a mount support part 100 (see particularly Figure 14) that is rotatably mounted to the support structure 70 of the tip end unit 30. The mount support part 100 comprises a generally (-shaped piece having a shaft 105 that is rotatably mounted to the support structure 70, a flange 110 extending laterally from the shaft 105 for coupling to an associated linear actuation member 115b, 115d, and a U-shaped support 120 that extends from an end of the shaft 105 that is opposite to the end of the shaft 105 that is rotatably mounted to the support structure 70. The U-shaped support 120 comprises a pair of facing arms 1 25a, 1 25b that are provided with holes 1 30a, 1 30b or other means for allowing a tool mount 140 to be pivotably mounted to the U-shaped support 120.

As shown in Figure 13, the tool mount 140 comprises a hollow cylindrical portion 145, having spherical or curved outer wall portions 150, a pair of pivot members 155a,b extending from opposite sides of the curved outer wall surface 150 and a flange extending from the outer wall surface 150 perpendicularly to the pivot members 155a,b. The flange 160 is arranged to couple to a corresponding linear actuation member liSa, 115c via a rotatable cap 165 (see Figure 16) and a link member 170 (see Figure 15). In particular, the hollow cylindrical portion 145 defines a guide channel 175 for receiving part of a flexible tool. The flexible tool may comprise, by way of example only, a pair of scissors, snips, grabbers, manipulators, a cauterizer, an injection system, a gas or fluid supply system, and/or the like. However, it will be appreciated that any suitable endoscope tool known in the art could be used.

Optionally, the cylindrical portion 145 is arranged to grip the part of the tool located in the guide channel 175 in a press fit manner to ensure precise movement of the tool.

Alternatively, the cylindrical portion 145 may be configured to loosely or slidably grip the part of the tool, to allow the tool to be rotated around its longitudinal axis and/or moved or translated, e.g. in the forwards/backwards directions, e.g. under the action of an external unit, as described below.

As shown in figures 10 to 12 and 16, the cap 165 is rotatably fitted to the flange and the link member 170 is fitted to the cap 165 by way of an arcuate extending part 180 of the link member 170 that extends through a corresponding passage 185 in the cap 165 such that the cap 165 moves with the link member 170 but has a degree of lateral sliding motion along the extending part 180. The link member 170 extends round from the cap 160 to a position laterally of the tool mount 140 and U-shaped support 120 and is rotatably mounted on the support structure 70 by a pivot member 190. A slotted flange 195 extends from the link member 170 which is in turn coupled with the corresponding linear actuation member 1 iSa, 1 15c. For example, a bar 200 or other part (see Figure 5) provided at an end of the relevant linear actuation member liSa, uSc extends through the slot 205 in the slotted flange 195. In this way, even though movement of the linear actuation member liSa, uSc pivots the link member around a rotational axis 210 extending through the pivot member 190, the slot 205 and bar 200 arrangement allows a degree of relative motion between the slotted flange 195 and the bar 200 of the linear actuator liSa, uSc to accommodate the rotation of the slotted flange 195 of the link member 170.

It will be appreciated that, in this arrangement, the tool mount 140 pivots with the link member 170 via the cap 165. As such, movement of the linear actuation member 1 iSa, ii Sc attached to the slotted flange 195 of the link member 170, e.g. in a forward or backward direction, pivots the link member 170 around the rotational axis 210 through the pivot member 190 of the link member 170 with respect to the support structure 70. This pivoting motion of the link member 170 is transferred to the cap 165 via the extending part 180 of the link member 170 extending through the passage 185 in the cap 165 so as to cause the cap 165 to move/rotate with the link member 170.

Since the cap 165 is mounted on the flange 160 of the tool mount 140, then the motion / rotation of the cap 165 with the link member 170 is transferred to the tool mount 140 so as to rotate the tool mount 140 around a rotation axis 215 that extends through the pivot members 155a, 155b of the tool mount 140 and the corresponding holes 130a, l3Ob or recesses in the U-shaped support 120.

In addition, another of the linear actuation members llSb, 115d is rotatably coupled to the flange 110 on the shaft 105 of the mount support part 100 (e.g. via a linkage of the linear actuation member 115b, 115d loosely extending through a hole in the flange 110 of the mount support part 100). As such, when the linear actuation member 115b, 115d is actuated, e.g. in a forward or backward direction, the mount support part 100 (and thereby the tool mount 140, which is supported upon it) is rotated around a rotational axis 220 extending through the shaft 105 of the mount support part 100. Since the cap 165 is rotatably mounted to the flange 160 on the tool mount 140, then the rotation of the tool mount 140 via rotation of the mount support part 100 can be accommodated without interfering with the pivoting action of the link member 170, since the rotational motion of the tool mount 140 around the rotation axis 220 through the shaft 105 of the mount support part 100 is not transferred to the cap 165.

It will be appreciated that the rotation axis 220 about which the mount support part 100 is rotated (i.e. a longitudinal axis of the shaft 105 of the mount support part 100) is perpendicular to the rotation axis 215 through which the tool mount 140 is rotated by the other linear actuation member liSa, uSc (i.e. an axis 215 through the pivot members 155a, 155b of the tool mount 140). In this way, motion with two degrees of freedom may be provided in a smooth manner with a compact mechanism.

As shown particularly in Figures 8 and 9, the support structure 70 comprises four sensor chambers 85a-d for housing respective linear displacement sensors 95a-d a pair of passages 225 for routing flexible portions 230 or cables of the tools, and four motor chambers 80a-d, each motor chamber 80a-d housing one of the micromotors 90a-d.

In particular, each side (e.g. left and right) of the support structure 70 houses an upper micromotor 90a, 90c for moving the tool mount 140 of a respective tool handling system 65a, 65b and a lower micromotor 90b, 90d for moving the mount support part of a respective tool handling system 65a, 65b. In particular, each micromotor 90a- d is configured to linearly displace a corresponding rigid linear actuation member liSa-d. Various linear actuation mechanisms are known in the art and include a dry friction motor, a worm drive, a piezoelectric motor or actuator, a screw drive and/or the like.

The micromotor 90a-d may comprise an electrically or ultrasonically driven micromotor, such as a piezoelectric, electrostatic or ultrasonic motor, for example. However, it will be appreciated that other suitable micromotor or linear drive or actuation mechanisms, as would be apparent to a skilled person, could be used.

For example, each micromotor 90a-d may be a Faulhaber 03A S3 linear actuator. The micromotors 90a-d have, for example, a diameter of 3.4mm, a length of 22.85mm and a reduction ratio of 125:1. For example, the micromotor 90a-d can generate 2.8 N of continuous push force and 4.2 N of intermittent push force at a maximum speed of 24mm/mm.

Each linear actuation member 115a-115d is coupled between a corresponding micromotor 90a-90d and pivotably attached to the slotted flange 195 of the link member 170 (in the case of the upper linear actuation members 1 15a, 1 15c I micromotors 90a, 90c) or the flange 110 of the mount support pad 100 (in the case of the lower linear actuation members 115b, 115d I micromotors 9Db, 90d). In this way, the mount support part 100 can be selectively rotated on the support structure 70 around a rotation axis 220 in opposing rotational directions by linear motion of the associated lower rigid linear actuation member 115b, 115d by the corresponding micromotor 9Db, 90d toward or away from the tool handling system 65a, 65b. Similarly, the tool mount 140 can be selectively rotated in opposing directions around a rotation axis 215 that is perpendicular to the rotation axis 220 of the mount support part 100 by the associated linear actuation member liSa, uSc and micromotor 90a, 90c. In this way, the tool, which extends through the guide channel 175 in use, can be rotated through two perpendicular degrees of freedom using the tool handling system 65a, 65b.

Since two tool handling systems 65a, 65b are provided, then two tools can be independently operated in this manner.

By providing the above arrangement of micromotors 90a-d located in the front or distal end tip unit 30 of the endoscope 5 to operate tip end tool handling systems 65a, 65b, the tools can be manoeuvred more precisely but at the same time, the tip end unit 30 can be substantially kept within the dimensions of a conventional endoscope tip.

As described above in relation to Figures 8 and 9, the support structure 70 houses four linear micro strain displacement sensors 95a-d that enable calculation of an actual orientation / position of an associated guide channel 175 of the corresponding tool handling system 65a, 65b. This is important as the information obtained by comparing an expected orientation/position change of the guide channel and the actual orientation position change of the guide channel 175 allows tissue resistance to be inferred. This in turn can be used to determine an appropriate haptic feedback to the user.

As shown particularly in Figures 2 and 17, the tip end unit 30 is connected to a user end unit 20 by the hollow intermediate portion 25 that comprises both rigid 45 and flexible 50 portions. In this way, electrical and/or fibre optic cables for carrying data, power and/or light can be routed within the intermediate portion 25 between the tip end unit 30 and the user end unit 20. The cables carry, for example, control commands to the micromotors 90a-d in the tip end unit 30 from a controller 40 (see Figure 20), power for the micromotors 90a-d, camera 55 and/or light emitter 60, light for the light emitter 60, image data from the camera 55, and data from the sensors 95a-d. The hollow intermediate portion 25 also carries flexible portions 230 of the tools between the tip end unit 30 and the user end unit 20. These flexible portions 230 of the tools allow some manipulation or control of the tools from the back or proximal end 15 by manipulating the flexible portions 230. This may provide operation of the tools and/or motion of the tools with additional degrees of freedom, for example.

As shown in Figures 17 and 18, the user end unit 20 includes the handle portion that comprises an instrument channel 235 in communication with the hollow interior of the intermediate portion 25, instrument insertion ports 240 for inserting instruments into the instrument channel 235 and a plurality of (in this case two) tool manipulation systems 245. Each tool manipulation system 245 comprises a tool engager 250 and linear actuator 255 for linearly moving the tool engager 250 within the instrument channel 235. The tool engager 250 is configured to engage with part of the tool, such as the flexible portions 230.

In optional embodiments, the tool and tool engager 250 may be configured to permit automatic engagement of part of the tool with the tool engager 250. For example, the tool engager 250 may be configured to automatically engage and couple with part of the tool when the tool engager 250 is actuated in a forward direction or toward the distal end 10 and may be configured to automatically disengage and decouple with the tool when the tool engager 250 is moved past a starting or threshold position whilst being moved rearwardly / toward the proximal end 15.

In this way, the linear actuators 255 are operable to automatically engage and disengage the tool and execute linear movement of the tool. In this case, the linear movement of the tool effected by the linear actuators 255 is co-linear with a central axis of the guide channel 175 of an associated tool handling system 65a, 65b of the tip end unit 30. Since the handle 35 of the endoscope 5 does not have to be inserted into the human body, integrated servo linear actuators 255 that are larger than the micromotors 90a-d used in the tip end unit 30 are used.

An external unit 260 containing servo actuators 262, 263 can be used to engage operating handles 265 of the tools. Through the use of the servo actuators 262, 263, the external unit 260 can control the operating handle 265 of the flexible tool to operate the tool, e.g. by effecting opening and closure of the tool, and deliver rotation movement of the tool. In essence, this external unit 260 performs the task of an endoscopic nurse who controls the endoscope 5 upon request by the endoscopist.

In particular, the external unit 260 comprises a housing 270 containing an instrument engager 275 rotatably mounted relative to the housing and a rotatable actuator 262 for rotating the instrument engager 275. The instrument engager 275 comprises a first engaging member 280 for coupling to a first part 285 of a tool operating handle 265 and at least a second engaging member 290 for engaging a second part 295 of the tool operating handle 265. At least one of the engaging members 280, 290 (e.g. the first engaging member 280) comprises an engagement sensor 300 for determining if the associated engaging member 280 is engaged with the appropriate part 285 of the tool operating handle 265. If it is determined that the first and/or second engaging members 280, 290 are engaged with the respective parts 285, 295 of the tool operating handle 265 then the second engaging member 290 is movable (e.g. linearly movable) relative to the first engaging member 280 under the action of the linear actuator 263. In this way, the external unit provides an automated mechanism for rotating the tool by operating the rotatable actuator 262, which in turn rotates the flexible part 230 of the tool by virtue of at last the first part 280 of the tool being coupled to the first engaging member 280. The external unit 260 also provides an automated mechanism for operating (e.g. opening and closing) the tool by relative movement of the first and second engaging members 280, 290, engage different parts 285, 295 of the tool operating handle 265 to thereby perform relative motion of the parts 285, 295 of the tool handle 265 that result in operation (e.g. opening/closing) of the tool. Optionally, control of the external unit 260 is by wireless communication from the controller 40 (see Figure 20).

Through the combined effect of the actuators 255, 262, 263 and micromotors 90a-d of the tip end unit 30, the user end (handle) unit 20 and the external unit 260, each endoscope 5 will have up to five degree of instrument movement, namely rotation around the two axes provided by the tool handling system(s) 65a, 65b in the tip end unit 30, linear displacement (e.g. into or out from the tip end) using the linear actuators 255 in the handle 35 and rotation of the tool around its longitudinal axis and operation of the tool provided by the external unit 260 acting on the tool operating handle 265.

The operation and coordination of these three units is performed by the controller 40 responsive to a manually operated control device 305, as shown in Figure 20.

The controller 40 comprises a processing unit 310 coupled to a communications system 315. The controller 310 is also coupled to a display 320 for displaying images collected by the camera 55 in the tip end unit 30 of the endoscope 5. The communications system 315 is configured to communicate with the control device 305 for receiving input from the user or operator and for providing haptic feedback to the user or operator under the control of the controller 40. The communications system 315 is also configured to communicate with the external unit 260 for providing control commands from the controller 40 to the external unit 260 for performing rotation and/or operation (e.g. opening and/or closing) of the tools. The communication system 315 communicates with the user end unit 20 (e.g. the handle 35) of the endoscope 5 in order to provide operational commands such as commands for operating the actuators 255 in the user end unit 20, e.g. in order to engage and/or disengage the tools and to move the tools, e.g. in a forward or distal direction and/or in a backwards or proximal direction. The communications system 315 is also configured to communicate with the tip end unit 30. The communications to the tip end unit 30 can comprise indirect communications, i.e. via the communications link to the user end unit 20 and thereby via an electrical, optical or wireless data cable or link through the intermediate part 25 of the endoscope 5 to the tip end unit 30. Alternatively or additionally, the communications with the tip end unit 30 comprise direct communications, e.g. via a wireless link directly to the tip end unit 30. In this way, control commands for operating the micromotors 90a-d to move the tools and/or commands for operating other components such as the camera 55, light emitters 60, gas or liquid supply, suction system and/or the like may be transmitted from the controller 40 and/or data, signals or images from the sensors 95a-d and camera 55 may be received by the controller 40.

Control of the endoscope 5 is through a five degree of freedom haptic control device 305 that is in communication with the controller 40 via the communications system 315. The user can input control commands or actions using the control device 305, which are then interpreted by the controller 40 using pre-programmed control algorithms that allow the controller 40 to output suitable commands to the endoscope 5 and/or external unit 260 in order to operate the external unit 260 and/or endoscope 5 to give effect to the user's intentions.

In addition, the controller 40 is configured to determine appropriate haptic feedback to provide to the user or operator using the haptic control device 305. In particular, the actual orientations / positions of the guide channels 175 of each of the tool handling systems 65a, 65b are received by the controller 40 from the linear displacement strain sensors 95a-d in the tip end unit 30. This allows the controller 40 to make a comparison of an expected orientation/position change of each guide channel 175 as transmitted to the niicromotors 90a-d via corresponding control commands from the controller 40 and the actual orientation position change of the guide channels 175 as measured by the corresponding linear displacement strain sensor 90a-d. This comparison can be used to infer tissue resistance experienced by the appropriate tool. The controller 40 is then arranged to determine an appropriate haptic feedback to the user based on this determination of tissue resistance. For example, the haptic feedback may be provided by one or more haptic feedback units 325, such as for example pressure application or vibration units on the control device, varying the stiffness or resistance of one or more controls on the control device, and/or the like.

In this way, the above system is operable to automate or robotise operation of the endoscope 5 with a high degree of precision and dexterity whilst at the same time providing a high degree of feedback to the user or operator.

Although one embodiment of the invention is described above, one skilled in the art will understand that various other arrangements are possible without departing from the scope of the present invention.

For example, although the above example provides automation of the endoscope 5 and/or associated tools via the external unit 260, the back or proximal (handle) end unit 20 and the front or distal (tip) end unit 30, it will be appreciated that it is not necessary to provide all of these automation options and that each may be used separately and/or in various combinations.

In addition, although the external unit 260 is external to the endoscope 5, the functionality and/or components provided by the external unit 260 may optionally be integrated into the endoscope 5.

Furthermore, although various examples of tools have been described above, it will be appreciated that other suitable tools for use with endoscopes or borescopes would be apparent to a person skilled in the art.

Although the above example is described in relation to an endoscope 5, it will be appreciated that the features and concepts described above are equally applicable to other remotely operated devices such as borescopes and the like.

Although the endoscope 5 described above could be used in a medical or surgical environment, it will be appreciated that it is in no way limited to that application and is equally suitable for other applications such as the inspection of, and carrying out operations on, machinery, performing investigations and operations in hazardous environments, viewing or performing operations in environments with restricted line of sight, and/or the like.

As such, the above specific examples are given for illustration only and the scope of the invention is limited only by the claims.

Claims

CLAIMS1. An operational unit for a remote operations device, the operational unit being located or configured to be located at a distal end of the remote operations device; the operational unit comprising or being configured to receive one or more tools or devices; the operational unit comprising one or more motors, actuators or other devices for producing motive force, motion or action; wherein the one or more motors, actuators or other devices for producing motive force, motion or action are configured to move, articulate and/or operate at least one of the tools or devices and/or a part of the operational unit or remote operations device relative to another part of the operational unit or remote operations device.
2. The operational unit according to claim 1, wherein the remote operations device is, comprises or is comprised in an endoscope or borescope.
3. The operational unit according to claim 1 or claim 2, wherein one or more or each of the motors, actuators or other devices for producing motive force, motion or action are or comprise a micromotor or micromotors.
4. The operational unit according to any preceding claim, wherein the operational unit comprises one or more handling systems and one or more or each of the tools or devices and/or part or pads of the operational unit or remote operations device comprise, are comprised in, mounted or mountable on or in, and/or are coupled or coupleable with a respective handling system; at least one or each handling system being configured to move, articulate and/or operate at least one of the tools or devices and/or a part of the operational unit or remote operations device relative to another part of the operational unit or remote operations device; and one or more or each of the handling systems being operable using one or more of the motors, actuators or other devices for producing motive force, motion or action.
5. The operational unit according to claim 4, wherein one or more or each of the handling systems are coupled to the corresponding one or more motor, actuator or other device for producing motive force, motion or action by at least one corresponding rigid linear actuation member.
6. The operational unit according to claim 4 or claim 5, wherein the operational unit comprises a support structure, and at least one or more or each handling system is mounted or mountable on the support structure; and the handling system comprises at least a first movable part, the first movable part being rotatable, pivotable, slidable, translatable and/or otherwise movable relative to the support structure responsive to a corresponding motor, actuator or other device for producing motive force, motion or action.
7. The operational unit according to any of claims 4 to 6, wherein the handling system comprises at least a second movable part, the second movable part being rotatable, pivotable, slidable, translatable and/or otherwise movable relative the first movable part responsive to a corresponding motor, actuator or other device for producing motive force, motion or action.
8. The operational unit according to claim 6 or claim 7, wherein the first movable part is movable relative to the support structure in at a first plane or direction and/or along or around a first axis; and/or the second movable part is movable relative to the first part in a second plane or direction and/or along or around a second axis.
9. The operational unit according to claim 8, wherein the first plane, direction or axis is perpendicular to the second and/or further plane, direction or axis.
10. The operational unit according to any of claims 7 to 9, wherein the second part is movably mounted or mountable to the first part such that the first and second parts move together around the first rotation axis or in the first direction or plane.
11. The operational unit according to any of claims 7 to 10, wherein the first and second parts are arranged such that the second part moves relative to and/or independently of the first part around the second rotation axis or in the second direction or plane.
12. The operational unit according to any of claims, wherein the handling system comprises a third part and a fourth part, wherein the third part is movably mounted or mountable to the second part, the fourth part is slidably or otherwise movably coupled or coupleable to the third part and movably mounted to the support structure, wherein the corresponding motor, actuator or other device for producing motive force, motion or action is coupled or configured to be coupled to the fourth part and configured to move the fourth part to thereby move the third and/or second parts relative to the first part and/or support structure.
13. The operational unit according to any of claims 4 to 12, wherein one or more or each of the handling systems are configured to move the corresponding tool or device and/or the at least one part of the remote operations device relative to the at least one other part of the remote operations device through at least two degrees of freedom.
14. The operational unit according to any preceding claim, wherein at least one dimension of the one or more motor, actuator or other device for producing motive force is less than 5mm and/or the length or longest dimension of the motor is less than 30mm.
15. The operational unit according to any of claims 4 to 14, wherein at least one of the parts of at least one or each handling system may comprise, be configured to receive or be coupled or coupleable to the tool or device and/or at least one part of the remote operations device that is movable relative to at least one other part of the remote operations device.
16. The operational unit according to any preceding claim, wherein the operational unit comprises at least one position or displacement sensor configured to monitor a position, location, relative location or position, orientation and/or operational state of the tool or device and/or the first, second, third, fourth and/or further part and/or the at least one actuation member and/or the one or more motors, actuators or other devices for producing motive force, motion or action.
17. A handling system for a remote operations device, the handling unit being coupled or coupleable to a tool or device and configured to move the tool or device, the remote operations device comprising an operational unit according to any of claims ito 16.
18. The handling system according to claim 17, wherein the handling unit is operable using one or more motor, actuator or other device for producing motive force, motion or action and the handling system is mountable on a support structure of the operational unit, the handling system comprising at least a first movable part and a second movable part, the first movable part being rotatable, pivotable, slidable, translatable and/or otherwise movable relative to the support structure and/or the second movable part.
19. The handling system according to claim 17 or claim 18, wherein the first movable part is movable relative to the support structure in at least a first plane or direction and/or along, round or over at least a first axis using one or more of the motors, actuators or other devices for producing motive force, motion or action.
20. The handling system according to any of claims 17 to 19, wherein the second movable part is rotatable, pivotable, slidable, translatable and/or otherwise movable relative to the first movable part in at least a second plane or direction and/or along, round or over at least a second axis using one or more of the motors, actuators or other devices for producing motive force, motion or action.
21. The handling system of claim 20, wherein the first plane, direction or axis is perpendicular to the second plane, direction or axis.
22. The handling system according to any of claims 17 to 21, wherein the handling system comprises a third part and a fourth part, wherein the third part is movably mounted or mountable to the second part, the fourth part is slidably or otherwise movably coupled or coupleable to the third part and movably mounted or mountable to the support structure, wherein the corresponding motor, actuator or other device for producing motive force, motion or action is coupled or configured to be coupled to the fourth part and configured to move the fourth part to thereby move the third and/or second parts relative to the first part and/or support structure.
23. A remote operations device comprising a proximate end, a distal end and an intermediate portion between the proximate and distal ends, the remote operations device being configured to carry out a remote operation at the distal end thereof, wherein the distal end comprises or is configured to receive an operational unit according to any of claims ito 16.
24. The remote operations device of claim 23, wherein the remote operations device is a robotic or motor or actuator or servo assisted borescope or endoscope. io
25. The remote operations device according to claim 23 or claim 24, wherein the operational unit is modular and/or mountable and/or removably mountable at the distal end of the remote operations device and/or integral with the intermediate portion. is
26. The remote operations device according to any of claims 23 to 25, comprising an automation unit locatable or operable at the proximate end of the remote operations device, the automation unit comprising at least one actuator, servo motor or other articulation device, the actuators, servo motors or other articulation devices being configured to move or operate at least one or the tools or devices.
27. The remote operations device according to claim 26, wherein the actuators, servo motors or other articulation devices are configured to automatically engage or couple with the tool or device.
28. The remote operations device according to claim 26 or claim 27, wherein the actuators, servo motors oi other articulation devices are configured to selectively disengage or uncouple from the tool or device via movement of at least part of the actuators, servo motors or other articulation devices past or proximately of a threshold position.
29. The remote operations device according to any of claims 26 to 28, wherein the actuators, servo motors oi other articulation devices are configured to propel along a rail, track or guide, such as a linear rail, track or guide.
30. The remote operations device according to any of claims 23 to 29, comprising at least one haptic feedback apparatus configured to provide haptic feedback to a user or operator of the remote operations device.
31. The remote operations device according to any of claims 23 to 29, wherein the remote operations device comprises or is configured to communicate with a controller, the controller being configured to: receive data from at least one sensor of the operational unit at the distal end of the remote operations device; determine an actual position or actual change in position of at least part or all of the tool or device relative to at least another part of the tool or device from the data received from the at least one sensor; and determine a requested, theoretical or input position or change in position of at least part or all of the tool or device relative to at least another part of the tool or device, and determine a measure of the actual position or actual change in position of at least part or all of the tool or device relative to the requested, theoretical or input position or change in position of at least pad or all of the tool or device.
32. The remote operations device according to any of claims 23 to 29, wherein the remote operations device comprises an operating unit that is operable to control and/or operate at least one control of the remote operations device, the operating unit comprising: one or more moving mechanisms configured to operate a control of the remote operations device, at least one or each of the moving mechanisms comprising an actuator or motor configured or operable to move or otherwise operate at least one coupling mechanism that is adapted to couple with or engage at least one of the controls of the remote operations device.
33. An automation unit for automating a remote operations device, the automation unit comprising at least one actuator, servo motor or other articulation device configured to move or operate at least one tool or device comprised in or connected to a distal end of the remote operations device.
34. The automation unit according to claim 33, wherein the remote operations device is a remote operations device according to any of claims 23 to 32.
35. The automation unit according to claim 33 or claim 34, wherein the automation unit is configured to be located at a proximate end of the remote operations device.
36. An operating unit that is operable to control and/or operate at least one control of a remote operations device, the operating unit comprising one or more moving mechanisms, wherein at least one or each moving mechanism is configured to operate a control of the remote operations device, wherein at least one or each of the moving mechanisms comprises an actuator or motor configured or operable to move at least one coupling mechanism, wherein the coupling mechanism is adapted to couple with or engage at least one of the controls of the remote operations device.
37. A method of manufacturing an operational unit for mounting at a distal end of a remote operations device or a remote operations device comprising an operational unit at a distal end thereof, the operational unit comprising an operational unit according to any of claims ito 16, the method comprising: providing at least one or more motor, actuator or other device for producing motive force, motion or action; providing a housing or support structure; mounting the at least one or more motor, actuator or other device for producing motive force, motion or action in or on the housing or support structure; and arranging the one or more motors, actuators or other devices for producing motive force, motion or action to move, articulate andlor operate at least one of the tools or devices and/or a part of the operational unit or remote operations device relative to another part of the operational unit or remote operations device, in use.
38. The method of claim 37, wherein the at least one or more motor, actuator or other device for producing motive force, motion or action is or comprises a micromotor.
39. The method according to clam 37 or claim 38, wherein the method may comprises mounting one or more handling systems to the support structure of the operational unit, at least one or each of the handling systems being or comprising a handling system according to any of claims 17 to 22.
40. The method of claim 39, wherein the method comprises coupling at least one of the motors, actuators or other devices for producing motive force, motion or action to a respective handling unit of the operational unit such that the one or more motor, actuator or other device for producing motive force, motion or action is operable to rotate, pivot, translate, slide or otherwise move a movable part of the respective handling unit.
41. A method of fabricating an automation unit for a remote operations device, the automation unit being or comprising an automation unit according to any of claims 33 to 35, the method comprising: providing at least one actuator, servo motor or other articulation devices in or on a housing or support structure of the remote operations device.
42. A method of fabricating an operating unit that is operable to control and/or operate at least one control of a remote operations device, the operating unit being or comprising an operating unit according to claim 36; the method comprising: providing one or more moving mechanisms on or in a housing or support structure, wherein each moving mechanism is configured to operate a control of the remote operations device and at least one or each of the moving mechanisms comprises an actuator or motor configured or operable to move at least one coupling mechanism, wherein the coupling mechanism is adapted to couple with or engage at least one of the controls of the remote operations device.
43. A method of using an operational unit according to any of claims ito 16 and/or a remote operations device according to any of claims 23 to 32, the method comprising operating one or more motors, actuators or other device for producing motive force, motion or action located in the operational unit at a distal end of the remote operations device in order to rotate, pivot, slide, translate and/or otherwise move or operate at least one tool and/or device.
44. A method of using an automation unit according to any of claims 33 to and/or a remote operations device according to any of claims 26 to 32, the method comprising operating at least one actuator, servo motor or other articulation device of the automation unit in order to operate or move at least one tool or device comprised in or connected to a distal end of the remote operations device.
45. A method of using an operating unit according to claim 36 that is operable to control and/or operate at least one control of a remote operations device, the method comprising: operating one or more moving mechanisms, wherein at least one or each moving mechanism is configured to operate a control of the remote operations device.
46. The controller for controlling an operational unit for a remote operations device, the operational unit being a distal end unit located or mountable at a distal end of the of the remote operations device, the operational unit being configured to move, articulate and/or operate at least one tool or device and/or a pad of the remote operations device relative to another part of the remote operations device, wherein the controller is configured to: determine an actual position or orientation or actual change in position or orientation of at least pad or all of the tool or device relative to at least another pad of the tool or device; determine a requested, theoretical or input position or orientation or change in position or orientation of at least pad or all of the tool or device relative to at least another part of the tool or device; determine a measure of the actual position or orientation or actual change in position or orientation of at least pad or all of the tool or device relative to the requested, theoretical or input position or orientation or change in position or orientation of at least part or all of the tool or device; and control or vary haptic feedback provided by a haptic feedback apparatus accordingly.
47. A controller for controlling the operational unit according to any of claims 1 to 16 and/or the remote operations device according to and of claims 23 to 32 and/or the automation unit according to any of claims 33 to 35 and/or the operating unit according to claim 36 and/or configured to implement the methods of any of claims 43 to 45 and/or the controller being or comprising the features of the controller of claim 46, the controller comprising at least one processor and at least one communications module, the controller being adapted to send control data for controlling one or more motors, actuators or other device for producing motive force, motion or action to the operational unit and/or receive data from sensors of the operational unit using the communications system.
48. A computer program product for controlling the operational unit according to any of claims 1 to 16 and/or the remote operations device according to and of claims 23 to 32 and/or the automation unit according to any of claims 33 to 35 and/or the operating unit according to claim 36 and/or the controller of claim 46 or 47 and/or configured to implement the methods of any of claims 43 to 45.
49. A carrier medium comprising or carrying the computer program product of claim 48.
50. A processing apparatus or controller comprising or when programmed with the computer program product of claim 48.
51. An operational unit for a remote operations device substantially as shown herein in the drawings and described in relation thereto.
52. An endoscope or borescope substantially as shown herein in the drawings and described in relation thereto.