JP2017529940A - Endoscope including a torque generating element or torque delivery element disposed within an insertable portion of an endoscope and a surgical cutting assembly insertable into the endoscope - Google Patents

Abstract

An endoscope for removing tissue at a surgical site includes an elongated tubular body that can be inserted into a mammalian cavity of a patient. A surgical cutting assembly, wherein the instrument channel extends between a first opening at the distal end and a second opening at the proximal end of the tubular body and includes an inhalation channel through the distal end Sized and configured to receive a surgical cutting assembly configured to remove material entering the endoscope. A torque generating element configured to generate torque is disposed within the distal end and is configured to provide the generated torque to the coupling component. The coupling component is positioned at the distal end of the elongate tubular member and is configured to actuate the cutting element of the surgical cutting assembly in response to actuation of the torque generating element.

Description

RELATED APPLICATION This application was filed on September 30, 2014, and is “insertable into endoscopes and endoscopes including a torque generating element or torque delivery element disposed within an insertable portion of the endoscope. The priority of US Provisional Patent Application No. 14 / 501,932 entitled “Surgical Cutting Assembly” is claimed and the entire disclosure is incorporated herein by reference for all purposes.

  Colon cancer is the third leading cause of cancer in the United States, but the second leading cause of cancer-related death. Colon cancer arises from existing colon polyps (adenomas) that occur in as many as 35% of the US population. Colon polyps can be benign, precancerous, or cancerous. Colonoscopy is widely considered to be an excellent discriminating tool for colon cancer, whose incidence is increasing worldwide. According to the literature, a 1% increase in colonoscopy discrimination tests leads to a 3% decrease in colon cancer incidence. Current demand for colonoscopy exceeds the ability of the health care system to make an appropriate discriminating test. Despite the increase in colon cancer discriminating tests over the past few decades, only 55% of the population in question has undergone discriminating tests, which is far from the recommended 80%, so millions of patients Is at risk.

  Due to the lack of adequate resources, colonoscopy operators typically only sample the largest polyps and detect them in a small size that can be converted to colon cancer before colonoscopy in the future. Leaving a less likely polyp causes sample deviation for the patient. Thanks to this sample deviation, a negative result from a sampled polyp does not guarantee that the patient is not actually suffering from cancer. Existing polypectomy techniques lack accuracy, are cumbersome and time consuming.

  At present, colon polyps are removed using a snare that is introduced into the patient's body through a working channel formed in the endoscope. The tip of the snare is passed around the polyp stalk and the polyp is cut from the colon wall. When the cut is complete, the cut polyp is placed on the patient's intestinal wall until it is retrieved by the operator. To collect this specimen, the snare is first removed from the endoscope, and biopsy forceps or suction is fed through the same channel of the endoscope and the specimen is collected.

  Accordingly, there is a need for an improved endoscopic instrument that improves the accuracy and speed of polyp removal for biopsy.

  There is provided an improved endoscopic instrument that can accurately remove sessile polyps from a patient and efficiently collect multiple polyp specimens. In particular, the improved endoscopic instrument performs a debleed man of one or a plurality of polyps and uses a polyp without the alternate use of different cutting tools and different specimen collection tools. Can be recovered. This sampling can be integrated with colonoscopy. In some implementations, the endoscopic instrument can cut and remove tissue from the patient. In some such implementations, the endoscopic instrument can cut and remove tissue from a patient body accessed via a flexible endoscope substantially simultaneously.

  In one aspect, an endoscopic instrument that can be inserted into a single instrument channel of an endoscope is a power drive configured to ablate material at a site within a subject reached by a flexible endoscope with an actuation channel Includes instrument head. The power driver instrument head includes a first distal end and a first proximal end. A substance entry port is formed at the first distal end of the power-driven instrument head, which is a path through which the excised substance enters the flexible endoscopic instrument. A body is coupled to the first proximal end of the power driver instrument head and is configured to drive the power driver instrument head. The body includes a flexible portion having a second distal end and a second proximal end. A substance discharge port is formed at the second proximal end of the flexible portion. A suction channel extends from the substance entry port of the power driven instrument head to the substance discharge port of the flexible section. The second proximal end of the flexible portion is coupled to a vacuum source, and when the endoscopic instrument is disposed within an instrument channel of a flexible endoscope, the inhalation channel via the substance entry port The ablated material that enters is removed from the inhalation channel at the material discharge port.

In some implementations, the body further includes a power actuator. The power actuator is coupled to the first proximal end of the power driver instrument head and is configured to drive the power driver instrument head. In some implementations, the power actuator is either a hydraulic power actuator, a pneumatic power actuator, or an electric actuator. In some implementations, the power actuator includes at least one of an electric motor, a Tesla motor, and a vane rotor. In some implementations, the endoscopic instrument includes an energy storage element configured to power the power actuator. In some implementations, the suction channel is formed by the power driver instrument head, the power actuator, and the flexible portion.
In some implementations, the power actuator is either a hydraulic power actuator or a pneumatic power actuator. In some implementations, the flexible portion is configured to remove a fluid suction tubular member configured to supply water to operate the power actuator and the fluid to operate the actuator. Fluid outlet tubular member. In some implementations, the flexible portion includes an inhalation tubular member that forms a proximal portion of the inhalation channel.

  In some implementations, the power actuator includes a hollow portion that fluidly couples the material entry port of the power driver head and the material discharge port of the flexible portion.

  In some implementations, the instrument includes an engagement assembly configured to contact a wall of the instrument channel of the endoscope when activated. In some implementations, the engagement assembly includes a flexible ring structure configured to deform.

  In some implementations, the power driver instrument head includes an outer structure and a cutting shaft disposed within the outer structure, the cutting shaft being coupled to the power actuator and operating the power actuator. Then, the outer structure is configured to rotate. In some implementations, the cutting shaft includes a hollow portion and the material entry port.

  In some implementations, the flexible portion includes a hollow flexible torque cable. The flexible torque cable includes a distal portion configured to be coupled to the first proximal end of the power driver instrument head and a proximal portion configured to be coupled to a power actuator. In some implementations, the flexible torque cable forms part of the suction channel. The distal portion of the flexible torque cable is fluidly coupled to the substance entry port of the power driver instrument head, and the proximal portion of the flexible torque cable includes the substance discharge port.

  In some implementations, the instrument has an outer diameter of less than about 5 mm. In some implementations, the flexible portion is at least 40 times as long as the power driver head. In some implementations, the outer diameter of the power actuator is less than about 4 mm.

  In another aspect, an endoscopic instrument includes a power driven instrument head configured to excise material at a site within a subject's body. The power driven instrument head includes a cutting tip and a substance entry port configured to allow substance to enter the distal end of the endoscopic instrument. A body is coupled to the power driver instrument head. The body includes an elongate hollow flexible tubular member with a substance discharge port configured to allow discharge of substance from the proximal end of the endoscopic instrument. A suction channel extends from the substance entry port of the power driven instrument head to the substance discharge port of the elongated hollow flexible tubular member. The second proximal end of the flexible portion is configured to fluidly couple to a vacuum source, and the ablated material entering the inhalation channel via the material entry port of the power driver head is the material It is removed from the endoscopic instrument via a discharge port. The endoscopic instrument is configured to travel within the serpentine instrument channel of the endoscope. In some implementations, the instrument has an outer diameter of less than about 5 mm and the flexible tubular member is at least 72 inches long.

  In some implementations, the body further includes a power actuator, the power actuator coupled to the first proximal end of the power driver instrument head and configured to drive the power driver instrument head. ing. In some implementations, the power actuator is an electric actuator and further includes a conductive line configured to couple to a power source. In some implementations, the suction channel is formed by the power driver instrument head, the power actuator, and the flexible portion. In some implementations, the flexible tubular member forms a proximal portion of the inhalation channel.

  In some implementations, the power actuator is either a hydraulic power actuator or a pneumatic power actuator, and a fluid suction tubular member configured to supply fluid to operate the power actuator; And a fluid outlet tubular member configured to remove the fluid supplied to actuate the power actuator.

  In some implementations, the instrument includes an engagement assembly configured to contact a wall of the instrument channel of the endoscope when activated. In some implementations, the engagement assembly is a vacuum actuation structure configured to move to an engagement position that does not contact the instrument channel when a vacuum is applied, when the vacuum is not applied Includes a vacuum actuation structure configured to move to a retracted position that does not contact the instrument channel.

  In some implementations, the power driver instrument head includes an outer structure and a cutting shaft disposed within the outer structure, the cutting shaft being coupled to the power actuator and operating the power actuator. Then, the outer structure is configured to rotate.

  In some implementations, the flexible tubular member includes a hollow flexible torque cable. The flexible torque cable is configured to couple to a distal portion configured to be coupled to the first proximal end of the power driven instrument head and to a power actuator located external to the endoscopic instrument. And a proximal portion. In some implementations, the flexible torque cable further forms part of the suction channel, and the distal portion of the flexible torque cable is fluidly coupled to the substance entry port of the power driver head. The proximal portion of the flexible torque cable includes the material discharge port. In some implementations, the instrument includes a sheath surrounding the flexible torque cable. In some implementations, the instrument includes a sheath surrounding the flexible torque cable.

  According to another aspect, a flexible endoscopic biopsy retrieval device adapted for use with an endoscope includes a housing, a debridement element coupled to the housing, and a debridement element by the debridement element. A specimen collection conduit disposed within the housing for collecting the readmaned material. In various embodiments, an improved flexible endoscope includes an integral endoscopic endoscope that includes a debridement element and a sample collection conduit for retrieving material debridement by the debridement element. It can comprise so that a test | inspection collection device may be provided.

  In another aspect, a method for retrieving a polyp from a patient's body includes the steps of placing an endoscopic instrument within a single instrument channel of the endoscope and inserting the endoscope into the patient's body. Activating a debridement element of the endoscopic instrument to cut a polyp in the patient body; and actuating a specimen collection element of the endoscopic instrument to cut the polyp from the patient body. Removing.

  According to yet another aspect, the endoscope includes a first end and a second end separated by a flexible housing. An instrument channel extends from the first end to the second end, and an endoscopic instrument is coupled to the instrument channel at the first end of the endoscope. The endoscopic instrument includes a debridement element and a specimen collection conduit partially disposed within the instrument channel.

  In another aspect, an endoscopic instrument insertable into a single instrument channel of an endoscope includes a cutting assembly configured to excise material at a site within a subject. The cutting assembly includes an outer cannula and an inner cannula disposed within the outer cannula. The outer cannula forms an opening through which the material to be excised passes as it enters the cutting assembly. The endoscopic instrument also includes a flexible outer tubing coupled to the outer cannula. The flexible outer tubing is configured to rotate the outer cannula relative to the inner cannula. The outer diameter of the flexible outer tubing can be smaller than the instrument channel into which the endoscopic instrument can be inserted. The endoscopic instrument also includes a flexible torque coil with a portion disposed within the flexible outer tubing. The flexible torque coil includes a distal end coupled to the inner cannula. The flexible torque coil is configured to rotate the inner cannula relative to the outer cannula. The endoscopic instrument further includes a proximal connector coupled to a proximal end of the flexible torque coil and configured to engage a drive assembly, the drive assembly being actuated when the proximal connector is engaged. And rotating the flexible torque coil and the inner cannula. The endoscopic instrument further includes an inhalation channel with an inhalation port configured to engage a vacuum source. The suction channel is formed in part by the inner wall of the flexible torque coil and the inner wall of the inner cannula and extends from an opening formed in the inner cannula to the suction port. Further, the endoscopic instrument is a cleaning channel including a first portion formed between an outer wall of the flexible torque coil and an inner wall of the flexible outer tubing, and a cleaning fluid is supplied to the suction channel. Includes a wash channel configured to carry.

  In some implementations, the proximal connector is hollow and the inner wall of the proximal connector forms part of the inhalation channel. In some implementations, the proximal connector is a rigid cylindrical structure and is configured to be disposed within a drive receptacle of the drive assembly. The proximal connector includes a coupler configured to engage the drive assembly and a tension adjustment spring configured to bias the inner cannula toward the distal end of the outer cannula. it can. In some implementations, the tension adjustment spring is dimensioned and biased so that the tension adjustment spring positions the cut portion of the inner cannula adjacent to the opening of the outer cannula. In some implementations, the proximal connector is rotatably fluidly coupled to the flexible torque coil.

  In some implementations, the endoscopic instrument further includes an irrigation connector including a irrigation entry port and a tubular member coupled to the irrigation connector and the flexible outer tubing. The inner wall of the tubular member and the outer wall of the flexible torque coil can form a second portion of the wash channel that is fluidly coupled to the first portion of the wash channel. In some implementations, the endoscopic instrument is a rotary coupler that couples the flexible outer tubing to the tubular member, rotating the flexible outer tubing relative to the tubular member and the outer Also included is a rotary coupler configured to rotate the opening formed in the cannula relative to the inner cannula. In some implementations, the irrigation connector forms an inner hole with the flexible torque coil disposed therein.

  In some implementations, the endoscopic instrument also includes a lining with the flexible torque coil disposed therein, the outer wall of the lining being configured to form part of the wash channel. In some implementations, the inner cannula is configured to rotate about an axis relative to the outer cannula, and the suction channel is configured to apply a suction force at the opening of the inner cannula. ing.

  In some implementations, the flexible torque coil includes a plurality of threads. Each of the plurality of threads can be wound in a direction opposite to a direction in which one or a plurality of adjacent threads of the plurality of threads are wound. In some implementations, the flexible torque coil includes multiple layers. Each of the plurality of layers can be wound in a direction opposite to the direction in which one or more adjacent layers of the plurality of layers are wound. In some implementations, each layer can include one or more threads.

  In some implementations, the flexible outer tubing has a length that exceeds the length of the endoscope into which the endoscopic instrument is inserted. In some implementations, the flexible outer tubing is at least 100 times longer than the outer diameter of the flexible outer tubing. In some implementations, the flexible portion is at least 40 times as long as the cutting assembly.

  In another aspect, the endoscopic assembly includes a soft endoscopic instrument, the soft endoscopic instrument being a cutting assembly configured to excise material at a site within a subject, the outer cannula; An inner cannula disposed within the outer cannula, wherein the outer cannula includes a cutting assembly that forms an opening through which material to be ablated passes upon entering the cutting assembly. A flexible outer tubing is coupled to the outer cannula and configured to rotate the outer cannula relative to the inner cannula, the flexible outer tubing from the instrument channel through which the flexible endoscopic instrument can be inserted. Also has a small outer diameter. A suction tube includes a portion disposed within the flexible outer tubing. The inhalation tube includes a distal end coupled to the inner cannula, the inhalation tube forming a portion of an inhalation channel through which the material excised by the cutting assembly is removed. The inhalation channel is partially formed by the inner wall of the inhalation channel and the inner wall of the inner cannula and extends from an opening formed in the inner cannula to the proximal end of the inhalation tube. A cleaning channel includes a first portion formed between an outer wall of the suction tube and an inner wall of the flexible outer tubing and is configured to carry cleaning fluid to the suction channel. The endoscope assembly also includes an endoscope into which the flexible endoscopic instrument can be inserted. The endoscope includes an elongate tubular body having a distal end and a proximal end, the distal end being sized for insertion into a mammalian cavity of a patient and an image of the mammalian cavity. Including a camera configured to capture. The distal end extends a predetermined length from a distal tip that is less than half the length of the elongate tubular body. An instrument channel extends between the first opening at the distal end and the second opening at the proximal end. The instrument channel is sized and configured to receive a removable surgical cutting assembly including an inhalation channel, the inhalation channel entering the endoscope through the distal end of the surgical cutting assembly Is configured to fluidly couple to a suction source at the proximal end of the surgical cutting assembly. A torque generating element is configured to generate torque and is disposed within the distal end and is configured to provide the generated torque to a coupling component in response to actuation of the torque generating element. Yes. The coupling component is positioned at the distal end of the elongate tubular member and is configured to actuate a cutting element of the surgical cutting assembly in response to actuation of the torque generating element.

  According to another aspect, an endoscope for removing tissue at a surgical site includes an elongate tubular body with a distal end and a proximal end. The distal end can be inserted into the mammalian cavity of the patient. The proximal end is configured to remain outside the mammalian cavity of the patient. An instrument channel extends between the first opening at the distal end and the second opening at the proximal end and is sized and configured to receive a removable surgical cutting assembly including an inhalation channel And wherein the inhalation channel is configured to fluidly couple to a suction source at a proximal end of the surgical cutting assembly for removing material that enters the endoscope through the distal end of the surgical cutting assembly Has been. A torque generating element is configured to generate torque and is disposed within the distal end, the torque generating element providing the generated torque to a coupling component in response to actuation of the torque generating element It is configured as follows. The coupling component is disposed at the distal end of the elongate tubular member. The coupling component is configured to actuate a cutting element of the surgical cutting assembly in response to actuation of the torque generating element.

  In some implementations, the length of the coupling component is dimensioned so that the endoscope can be inserted into the mammalian cavity of the patient.

  In some implementations, the coupling component includes a magnetic coupler, the magnetic coupler being magnetically coupled with a magnetic coupling element of the surgical cutting assembly, the magnetic coupler of the surgical cutting assembly being Sufficient magnetic force to rotate relative to the first portion of the surgical cutting assembly. In some implementations, the inner diameter of the magnetic coupler is sized to exceed the diameter of the instrument channel. In some implementations, the outer wall of the magnetic coupler includes a friction element configured to rotatably engage the torque generating element. In some implementations, the torque generating element includes an electric rotary actuator, and the endoscope further includes an electrical wire configured to send a current to the electric rotary actuator. In some such implementations, the magnetic coupler can form a rotatable portion of the torque generating element. In some such implementations, the torque generating element is either a hydraulically driven rotary actuator or a pneumatically driven rotary actuator, and the endoscope is a fluid configured to deliver fluid to the torque generating element It further includes a delivery channel and a fluid removal channel configured to remove the fluid from the torque generating element.

  In some implementations, the torque generating element is configured to rotate the inner cannula of the surgical cutting assembly relative to the outer cannula of the surgical cutting assembly.

  In some implementations, the torque generating element is configured to couple to a linear motion assembly that converts the torque generated by the torque generating element into linear motion. In some implementations, the torque generating element is rotated in a first direction to move the coupling component from a first position to a second position in a direction from the proximal end toward the distal end; And the coupling component is configured to rotate in a second direction to move the coupling component from the second position to the first position, the torque generating element is configured to rotate in the first direction and in the second direction. Alternating between rotation and the inner cannula of the surgical cutting assembly with a first predetermined distance spaced from the distal tip of the outer cannula of the surgical cutting assembly by a first predetermined distance. Configured to reciprocate between an open position and a second closed position in which the distal tip of the inner cannula is spaced from the distal tip of the outer cannula by less than a second predetermined distance; Said second place The constant distance is smaller than the first predetermined distance.

  In some implementations, the instrument channel is configured to receive the surgical cutting assembly through the second opening at the proximal end of the instrument channel. In some implementations, the instrument channel is configured to include at least one groove configured to engage a corresponding key of the surgical cutting assembly, such that the opening of the outer cannula of the surgical cutting assembly Ensure that the part orientation is aligned with the endoscope camera.

  In some implementations, the coupling component is a magnetic coupler that magnetically couples to a coupling member attached to an inner cannula of the surgical cutting assembly, the coupling component being generated by the torque generating element. The torque is transmitted to the inner cannula of the surgical cutting assembly via the coupling member attached to the inner cannula.

  In some implementations, the endoscope further includes a movable coupling assembly configured to engage an outer cannula of the surgical cutting assembly, the movable coupling assembly connecting the outer cannula to the inner cannula. Are configured to rotate. In some implementations, the movable coupling assembly is configured to rotate the outer cannula between a plurality of predetermined positions.

  In some implementations, the endoscope includes a deployment element configured to be actuated by an actuator, the deployment element including a first uncut surgical cutting assembly disposed within the tubular body. The surgical cutting assembly is configured to be maintained in a deployed position, and further configured to deploy the surgical cutting assembly from the first undeployed position to a second deployed position when the deployment element is actuated. In some implementations, the deployment element includes a closed state in which the surgical cutting assembly is maintained in the first undeployed position and an opening in which the surgical cutting assembly is deployed to the second deployed position. It is configured to move between states. In some implementations, when the surgical cutting assembly is in the second deployed position, the outer cannula of the surgical cutting assembly extends from the distal end of the endoscope to the length of the endoscope. The cutting window may be displayed in an image captured by the camera, the cutting window extending outward along a directional axis and arranged at a distance from the endoscope camera.

  In some implementations, the endoscope further includes an actuation console including at least one actuator that actuates the torque generating element. In some implementations, the coupling component includes an inner wall with a longitudinal axis of the instrument channel extending therein, and a portion of the instrument channel disposed therein.

  In some implementations, the torque generating element and the coupling component are disposed in a region of the distal end of the endoscope that is connected to the distal tip of the elongate tubular body. The steerable assembly extends between a portion of the elongate tubular body disposed therein.

  In some implementations, the endoscope can include a wash channel that extends from the proximal end to an opening formed in a wall of the tubular body forming the instrument channel. The irrigation channel is configured to fluidly connect to an irrigation path formed in the surgical cutter assembly. The surgical cutting assembly is configured such that when the surgical cutter assembly is inserted into the instrument channel of the endoscope, cleaning fluid entering the proximal end of the endoscope is the surgical cutter assembly. In the washing channel formed between the outer cannula and the inner cannula.

  According to another aspect, an endoscope for removing tissue at a surgical site includes an elongate tubular body with a distal end and a proximal end. The distal end is dimensioned to be inserted into a patient's mammalian cavity. The distal end extends from a distal tip of the elongate tubular body to a portion of the elongate tubular body within which the steerable assembly is disposed. The endoscope includes an instrument channel extending between a first opening at the distal end and a second opening at the proximal end, the instrument channel including a removable surgical channel Sized and configured to receive a cutting assembly, the inhalation channel proximal to the surgical cutting assembly for removing material that enters the endoscope through the distal end of the surgical cutting assembly At the end is configured to fluidly couple to a suction source. The endoscope includes a torque generating element configured to generate torque and disposed within the distal end. The torque generating element is configured to provide the generated torque to a coupling component in response to operation of the torque generating element. The coupling component is positioned at the distal end of the elongate tubular member and is configured to actuate a cutting element of the surgical cutting assembly in response to actuation of the torque generating element.

  According to another aspect, an endoscope for removing tissue at a surgical site includes an elongate tubular body with a distal end and a proximal end. The distal end can be inserted into the mammalian cavity of the patient. The proximal end is configured to remain outside the mammalian cavity of the patient. The endoscope includes an instrument channel formed in the elongated tubular body and extending between the first opening at the proximal end and the second opening at the distal end. . The instrument channel is sized and configured to receive a removable surgical cutting assembly that forms an inhalation channel, the inhalation channel entering the endoscope through the distal end of the surgical cutting assembly To remove material, the surgical cutting assembly is configured to fluidly couple to a suction source at the proximal end. The endoscope is a flexible torque delivery element configured to deliver torque generated by a torque generating element to an inner cannula of the surgical cutting assembly, wherein the inner cannula is external to the surgical cutting assembly. A flexible torque delivery element is included that is movable relative to the cannula to excise material that enters the surgical cutting assembly. The flexible torque delivery element extends from the proximal end toward the distal end of the elongate tubular body. The endoscope includes a coupling component that is rotatably coupled to the flexible torque delivery element to provide the torque delivered by the flexible torque delivery element to a coupling member of the surgical cutting assembly. When the flexible torque delivery element is actuated, the coupling component causes the coupling member of the surgical cutting assembly to move the inner cannula relative to the outer cannula.

  In some implementations, the flexible torque delivery coil is either a flexible torque coil or a flexible torque rope. In some implementations, the flexible torque delivery element includes multiple layers of one or more threads, each of the multiple layers wound with one or more adjacent layers of the multiple layers. It is wound in the opposite direction to the direction in which it is.

  In some implementations, the length of the coupling component is dimensioned so that the endoscope can be inserted into the mammalian cavity of the patient.

  In some implementations, the coupling component is a magnetic coupler that surrounds a distal portion of the instrument channel. The magnetic coupler is magnetically coupled with a coupling member of the surgical cutting assembly and is sufficient to move the magnetic coupler of the surgical cutting assembly relative to the first portion of the surgical cutting assembly. It has a magnetic force. In some implementations, the inner wall of the coupling component has an inner diameter that is larger than the diameter of the instrument channel, and a portion of the instrument channel is disposed within the coupling component. In some implementations, the outer wall of the coupling component includes a friction element configured to rotatably engage the flexible torque delivery element. In some implementations, the flexible torque delivery element includes an inner wall with an inner diameter that is greater than the outer diameter of the instrument channel, and a portion of the instrument channel is disposed within the inner wall of the flexible torque delivery element. And the coupling component is rotatably coupled to the flexible torque delivery element. The coupling component is positioned toward the distal end of the elongate tubular member and is configured to magnetically couple to a magnetic coupler of the surgical cutting assembly.

  The flexible torque delivery element further comprising a torque delivery element channel formed within the elongated tubular body and extending from a third opening at the proximal end toward the distal end of the elongated tubular body; Are dimensioned to be disposed within the torque delivery element channel. In some implementations, the flexible torque delivery element is configured to rotate the inner cannula of the surgical cutting assembly relative to the outer cannula of the surgical cutting assembly.

  In some implementations, the flexible torque delivery element is configured to couple to a linear motion assembly that converts the torque delivered by the torque generating element into linear motion. In some implementations, the flexible torque delivery element rotates in a first direction to move the coupling component from a first position to a second position in a direction from the proximal end toward the distal end. And is configured to rotate in a second direction to move the coupling component from the second position to the first position, and the flexible torque delivery element includes the rotation in the first direction and the Alternately rotating in a second direction, the inner cannula of the surgical cutting assembly is positioned at a first predetermined distance from the distal tip of the outer cannula of the surgical cutting assembly. Configured to reciprocate between a spaced first open position and a second closed position in which the distal tip of the inner cannula is spaced less than a second predetermined distance from the distal tip of the outer cannula. Has been It said second predetermined distance is the first predetermined distance smaller.

  The instrument channel is configured to receive the surgical cutting assembly for removing tissue, the surgical cutting assembly being coupled to a flexible inhalation tube via the coupling member. including. The instrument channel is configured to include at least one groove configured to engage a corresponding key of the surgical cutting assembly so that the cutting window of the outer cannula of the surgical cutting assembly is in the endoscope Align with the camera lens.

  In some implementations, the endoscope further includes a movable coupling assembly configured to engage an outer cannula of the surgical cutting assembly, the movable coupling assembly connecting the outer cannula to the inner cannula. Can be configured to rotate. In some implementations, the movable coupling assembly is configured to rotate the outer cannula between a plurality of predetermined positions.

  In some implementations, the endoscope includes a deployment element configured to be actuated by an actuator. The deployment element is configured to maintain the surgical cutting assembly disposed within the tubular body in a first undeployed position, and further, when the deployment element is actuated, the surgical cutting assembly includes the surgical cutting assembly. It is configured to deploy from the first undeployed position to the second deployed position. In some implementations, the deployment element includes a closed state in which the surgical cutting assembly is maintained in the first undeployed position and an opening in which the surgical cutting assembly is deployed to the second deployed position. It is configured to move between positions. In some implementations, when the surgical cutting assembly is in the second deployed position, the outer cannula of the surgical cutting assembly extends from the distal end of the endoscope to the length of the endoscope. The cutting window may be displayed in an image captured by the camera, the cutting window extending outward along a directional axis and arranged at a distance from the endoscope camera.

  In some implementations, the endoscope can include a wash channel that extends from the proximal end to an opening formed in a wall of the tubular body forming the instrument channel. The irrigation channel is configured to fluidly connect to an irrigation path formed in the surgical cutter assembly. The surgical cutting assembly is configured such that when the surgical cutter assembly is inserted into the instrument channel of the endoscope, cleaning fluid entering the proximal end of the endoscope is the surgical cutter assembly. In the washing channel formed between the outer cannula and the inner cannula.

  The coupling component is disposed in a region of the distal end of the endoscope, the region having the distal tip of the elongated tubular body and the steerable assembly disposed therein It extends between a part of the long tubular body.

  According to another aspect, the medical device is inserted into an instrument channel of the endoscope with a torque generating element or torque delivery element disposed within a portion of the endoscope that is insertable into a mammalian cavity of a patient. Including possible surgical cutting assemblies. The surgical cutting assembly is configured to excise material at a surgical site within the mammalian cavity of the patient. The surgical cutting assembly includes an outer cannula that includes a cutting window and an inner cannula disposed within the outer cannula. The surgical cutting assembly includes a flexible outer tubing coupled to the proximal end of the outer cannula. The inner cannula and the outer tubing have a first length that exceeds the length of the instrument channel of the endoscope through which the surgical cutting assembly can be inserted. The surgical cutting assembly includes a coupling member having a distal end coupled to the proximal end of the inner cannula. The surgical cutting assembly is an inhalation tubing disposed within an inner wall of the flexible outer tubing and fluidly coupled to the inner cannula via the coupling member, the inner cannula, the coupling member, and the The inhalation tubing has a second length that exceeds the length of the instrument channel of the endoscope through which the surgical cutting assembly can be inserted. The inner cannula, the coupling member, and the inhalation tubing are configured so that the material excised by the surgical cutting assembly is removed from the surgical site within the mammalian cavity of the patient to the exterior of the mammalian cavity. Forming an inhalation channel passing through The surgical cutting assembly includes a seal including a stationary portion and a movable portion, the movable portion being coupled to the coupling member, while the stationary portion is coupled to the outer tubing, and the seal is against the outer cannula. The rotation of the coupling member is allowed.

  In some implementations, the coupling member includes one or more magnetic surfaces and is configured to magnetically couple to the magnetic coupling element of the endoscope into which the surgical cutting assembly can be inserted. In some implementations, the coupling member is configured to rotate about a longitudinal axis of the inner cannula, and the inner cannula is configured to rotate about the longitudinal direction relative to the outer cannula. ing. In some implementations, the coupling member is configured to rotate in response to rotation of the coupling component of the endoscope.

  In some implementations, the length of the inner cannula and the coupling member is greater than the length of the outer cannula. In some implementations, the coupling member is sized to be placed inside the flexible outer tubing.

  In some implementations, the seal connects the coupling member to the suction tube, but includes another portion configured to rotationally separate the coupling member and the suction tube. In some implementations, the suction tubing is configured to fluidly couple to a suction source.

  In some implementations, the stationary portion of the seal is the outer wall of the seal. The outer wall of the seal includes a friction element configured to frictionally engage the outer cannula to the inner wall. In some implementations, the outer tubing is a braided tubing that is rotated when the proximal end of the braided tubing extending outside the endoscope into which the surgical cutting assembly can be inserted rotates. And the outer cannula is configured to rotate. In some implementations, the surgical cutting assembly further includes at least one of a groove or key formed in an outer wall of the outer tubing, the groove or key being capable of inserting the surgical cutting assembly. It is configured to engage a corresponding groove or key formed in the instrument channel of the endoscope.

  In some implementations, the surgical cutting assembly includes an irrigation channel. The cleaning channel includes a first cleaning channel portion formed between an inner wall of the outer cannula and an outer wall of the inner cannula, an inner wall of the outer tubing, an outer wall of the coupling member, and an outer wall of the suction tubing. And a second washing channel portion formed between the two.

  In some implementations, the surgical cutting assembly further includes an irrigation connector including an irrigation entry port and a tubular member coupled to the irrigation connector and the flexible outer tubing. The suction tubing disposed within the tubular member and the outer wall of the suction tubing form a third wash channel portion fluidly coupled to the first portion of the wash channel and the second portion of the wash channel. In some implementations, the flush channel extends from the flush entry port to the cutting window of the outer cannula.

  In some implementations, the cleaning channel of the surgical cutting assembly is configured to receive fluid from a cleaning source, where the fluid is either a local drug or a therapeutic agent.

  In some implementations, the irrigation channel receives the fluid at a first flow rate to provide a irrigation fluid to facilitate aspiration, and a first channel for spraying the irrigation fluid at a site within the mammalian cavity. The irrigation fluid flows into the site from the cutting window of the outer cannula. In some implementations, the medical device includes a flow rate management element configured to manage a flow rate at which the wash fluid is delivered to the wash channel and a wash flow rate at which material is aspirated through the inhalation channel. be able to. The flow rate management element is configured to decrease the inhalation cleaning flow rate in response to detecting that the increase in cleaning flow rate exceeds a threshold cleaning flow rate.

  In some implementations, the outer cannula includes at least one engagement member configured to engage a movable coupling assembly formed in the insertable portion of the endoscope. The movable coupling assembly is configured to rotate the outer cannula relative to the endoscope.

  In some implementations, the surgical cutting assembly further includes a rotational seal that couples the outer cannula to the outer tubing and rotationally separates the outer cannula and the outer tubing.

  In some implementations, the surgical cutting assembly further includes an outer coupling element that includes at least one magnet configured to magnetically couple to the coupling member. The outer coupling element is disposed adjacent to the coupling member and includes an inner wall through which the outer tubing and the coupling member are disposed. In some implementations, the outer coupling element is configured to engage the coupling component of the endoscope, and the coupling component of the endoscope is configured to move the outer coupling element. Has been. In some implementations, the coupling component of the endoscope physically engages the outer coupling element of the surgical cutting assembly, causing the outer coupling element to move outwardly of the surgical cutting assembly. It is configured to move relative to the tubing.

  In some implementations, the coupling member of the surgical cutting assembly has a first length extending from a first end coupled to the inner cannula to a second end coupled to the inspiratory tube. I have. In some implementations, the first length is longer than a corresponding length of the coupling component of the endoscope into which the surgical cutting assembly can be inserted. In some implementations, the coupling member is configured such that the first end of the inner cannula is adjacent to the proximal end of the coupling component and the second end of the coupling member is the coupling. It is configured to rotatably couple to the coupling component over a distance extending to a second position adjacent to the distal end of the component.

  In some implementations, the coupling member of the surgical cutting assembly includes the coupling component of the endoscope into which the surgical cutting assembly can be inserted from a first end coupled to the inner cannula. A first length may be provided that extends to a second end coupled to the intake tube that is shorter than a corresponding length. In some implementations, the coupling member includes a first position where the distal end of the inner cannula is adjacent to a proximal end of the coupling component, and the second end of the coupling member is the coupling configuration. It is configured to rotatably couple to the coupling component over a distance extending to a second position adjacent the distal end of the element.

  In yet another aspect, a method of retrieving a lesion from a patient's mammalian cavity includes inserting a flexible endoscope into an opening to the patient's mammalian cavity. An endoscopic instrument is placed or inserted into the instrument channel of the flexible endoscope to remove at least a portion of a lesion from within the mammalian cavity. The endoscopic instrument includes a cutting assembly comprising an outer cannula, an inner cannula disposed within the outer cannula, and a cutting window formed along a portion of a radial wall of the outer cannula, The inner cannula is rotatably coupled to a flexible torque element having a length extending along the length of the flexible endoscope, the flexible torque element energizing the inner cannula when actuated. , Rotate relative to the outer cannula to excise the portion of the lesion. Next, when the endoscopic instrument is placed in the instrument channel, cleaning fluid is supplied from the irrigation port of the endoscopic instrument that remains outside the flexible endoscope. The irrigation port is fluidly coupled to the outer cannula via a rotary coupler, and the rotary coupler couples the irrigation port to an outer tubing connected to the outer cannula. As a portion of the rotary coupler rotates, the rotary coupler can allow rotation of the outer tubing and the outer cannula relative to the irrigation port. Then, the outer cannula is rotated to a position where the opening of the outer cannula is visible via the camera of the flexible endoscope through rotation of the portion of the rotary coupler. Next, the cutting window of the outer cannula is placed in the lesion of the mammalian cavity. The flexible torque element is then actuated to rotate the inner cannula relative to the outer cannula, and the inner cannula rotates the portion of the lesion as the inner cannula rotates adjacent to the cutting window. Disconnect. The specimen retrieval element of the surgical cutting assembly is activated to remove the cut portion of the lesion from the mammalian cavity through the inhalation channel formed by the inner wall of the inner cannula and the flexible torque element.

  In some implementations, placing the endoscopic instrument in the instrument channel of the flexible endoscope inserts a distal end of the endoscopic instrument into the instrument channel of the flexible endoscope. Including the steps of:

  In some implementations, a proximal connector coupled to the flexible torque element, the proximal connector disposed at a proximal end of the endoscopic instrument provides torque to the flexible torque element The drive assembly is configured to engage.

  In some implementations, a portion of a lesion where a vacuum source fluidly couples to the distal end of the endoscope and enters the endoscopic instrument through the opening of the outer cannula is inserted into the endoscope. Remove from instrument.

  In some implementations, the flexible torque element includes a flexible torque coil with multiple layers of one or more threads, each of the multiple layers being one or more of the multiple layers. It is wound in a direction opposite to the direction in which adjacent layers are wound, and the suction channel is partly formed by the inner wall of the flexible torque coil.

  In some implementations, activating the flexible torque element and activating the specimen retrieval element of the endoscopic instrument includes activating the flexible torque element and the specimen retrieval of the endoscopic instrument. Including simultaneously actuating the elements.

  In some implementations, actuating the flexible torque element includes applying sufficient torque to the inner cannula to cut at least a portion of the lesion. In some implementations, activating the flexible torque element includes activating the flexible torque element to rotate the inner cannula of the cutting assembly relative to the outer cannula via a foot pedal. Including.

  In some implementations, the lesion is the first lesion and the mammalian cavity is the colon. When at least a portion of the first lesion is cut, the opening of the outer cannula is placed in a second lesion in the colon without removing the endoscopic instrument from the flexible endoscope. Actuating the flexible torque element rotates the inner cannula relative to the outer cannula, the inner cannula cutting at least a portion of the second lesion. The specimen collection element of the endoscopic instrument is actuated to remove the cut portion of the second lesion from within the colon.

  In another aspect, a method for removing a lesion from a patient's body includes the steps of inserting a flexible endoscope into the patient's opening and removing the lesion from a surgical location for the instrument channel of the flexible endoscope. Placing an endoscopic instrument within the endoscopic instrument, wherein the endoscopic instrument is along the outer cannula, an inner cannula disposed within the outer cannula, and a portion of a radial wall of the outer cannula. A cutting assembly with a formed opening, wherein the inner cannula is rotatably coupled to a flexible torque element having a length extending along the length of the flexible endoscope, the flexibility A torque element that, when actuated, torques the inner cannula, positions the opening of the outer cannula in the lesion, and places the inner cannula in the outer cannula. Actuating the flexible torque element to rotate relative to the lever, wherein the inner cannula cuts a portion of the lesion as the inner cannula rotates adjacent to the opening. And activating the specimen collection element of the endoscopic instrument to remove the severed portion of the lesion from the patient via an inhalation channel formed by the inner wall of the inner cannula and the flexible torque element A stage of performing.

  In some implementations, the method includes flushing fluid from the irrigation port of the endoscopic instrument that remains outside the flexible endoscope when the endoscopic instrument is disposed within the instrument channel. Including supplying. The irrigation port is fluidly coupled to the outer cannula via a rotary coupler, the rotary coupler couples the irrigation port to an outer tubing connected to the outer cannula, and a portion of the rotary coupler rotates. The rotary coupler then allows rotation of the outer tubing and the outer cannula relative to the irrigation port.

  In some implementations, the method includes visualizing the outer cannula through rotation of the portion of the rotary coupler and the opening of the outer cannula through the camera of the flexible endoscope. Including rotating to a position.

  In some implementations, placing the endoscopic instrument in the instrument channel of the flexible endoscope inserts a distal end of the endoscopic instrument into the instrument channel of the flexible endoscope. Including the steps of:

  In some implementations, the method includes a proximal connector coupled to the flexible torque element, wherein a proximal connector disposed at a proximal end of the endoscopic instrument is connected to the flexible torque element. Engaging a drive assembly configured to provide torque to the motor.

  In some implementations, the method includes fluidly coupling a vacuum source to the distal end of the endoscopic instrument and entering the endoscopic instrument through the opening in the outer cannula. Removing the lesion cut from the endoscopic instrument and fluid coupling.

  In some implementations, the flexible torque element includes a flexible torque coil with multiple layers of one or more threads, each of the multiple layers being one or more of the multiple layers. It is wound in a direction opposite to the direction in which adjacent layers are wound, and the suction channel is partly formed by the inner wall of the flexible torque coil.

  In some implementations, activating the flexible torque element and activating the specimen retrieval element of the endoscopic instrument comprises activating the flexible torque element and the specimen retrieval element of the endoscopic instrument. Including simultaneously operating.

  In some implementations, actuating the flexible torque element includes applying sufficient torque to the inner cannula to cut at least a portion of the lesion. In some implementations, activating the flexible torque element includes activating the flexible torque element to rotate the inner cannula of the cutting assembly relative to the outer cannula via a foot pedal. Including.

  In some implementations, the lesion is a first lesion and the method further removes the endoscopic instrument from the flexible endoscope when at least a portion of the first lesion is cut. Without placing the opening of the outer cannula in a second lesion at another surgical site, and actuating the flexible torque element to rotate the inner cannula relative to the outer cannula, Cutting at least a portion of the second lesion and activating the specimen retrieval element of the endoscopic instrument to remove the cut portion of the second lesion from within the patient.

  According to another aspect, a method of excising a lesion from within a mammalian cavity of a patient includes inserting a flexible endoscope into an opening to the patient's mammalian cavity, the flexible endoscope including the endoscope Including a coupling component disposed within the distal end of the mirror, the flexible endoscope being inserted into the opening through the distal end. The method includes placing a surgical cutting assembly within an instrument channel of the flexible endoscope. The surgical cutting assembly is inserted into the instrument channel through the instrument channel opening to the instrument channel at the proximal end of the endoscope remaining outside the opening to the mammalian cavity. . The surgical cutting assembly includes a cutter assembly comprising an outer cannula, an inner cannula disposed within the outer cannula, and a cutting window formed along a portion of a radial wall of the outer cannula. A proximal end of the inner cannula is coupled to a coupling member, the coupling member is fluidly coupled to an inhalation tube extending along a length of the flexible endoscope, and the coupling member is coupled to the flexible endoscope. It is configured to rotatably couple with the coupling component of the mirror. The method includes rotating the outer cannula of the surgical cutting assembly to place the cutting window in the lesion within the mammalian cavity to be excised. The method includes applying torque to the coupling component of the endoscope. Torque is either a torque delivery element disposed within the distal end of the endoscope or a flexible torque element extending from the proximal end of the endoscope to the distal end of the endoscope Given through. The torque causes rotation of the coupling component of the endoscope and rotation of the coupling member and the inner cannula of the surgical cutting assembly relative to the outer cannula, at the cutting window of the outer cannula. At least part of the lesion is excised. The method activates a specimen retrieval element to remove the excised portion of the lesion via an inhalation channel formed by the inner wall of the inner cannula, the inner wall of the coupling member, and the inhalation tube. Including a step of applying suction.

  In some implementations, the method includes actuating the torque generating element. In some implementations, actuating the torque generating element includes supplying fluid to the torque generating element via a fluid inflow channel and removing the fluid from the torque generating element via a fluid outflow channel. A stage of performing. In some implementations, actuating the torque generating element includes supplying current to the torque generating element via an electrical wire that extends from the torque generating element to a power source external to the flexible endoscope.

  In some implementations, the method includes actuating a rotary actuator disposed external to the endoscope and connected to the torque delivery element. The torque delivery element is configured to deliver the torque generated by the rotary actuator to the coupling component. The torque delivery element includes a flexible torque coil or a flexible torque rope with multiple layers of one or more threads. Each of the plurality of layers is wound in a direction opposite to the direction in which one or more adjacent layers of the plurality of layers are wound.

  In some implementations, the coupling component includes at least one magnet, and the method further includes magnetically coupling the coupling component of the endoscope and the coupling member of the endoscope.

In some implementations, the method further includes supplying cleaning fluid to the surgical cutting assembly via a cleaning fluid delivery channel formed in the endoscope, the cleaning fluid delivery channel comprising: An entry port at a proximal end of the endoscope and a fluid outlet port disposed toward the distal end of the endoscope, fluid coupled to a flush inlet of the surgical cutting assembly Including an exit port,
The flush inlet of the surgical cutting assembly is fluidly coupled to a flush path formed between the outer and inner cannulas of the cutter assembly.

  In some implementations, a portion of the cleaning fluid delivery channel may include the torque generating element, the coupling component, or the torque generating element, the coupling component, or the torque delivery element to provide a cooling effect. Located adjacent to at least one of the torque delivery elements.

  In some implementations, rotating the outer cannula of the surgical cutting assembly to place the cutting window in the lesion to be excised within the mammalian cavity is the distal of the endoscope Actuating a movable coupling assembly disposed at an end, the movable coupling assembly configured to engage the outer cannula and configured to rotate the outer cannula relative to the endoscope. .

  In some implementations, rotating the outer cannula of the surgical cutting assembly to place the cutting window at the lesion to be excised within the mammalian cavity is an outer surface coupled to the outer cannula. Rotating the tubing, wherein the outer tubing is configured to rotate the outer cannula relative to the endoscope based on rotation of the outer tubing.

  This Summary is intended to introduce in a simplified form several concepts that are further described below in the detailed description. This Summary is not intended to represent key features or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter. Moreover, the claimed subject matter does not provide any or all advantages related to the problems of the prior art, and is not limited to implementations that solve any or all of the problems of the prior art.

The present disclosure is illustrative and will be described with reference to the accompanying drawings.
FIG. 1A shows the various types of polyps that can form in the body. FIG. 1B shows a partial perspective view of an endoscope according to an embodiment of the present disclosure. FIG. 1C shows a perspective view of an endoscopic instrument according to an embodiment of the present disclosure 2A and 2B show side perspective views of an endoscopic instrument that couples to the endoscope shown in FIG. 1 according to an embodiment of the present disclosure. 3A and 3B show side perspective views of an exemplary endoscopic instrument that couples to the endoscope shown in FIG. 1 according to an embodiment of the present disclosure. FIG. 4A shows an exploded view of an endoscopic instrument that can be coupled to an endoscope according to an embodiment of the present disclosure. FIG. 4B illustrates a perspective view of an endoscopic instrument coupled to an endoscope and shows various conduits associated with the endoscopic instrument. FIG. 5 shows a side perspective view of another endoscopic instrument coupled to the endoscope shown in FIG. 1 according to an embodiment of the present disclosure. FIG. 6 shows an enlarged view of an exemplary endoscopic instrument according to an embodiment of the present disclosure. FIG. 7 shows a perspective view of the outer blade of the cutting tool of the endoscopic instrument shown in FIG. 6, according to an embodiment of the present disclosure. FIG. 8 shows a perspective view of the outer blade of the cutting tool of the endoscopic instrument shown in FIG. 6 according to an embodiment of the present disclosure. FIG. 9 shows a perspective view of the rotor of the endoscopic instrument shown in FIG. 6 according to an embodiment of the present disclosure. FIG. 10 shows a perspective view of the casing of the endoscopic instrument shown in FIG. 6 according to an embodiment of the present disclosure. 11 shows a perspective view of the cap of the endoscopic instrument shown in FIG. 6 according to an embodiment of the present disclosure. 12 shows a perspective view of the coupling member of the endoscopic instrument shown in FIG. 6 according to an embodiment of the present disclosure. FIG. 13 shows a perspective view of an endoscopic instrument coupled to an endoscope, showing various conduits associated with the endoscopic instrument. FIG. 14 shows another perspective view of an endoscopic instrument coupled to an endoscope, showing various conduits associated with the endoscopic instrument. FIG. 15 is a conceptual system architecture diagram illustrating various components for operating an endoscopic instrument, according to some embodiments of the present disclosure. FIG. 16A shows an exploded view of an exemplary endoscopic instrument according to an embodiment of the present disclosure. FIG. 16B shows a cross-sectional view of the endoscopic instrument shown in FIG. 16A, according to an embodiment of the present disclosure. FIG. 16C shows a schematic diagram of an exemplary engagement assembly of an exemplary endoscopic instrument according to an embodiment of the present disclosure. FIG. 16D shows a cutaway view of the engagement assembly shown in FIG. 16C in an unengaged state, according to an embodiment of the present disclosure. FIG. 16E shows a cutaway view of the engagement assembly shown in FIG. 16A with the engagement assembly positioned to engage an instrument channel of an endoscope, according to an embodiment of the present disclosure. FIG. 17A shows an exploded view of an exemplary endoscopic instrument according to an embodiment of the present disclosure. FIG. 17B shows a cross-sectional view of the endoscopic instrument shown in FIG. 17A, according to an embodiment of the present disclosure. FIG. 18A shows an exploded view of an exemplary endoscopic instrument using a Tesla rotor according to an embodiment of the present disclosure. FIG. 18B shows a cross-sectional view of the endoscopic instrument shown in FIG. 18A, according to an embodiment of the present disclosure. FIG. 19A illustrates an exemplary endoscopic instrument coupled to a power actuator / vacuum source system, according to an embodiment of the present disclosure. FIG. 19B shows a cross-sectional view of the power actuator / vacuum source system shown in FIG. 19A, according to an embodiment of the present disclosure. FIG. 19C shows an exploded view of the exemplary head portion of the endoscopic instrument shown in FIG. 19A, according to an embodiment of the present disclosure. FIG. 19D shows a cutaway view of a portion of an endoscopic instrument with an engagement assembly, according to an embodiment of the present disclosure. FIG. 19E shows a cutaway view of the engagement assembly shown in FIG. 19D in the disengaged position, according to an embodiment of the present disclosure. FIG. 19F shows a cutaway view of the engagement assembly shown in FIG. 19D in an engaged position, according to an embodiment of the present disclosure. FIG. 20 is a conceptual system architecture diagram illustrating various components for operating an endoscopic instrument, according to an embodiment of the present disclosure. 21A-21E illustrate multiple surfaces of an endoscope assembly according to an embodiment of the present disclosure. 22A-22H show various implementations of exemplary flexible cables according to embodiments of the present disclosure. 23AA-23BB illustrate an example implementation of a cutting tool according to an embodiment of the present disclosure. 24A-24C illustrate various aspects of a drive shaft of a coupling component according to an embodiment of the present disclosure. FIG. 25 illustrates an exemplary housing component according to an embodiment of the present disclosure. 26A-26E illustrate exemplary sleeve bearings according to embodiments of the present disclosure. 27A-27C illustrate an exemplary bottom plate that forms part of a casing according to an embodiment of the present disclosure. 28A-28C illustrate exemplary side plates that form part of a casing according to an embodiment of the present disclosure. 29AA-29EE illustrate various aspects of a ferrule according to embodiments of the present disclosure. 30AA-30AA illustrate multiple faces of an endoscope assembly into which a tip is press fit according to an embodiment of the present disclosure. 31AA-31AB and 31B-31C illustrate multiple surfaces of an endoscope assembly into which a tip is press fit according to an embodiment of the present disclosure. FIG. 32 shows a top view of an exemplary flexible portion of an endoscopic instrument according to an embodiment of the present disclosure. FIG. 33 is a cross-sectional view of an exemplary cutting assembly of an endoscopic tool using a torque rope according to an embodiment of the present disclosure. 34A-34C are cross-sectional views of different configurations of the flexible region of an implementation example of the endoscopic tool described herein. 35AA-35AC show various views of portions of an endoscopic tool according to embodiments of the present disclosure. FIG. 36 is a cross-sectional view of a flexible part region of an implementation example of an endoscope tool according to an embodiment of the present disclosure. FIG. 37 is a cross-sectional view of an implementation example of an endoscope tool according to an embodiment of the present disclosure. 38A and 38B are various views of the distal portion of one implementation of an endoscopic instrument according to an embodiment of the present disclosure. 39A and 39B show cross-sectional views for the BB and CC cross-sections of the distal portion of the endoscopic device shown in FIGS. 38A and 38B according to embodiments of the present disclosure. 40A-40B show perspective views of an endoscopic tool according to an embodiment of the present disclosure and a portion of a drive assembly configured to drive the endoscopic tool. FIG. 41 shows a top view of the endoscopic tool shown in FIGS. 40A-40B according to an embodiment of the present disclosure and a top exposed view of a portion of the drive assembly. 42 shows a cross-sectional view of a portion of the endoscopic tool and drive assembly for the AA cross-section of FIGS. 40A-40B according to an embodiment of the present disclosure. FIG. 43 shows an enlarged view of a portion of the drive connector and drive assembly of the endoscope shown in FIG. 40A according to an embodiment of the present disclosure. FIG. 43 shows an enlarged view of portions of the drive connector and drive assembly of the endoscope shown in FIGS. 40A-40B according to an embodiment of the present disclosure. FIG. 44 shows a perspective view of a portion of the endoscopic tool and drive assembly shown in FIGS. 40A-40B according to an embodiment of the present disclosure. FIG. 45 shows a cross-sectional view of a portion of an endoscopic tool and drive assembly for a BB cross-section according to an embodiment of the present disclosure. FIG. 46 shows an enlarged cross-sectional view of a rotary coupler portion of an endoscopic tool according to an embodiment of the present disclosure. 47A and 47B show a top view and a cross-sectional view of a rotary coupler of an endoscopic tool according to an embodiment of the present disclosure. FIG. 48 is a perspective view of a portion of an endoscopic instrument inserted to operate within a drive assembly according to an embodiment of the present disclosure. FIG. 49 illustrates another example implementation of an endoscopic tool and a drive assembly configured to drive the endoscopic tool according to an embodiment of the present disclosure. 50A is a side view of the endoscopic tool and drive assembly shown in FIG. 49 according to an embodiment of the present disclosure. FIG. 50B is a cross-sectional view of the endoscopic tool and drive assembly shown in FIG. FIG. 51 shows a perspective view of an endoscopic instrument including an integrated torque generating element or torque delivery element according to an embodiment of the present disclosure. 52A is a top view of the distal end of an endoscope assembly including the endoscope shown in FIG. 51 and a surgical cutting assembly inserted into an instrument channel of the endoscope, according to an embodiment of the present disclosure. is there. 52B is a cross-sectional view of a portion of the endoscope assembly along reference line BB shown in FIG. 52A. 53A is a perspective view of the portion of the endoscope assembly shown in FIG. 51. FIG. 53B is a cross-sectional view of the portion of the endoscope assembly shown in FIG. 53A. FIG. 53C shows an enlarged cross-sectional view of the portion of the endoscope assembly shown in FIG. 53A. FIG. 53D is a perspective view of the surgical cutting assembly inserted into the endoscope shown in FIG. 53A. FIG. 53E is a cross-sectional view of a portion of the surgical cutting assembly shown in FIG. 53D. FIG. 53F is a side cross-sectional view of the surgical cutting assembly shown in FIG. 53D. FIG. 54A is a cross-sectional perspective view of a portion of an endoscope assembly including an endoscope and a surgical cutting assembly, according to an embodiment of the present invention, wherein the endoscope is an integral torque generating element. Is included. FIG. 54B is an enlarged view of the torque generating element of the endoscope shown in FIG. 54A. FIG. 55A is a perspective view of a portion of an endoscope assembly including an endoscope and a surgical cutting assembly, where the endoscope includes an integrated torque delivery element according to an embodiment of the present invention. . 55B is a cross-sectional view of a portion of the endoscopic tool shown in FIG. 55A and a surgical cutting assembly inserted into the endoscope, according to an embodiment of the present disclosure. FIG. 56A is a perspective view of a portion of an endoscope assembly including an endoscope with an integral torque generating assembly according to an embodiment of the present disclosure, wherein the torque generating assembly is inserted into the endoscope A surgical cutting assembly that allows reciprocating motion to cut tissue. 56B is an enlarged perspective view of the torque generating assembly shown in FIG. 56A. 57A-57C are side perspective views of a portion of an endoscope assembly that includes an endoscope and a surgical cutting assembly inserted into the endoscope that reciprocates tissue in accordance with an embodiment of the present invention. is there. FIG. 58A is a cross-sectional perspective view of an endoscope assembly including an endoscope and a surgical cutting assembly, wherein the endoscope uses an actuator according to an embodiment of the present invention to provide a surgical cutting assembly. The outer cannula is configured to rotate. 58B is a perspective view of the components of an endoscope for rotating the outer cannula of the surgical cutting assembly shown in FIG. 58A. FIG. 59A is a perspective view of the surgical cutting assembly shown in FIG. 58A. FIG. 59B is a cross-sectional perspective view of the surgical cutting assembly shown in FIG. 58A. FIG. 60A is a perspective view of a surgical cutting assembly according to an embodiment of the present disclosure. 60B is a cross-sectional perspective view of the surgical cutting assembly shown in FIG. 60A. FIG. 61 shows an endoscope assembly that includes the endoscope shown in FIG. 53B and a surgical cutting assembly similar to the surgical cutting assembly shown in FIG. 53B. FIG. 62 is a flowchart illustrating a method for excising material from within a mammalian cavity of a patient. 63A is a perspective view of a distal end of a surgical cutting assembly according to an embodiment of the present disclosure. FIG. 63B is an exploded view of the distal partial surgical cutting assembly shown in FIG. 63A. 63C is a cross-sectional perspective view of the distal portion of the surgical cutting assembly shown in FIG. 63A. 63D is an enlarged view of the portion of FIG. 63B including the first coupler of the surgical cutting assembly shown in FIG. 63A. 63E is an enlarged view of the portion of FIG. 63B including the second coupler of the surgical cutting assembly shown in FIG. 63A. 63F is a side view of the second coupler of the surgical cutting assembly shown in FIG. 63A. FIG. 63G shows a perspective view of the surgical cutting assembly of FIG. 63A including the coupling member in the first position. FIG. 63H shows a perspective view of the surgical cutting assembly of FIG. 63A including the coupling member in the second position. 64A is a cross-sectional perspective view of an endoscope assembly including the endoscope and surgical cutting assembly shown in FIG. 63A according to an embodiment of the present disclosure. FIG. 64B is a perspective view of the distal portion of the endoscope shown in FIG. 64A. FIG. 64C is a perspective view of the endoscope assembly shown in FIG. 64A. FIG. 64D is a perspective view of the distal tip of the endoscope shown in FIG. 64A. FIG. 65 is a cross-sectional view of a surgical cutting assembly according to an embodiment of the present disclosure.

  The technology described herein relates to an improved flexible endoscopic instrument that can accurately and efficiently collect single and multiple polyps and neoplastic specimens from a patient. In particular, the improved endoscopic instrument performs debridement and debridement of the specimen from one or more polyps without removing the endoscopic instrument from the treatment site within the patient's body. The specimen can be collected.

  FIG. 1A shows the various types of polyps that can form in the body. Most polyps can be removed by snare polypectomy, but especially large polyps and / or sessile or flat polyps are fragmented with biopsy forceps or collectively using endoscopic mucosal resection (EMR) And must be removed. One recent study concludes that depressed sessile polyps have the highest rate of holding malignant lesions at 33%. The same study also found that non-polyp neoplastic disorders (sessile polyps) accounted for 22% of patients with polyps or 10% of all patients who underwent colonoscopy. There are many obstacles to resecting colon polyps, specifically the difficulty in removing sessile polyps, the time required to remove multiple polyps, and the reimbursement difference for resection of two or more polyps ( lack of reimbursement differential). Excising sessile polyps that are difficult to reach is a challenge, and multiple polyps take more time per patient, so most polyps are fragmented with tissue remaining as the size increases. It will be removed, contributing to the sample deviation that the pathology of the remaining tissue is not elucidated, leading to an increase in false negatives.

  Colonoscopy is not a perfect discriminating tool. In current colonoscopy practices, endoscopists can remove the largest polyps (stalked polyps), leaving sessile / flat polyps that are difficult to detect and reach. The patient will be exposed to sample deviation. Stemless polyps are extremely difficult or impossible to remove endoscopically with current techniques and are often left behind. Estimates in current medicine do not detect, biopsy, or remove 28% of pedunculated polyps and 60% of sessile (flat) polyps, which is a false negative rate of 6% for sample deviation and colonoscopy Connected to. Current colonoscopy instruments for polypectomy are limited by the inability to properly remove sessile polyps and inefficiencies in removing large numbers of polyps completely. According to medical literature, sessile polyps larger than 10 mm are at higher risk of malignancy. Fragments of sessile polyps left after incomplete excision grow into new polyps and the risk of malignancy continues.

  Recently, endoscopic mucosal resection (EMR) has been used to remove sessile polyps. EMR involves using an injection solution to lift the surrounding mucosa, spreading the snare and cutting the polyp, and finally removing the polyp using biopsy forceps or a collection instrument. The introduction and removal of the needle and snare through the entire length of the approximately 5.2 foot colonoscope needs to be repeated for the forceps.

  The present disclosure can deliver an innovative alternative to existing polyp removal tools, including snares, hot biopsies, and EMR, by introducing a flexible power tool that works with the current generation of colonoscopes, and allows any polyp to be The present invention relates to an endoscopic tool that can be cut and removed. The endoscopic tools described herein can be designed to improve the treatment of sessile or large polyps by a physician and allow removal of many polyps in a short time. Employing the endoscopic tools described herein allows physicians to more efficiently and early diagnose colorectal cancer.

  The present disclosure should be fully understood through the following description that should be read in conjunction with the drawings. In this description, like numbers indicate like elements in different embodiments of the disclosure. In this description, the claims are described with reference to the embodiments. Those skilled in the art will readily appreciate that the methods, apparatus, and systems described herein are illustrative only and can be modified without departing from the spirit and scope of the disclosure. It is.

  Referring to the drawings, FIG. 1B shows a partial perspective view of an endoscope according to an embodiment of the present disclosure. While the present disclosure relates to an endoscopic instrument adapted for use with any type of endoscope, the teachings of the present disclosure relate to an endoscopic instrument for use with a lower gastrointestinal scope such as a colonoscope for convenience. Shall. However, the inspection mirror of the present disclosure is not limited to endoscopic instruments for use with gastrointestinal endoscopes, but includes bronchoscopes, gastroscopes and laryngoscopes or other types of medical devices that can be used to treat a patient. Extends to any type of flexible endoscope, but not limited to them.

  According to various embodiments, a typical lower GI scope 100 includes a generally flexible member that extends from a first end or head portion 102 to a second end or handle portion. The head portion 102 can be swiveled so that the tip portion 104 of the head portion 102 is oriented in an arbitrary direction in the hemispherical space. The handle includes control means that allows the operator to guide the colonoscope toward the target area in the colon using two steering wheels and to turn the corner between the colon segments.

  A series of instruments is disposed on the front surface 106 of the inspection mirror tip 104, which includes one or more water channels 108A-108N for generally cleaning the area, referred to as water channels 108, with a light source 110. Including one or more light sources 110A-110N, a camera lens 112, and an instrument channel 120 into which an endoscopic instrument can be inserted to perform several operations. The instrument channel 120 can be of various sizes depending on the type of endoscope 100 being used. In various embodiments, the instrument channel 120 can have a diameter ranging from about 2 mm to 6 mm, more specifically from about 3.2 mm to 4.3 mm. Some larger speculums may have two instrument channels 120 so that two tools can be inserted into the patient simultaneously. However, larger inspection mirrors can be uncomfortable for the patient and may be too large to be inserted into the patient's body through a small cavity.

  FIG. 1C shows a perspective view of an endoscopic instrument 150 according to an embodiment of the present disclosure. Endoscopic instrument 150 is configured to be fed through instrument channel 120 of endoscope 100 shown in FIG. 1B. Endoscopic instrument 150 is configured to be inserted into an instrument channel of an endoscope, such as instrument channel 120 of endoscope 100 shown in FIG. 1B. In some implementations, the portion of the endoscopic instrument 150 that is configured to be inserted into the instrument channel 120 may be sized to have an outer diameter that is smaller than the inner diameter of the instrument channel 120 of the endoscope. In some implementations, the endoscopic instrument 150 can be sized to have an outer diameter that is small enough to be slidably inserted into the instrument channel when the endoscope is rolled or bent. When the endoscope is rolled or bent, the instrument channel can form a serpentine path that includes one or more bends or turns. In one exemplary implementation, the endoscope includes an instrument channel having an inner diameter of about 4.3 mm with the endoscope in a straight line. However, when the endoscope is wound or bent, the vicinity of the bending of the endoscope may be a gap smaller than the inner diameter of about 4.3 mm. In some implementations, the endoscope may have a gap that may be about 3.8 mm instead of the 4.3 mm obtained when it is straightened. In some implementations, the endoscope can have a gap that can be about 3.2 mm. Thus, in some implementations, the endoscopic instrument 150 can be sized to be slidably inserted into the instrument channel of the endoscope even when the endoscope used together is rolled or bent.

  In some implementations, the endoscopic instrument 150 includes a power driven instrument head 160 configured to excise material at a site within a subject's body. The power driver instrument head 160 includes a distal end 162 and a proximal end 161. Formed at the distal end 162 of the power driven instrument head 160 is a substance entry port 170 through which the ablated material can enter the endoscopic instrument 150. The power driven instrument head 160 can include a cut at the distal end 162 configured to cut tissue and other materials. As used herein, a port can include any hole, opening, or gap through which material can enter and exit. In some implementations, the material entry port may be an opening through which the ablated material passes as it enters the endoscopic instrument 150. In some implementations, the material to be ablated can be aspirated into a material entry port through which the instrument head can cut the material.

  The main body 152 includes a head portion 155 and a flexible portion 165. The distal end 156 of the head portion 155 of the body 152 is coupled to the proximal end 161 of the power driver instrument head 160. In some implementations, the head portion 155 of the body 152 is configured to drive the power driver instrument head 160. The proximal end 158 of the head portion 155 can be coupled to the distal end 162 of the flexible portion 165. A substance discharge port 175 is formed at the proximal end 176 of the flexible portion 165. The flexible portion 165 can include a hollow flexible tubular member.

The endoscopic instrument can also include an inhalation channel that extends from the substance entry port 170 of the power driven instrument head 160 to the substance discharge port 175 of the flexible section 165.
In some implementations, the inhalation channel is formed by a power driver instrument head 160, a head portion 155 of the main body 152, and a flexible portion 165 of the main body. The proximal end 176 of the flexible section 165 is coupled to a vacuum source and is cut into the inhalation channel via the substance entry port 170 when the endoscopic instrument 150 is positioned in the instrument channel of the endoscope. The material is removed from the suction channel at the material discharge port 175.

  Head portion 155 includes a housing having an outer diameter configured to allow endoscopic instrument 150 to be slidably inserted into the instrument channel of the endoscope. In some implementations, the head portion 155 can include a power actuator configured to drive the power driver instrument head 160. In some implementations, the power actuator is provided in the head portion 155. In some implementations, the power actuator is located outside the portion of the endoscopic instrument 150 that can be inserted into the instrument channel of the endoscope. In some implementations, the power actuator can drive the power driver instrument head via a shaft that can transmit the motion generated by the power actuator to the power driver instrument head. In some implementations, the power actuator is not part of the endoscopic instrument 150 but is coupled to the power driver instrument head 160. In some implementations, this shaft may be a flexible shaft. In some implementations, the flexible shaft can be a flexible torque coil, additional details of which are described below with reference to FIGS. 19A-19C.

  The endoscopic instrument 150 can be sized for insertion into the instrument channel of the endoscope. In some implementations, the endoscopic instrument 150 may be dimensioned so that it can be inserted into the instrument channel of the endoscope when the endoscope is being inserted into a subject. In some such implementations, an endoscope, such as a colonoscope, may be bent or curved so that the endoscopic instrument 150 can be inserted into a bent or curved endoscope Need to be dimensioned so that

  In some implementations, the head portion 155 and power-driven device head 160 of the endoscopic instrument 150 are substantially stiff or rigid, but the flexible portion 165 may be relatively flexible or supple. Head portion 155 and power driver instrument head 160 may be substantially rigid. Thus, in some such implementations, the head portion 155 and the power driver instrument head 160 have the endoscope instrument 150 inserted into the instrument channel of the endoscope by sizing at least thickness and length. In the meantime, the endoscopic instrument 150 can pass a sharp bend or curve. In some implementations, the length of the power driver head 160 can be between about 0.2 inches and 2 inches, between about 0.2 inches and 1 inch, or depending on implementations, between 0.4 inches and 0.8 inches. In some implementations, the outer diameter of the power driver instrument head 160 can be between about 4.0 inches to 1.5 inches, about 0.6 inches to 1.2 inches, and 0.8 inches to 1 inch. In some implementations, the length of the body head portion 155 may be between about 0.5 inches to 3 inches, about 0.8 to 2 inches, and 1 inch to 1.5 inches.

  The length of the flexible portion 165 may be significantly and / or relatively longer than the length of the head portion and the power driver instrument head 160. In some implementations, the flexible portion 165 can be sufficiently long so that the combined length of the endoscopic instrument exceeds the length of the endoscopic instrument channel into which the instrument can be inserted. Accordingly, the length of the flexible portion 165 may comprise a length greater than about 36 inches, about 45 inches, or about 60 inches. For endoscopic instruments configured for use with other types of endoscopes, the length of the flexible portion may be less than 36 inches, but the body of such an endoscopic instrument is used in combination with the instrument. The length may be approximately the same as or longer than the length of the endoscope.

  The outer diameter of the flexible portion 165 can be configured such that the endoscopic instrument can be inserted into the instrument channel of the endoscope. In some implementations, the outer diameter of the flexible portion 165 can be sized to be smaller than the corresponding inner diameter of the instrument channel of the endoscope. In some implementations, the endoscopic instrument may be dimensioned to have an outer diameter that is small enough to be slidably inserted into the endoscope when the endoscope is rolled or bent. For example, an endoscope can include an instrument channel that has an inner diameter of about 4.3 mm when the endoscope is linear. However, when the endoscope is wound or bent, the vicinity of the bending of the endoscope may be a gap smaller than the inner diameter of about 4.3 mm. In some implementations, the endoscope can have a gap that can be as little as 3.2 mm. Thus, depending on the implementation, the endoscopic instrument can be sized to be slidably inserted into the instrument channel of the endoscope even when the endoscope is wound or bent.

  2A and 2B and 3A and 3B show side perspective views of an endoscopic instrument that couples to the endoscope shown in FIG. 1B according to an embodiment of the present disclosure. Endoscopic instrument 220 is configured to be fed through instrument channel 120 of endoscope 100. 2A and 2B, the endoscopic instrument 220 can protrude out of the distal end 104 of the endoscope 100, and FIGS. 3A and 3B allow the endoscopic instrument 220 to be retracted into the endoscope. This shows that any part of the endoscope instrument 220 can be prevented from protruding from the distal end portion 104 of the endoscope 100. As will be described in detail with reference to FIG. 4, the endoscopic instrument 220 performed the debridement by cutting or depleting the polyp without removing the endoscopic instrument 220 from the endoscope 100. The polyp can be obtained from the treatment site.

  FIG. 4A shows an exploded view of an endoscopic instrument 220 adapted for use with the endoscope 100 according to an embodiment of the present disclosure. Endoscopic instrument 220 includes a debridement element for debridement of a polyp that has grown in the patient's body and a specimen collection element for recovering the debridement polyp from the surgical site. . Endoscopic instrument 220 includes tubing 410 coupled to cap 420. In various embodiments, cap 420 can be in sealing engagement with tubing 410. The cap can be aligned with the mandrel 430 at the first portion of the mandrel 430. In various embodiments, the mandrel 430 can be substantially hollow. The mandrel 430 can be coupled to the rotor 440 and the rotor 440 is configured to rotate the mandrel 430. The second portion of mandrel 430 includes an inner blade 450 that can be configured to interact with outer blade 460. In some implementations, the outer blade 460 can be separated from the inner blade by a gap that forms a cleaning channel (not shown). As already shown in connection with FIGS. 2A and 3A, casing 470 is configured to enclose cap 420 and rotor 440. It should be understood that other components such as washers, bearings, and seals may be included in the endoscopic instrument 220.

  FIG. 4B is a schematic view of an endoscopic instrument partially inserted into an instrument channel of an endoscopic endoscopic instrument. In various embodiments, these caps, connectors, rotors, and casings may be made of injection molded plastic. The mandrel and cannula may be made from surgical steel and the tubing may be made from silicon. However, it should be understood that these materials are merely examples of materials that can be used. One of ordinary skill in the art should understand that other materials may be used in place of those described above.

  The tubing 410 of FIG. 4A can be dimensioned to pass through the instrument channel 120 of the endoscope 100 of FIGS. 4A and 4B. Tubing 410 includes one or more pneumatic fluid inlet conduits 412, one or more pneumatic fluid outlet conduits 414, one or more flushing conduits 416, and one or more suction conduits 418. Can do. The pneumatic fluid inflow conduit 412 is configured to supply pressurized air to drive the rotor 440 pneumatically, and the pneumatic fluid exhaust conduit 414 is inflow of pneumatic fluid to prevent large amounts of air from entering the patient's body. Remove the air supplied by conduit 412. The cleaning conduit 416 supplies a cleaning fluid, such as water, between the inner blade 450 and the outer blade 460 to help lubricate the area between the inner blade 450 and the outer blade 460. Further, the cleaning fluid then flows from outside the inner blade 450 into the inner blade 450. The inside of the inner blade 450 can be aligned with the suction conduit 418 of the tubing 410 through the cap 420 and the fluid entering the inner blade 450 can pass through the inner blade 450 and into the suction conduit 418 of the tubing 410 Should be understood. The cleaning fluid that passes inside the inner blade 450 and through the suction conduit 418 helps lubricate the suction conduit 418, which is the path through which the debridemented polyp and other waste is removed from the patient's body. . As described above, tubing 410 is coupled to cap 420 at a first end, but is coupled to one or more components at a second end (not shown). For example, the pneumatic air inlet conduit 412 can be coupled to a compressed air source and the cleaning fluid conduit 416 can be coupled to a water supply source. Further, the pneumatic fluid discharge conduit 414 may be coupled to a compressed air source or simply exposed outside the patient's body for exhaust.

  In various embodiments, the suction conduit 418 can be coupled to a disposable cartridge configured to capture the cut polyp and store it for later inspection purposes. In various embodiments, the disposable cartridge can include multiple collection containers. It may be possible for the operator to select a collection container for collecting the specimen of the cut polyp. When a collection container is selected, the aspiration conduit 418 delivers material collected from the patient's body to the collection container. Therefore, the operator can collect each polyp specimen in a separate collection container. In this way, the nature of each polyp's cancer can be identified.

  Cap 420 can be sized to fit within the first end of tubing 410. In various embodiments, the first end of the tubing 410 can include a connector configured to couple with the cap 420. In various embodiments, the cap 420 may be press fit into the connector of the tubing 410. Accordingly, cap 420 can include a corresponding conduit that matches the conduit of tubing 410. Accordingly, cap 420 can include a corresponding conduit that matches the conduit of tubing 410. Thus, compressed air from a compressed air source can be supplied to the rotor 440 via the pneumatic air inlet conduit 412 of the tubing 410 and the corresponding pneumatic air inlet conduit of the cap 420. The rotor 440 can include one or more blades 442 that cause the compressed air to collide and rotate the rotor 440. Air impinging on the rotor blade 442 is exhausted via the corresponding pneumatic air discharge conduit of the cap and the pneumatic air inlet conduit 414 of the tubing 410. The rotational speed of the rotor 440 depends on the amount of air and the pressure at which air is supplied to the rotor 440. In various embodiments, the speed at which the rotor 440 rotates may be controlled by the operator of the endoscope 100. Although the present disclosure discloses pneumatic means for operating the rotor, some embodiments may include hydraulic means for operating the rotor. In such an embodiment, a fluid such as water may be supplied to the pneumatic air inlet conduit 412 instead of compressed air.

  As described above, the mandrel 430 is coupled to the rotor 440, and as the rotor 440 rotates, the mandrel 430 also rotates. In various embodiments, the first end of the mandrel 430 includes an inner blade 450 that rotates correspondingly with the rotor 440. Inner blade 450 can be sized to fit within the diameter of outer blade 460. In various embodiments, the cleaning fluid supplied from the cleaning fluid source is along the space between the inner blade 450 and the outer blade 460 via the cleaning fluid conduit 416 of the tubing 410 and the corresponding conduit of the cap 420. In the suction conduit 418 defined by the inner diameter of the inner blade 450. It should be understood that because the suction conduit 418 is coupled to a vacuum source, fluids and other materials are aspirated through the suction conduit. In this way, the cleaning fluid moves at least the majority of the length of the suction conduit 418 from the tip 452 of the inner blade 450 through the mandrel 430, cap 420 and tubing 410 into the disposable cartridge described above. Can be lubricated.

  The inner blade 450 can rotate relative to the outer blade 460, and due to the interaction between the inner blade 450 and the outer blade 460, the polyp is cut upon contact with the inner blade 450. In various embodiments, other mechanisms for cutting polyps may be used, which may or may not include the use of rotor 440, inner blade 450, or outer blade 460.

  The debridement element may generally be configured to perform polyp debridement. The debridement can include, for example, an act of detaching a polyp or a portion of a polyp from the surface of a patient body. Accordingly, operations including, but not limited to, full or partial cutting, snare, chopping, slicing, and crushing are examples of debridement. Thus, the debridement element can be a component that can cut, snare, chop, slice, or grind polyps from the surface of the patient's body. Thus, the debridement element can be a forceps, a pinch, a knife, a snare, a shredder, or any other element that can perform a debridement on a polyp. In some embodiments, the debridement element may be manually activated so that the debridement element is operated by transmission of mechanical force generated by an operator, or a turbine, electric motor, Alternatively, the debridement element may be automatically activated using any other force generating element. For example, the debridement element may be actuated by hydraulic pressure, pneumatic pressure, or electricity. In various embodiments, a conduit for feeding an electric actuator, such as an electric motor, may be routed using a tubing or another conduit passing through the channel of the endoscope.

  According to various embodiments, the debridement element can include a turbine assembly that includes a rotor 440, a rotor blade 442, and a mandrel 430. An operator can actuate the debridement element of the endoscopic instrument by supplying compressed air to the turbine assembly. When the operator is ready to start the polyp debridement, he activates the turbine assembly to activate the debridement element. In some embodiments, such as the embodiment disclosed in FIG. 4, actuation of the debridement element may cause the inner blade 450 to rotate relative to the outer blade 460. When activated, the operator brings the endoscopic instrument 220 close to the polyp where the debridement is performed, debrides the polyp with the inner blade 450, and the polyp is removed from the polyp where the debridement was performed. It can be left near the growing area. The operator can then stop operation of the turbine assembly and perform suction via suction conduit 418. The operator may then move the inner blade near the cut polyp so that the cut polyp is collected via the suction conduit 418. In various embodiments, the suction element of the endoscopic instrument may be activated during operation of the debridement element so that the debridement material is collected by the suction element.

  Although the embodiments described above contain debridement elements that use turbine assemblies, the scope of the present disclosure is not limited to such embodiments. Rather, a person of ordinary skill in the art may operate the debridement element manually or use any other means of debridement against the polyp, where the debridement polyp is connected to the suction conduit described above. It should be understood that it may be retrievable from the surgical site through. Examples of debridement elements may include, but are not limited to, snips, blades, saws, or any other sharp tool that may or may not be driven by the turbine assembly. Since polyps cut into small pieces can be recovered via the suction conduit without removing the endoscopic instrument from the endoscope, it may be desirable to use a debridement element that can cut the polyps into small pieces. Should be understood.

  The geometry and assembly of the turbine assembly that rotates at least one of the cutting tool blades can be based on hydrodynamics. Bernoulli's equation can be used to explain the conversion between fluid pressure and flow rate. According to this equation, the flow rate is related to the initial fluid pressure by the following equation:

  Here, V is velocity, P is pressure, and D is mass density.

  In order for the fluid to reach the calculated velocity, it must be formed at the discharge point so that the channel through which the fluid flows satisfies the empirically determined L / D ratio of 2. Good. Where “D” is the wetted diameter of the flow and “L” is the length of the channel.

  To better understand the interaction between the rotor blade and the fluid, it is assumed that the rotor blade is made so that the air jet impinges on the rotor blade in a plane. The generated force can be obtained using the equation of momentum.

Where m is the mass flow of the impinging air jet and V is the volume.

  Assuming that the control volume (volume between the blades) is constant, the force generated on the blade can be solved for:

  The quantities Vout and Vin are the same in the impulse turbine, and the change in momentum is only brought about by a change in the direction of the fluid. The mass flow m is determined by the specified pump. The actual value should also take into account the rotor speed. Ultimately, the force generated by a single interaction between the blade and the air jet is:

Here, “θ” is the difference in angle between the incoming air jet and the outgoing air jet. In theory, the maximum amount of torque can be generated by a “θ” value of 180 °, but to do so, an incoming air jet is sent to the back of the next blade. Therefore, in order for the fluid to come out smoothly, this angle is optimally set to a design value 180 to 15 ° to 20 ° smaller. Ultimately, this force can be defined to rotational torque.

  A second force that can be considered is due to the diversion of the air jet from the nozzle to the turbine wheel. In order to supply power to the turbine, the air jet may be rotated by 90 ° from the direction of the air jet to the direction of the blade. The rotation of the air jet creates a force on the stationary housing that is a function of the jet velocity. Also, the injection speed is proportional to the applied pressure.

  This force may be counteracted by the connection between the housing and the endoscope, otherwise the turbine assembly may be released during operation.

  In the calculation analysis based on the finite element analysis (FEM), the region where the maximum stress exists is near the base of the blade where the sharp corner exists. The design of the air input channel can be simplified by the existing air nozzle channel of the endoscope. Existing endoscope air nozzles direct pressurized air over the objective lens to remove moisture and expand the cavity to be examined, or direct pressurized water over the objective lens to remove debris .

  Referring now to FIG. 4B, a perspective view of an endoscopic instrument coupled to an endoscope is shown, showing various conduits associated with the endoscopic instrument. In particular, the pneumatic air inlet conduit 412 is shown supplying pressurized air to the rotor assembly, and the pneumatic air outlet conduit 412 (not shown here) allows air from the rotor assembly to flow outside the endoscope 100. Discharge. The irrigation channel 416 is shown to deliver irrigation fluid into the endoscopic instrument 220, where the irrigation fluid enters the aspiration conduit 418, where the aspiration conduit endows material from within the patient. Carry to a collection element outside the mirror. As shown in FIG. 4B, the cleaning fluid can flow into the suction conduit 418 from the cleaning fluid inlet 419. It should be understood that the cleaning fluid inlet 419 may be located anywhere along the suction conduit. Thanks to the suction force applied to the suction conduit, the cleaning fluid is forced into the suction conduit, with the substance flowing in the suction conduit flowing out of the suction conduit via the cleaning fluid inlet 419. There is no. Further, in some embodiments, the cleaning channel may supply cleaning fluid to the endoscopic instrument only while suction is applied to the suction conduit.

  FIG. 5 shows a side perspective view of another endoscopic instrument coupled to the endoscope shown in FIG. 1 according to an embodiment of the present disclosure. Add-on endoscopic instrument 500 is sized to couple to the wall forming instrument channel 120 of tip 104 of endoscope 100. In various embodiments, the add-on endoscopic instrument 500 can be removably attached to the instrument channel 120 of the endoscope 100 at the distal end 104 of the endoscope 104 by an interference fit or press fit. In other embodiments, the add-on endoscopic instrument 500 may be coupled to the endoscope 100 using other attachment means known to those skilled in the art.

  Referring to FIG. 6, an enlarged view of the add-on endoscopic instrument 500 is shown. The add-on endoscopic instrument includes an outer blade or support member 510, an inner blade 520 disposed within the outer blade 510, and a rotor 530 coupled to the inner blade 520 and surrounded by a casing 540. The casing is coupled to a cap 550 that is further coupled to a connector 560. In some embodiments, the connector 560 can be sized to engage the inner diameter of the instrument channel 120 of the endoscope 100. In some embodiments, other optional components of the endoscopic instrument may be configured to engage the endoscope 100 to secure the endoscopic instrument to the instrument channel 120.

  7-12 show perspective views of individual components of the add-on endoscopic instrument shown in FIG. 6 according to embodiments of the present disclosure. In contrast to the endoscopic instrument 220 disclosed in connection with FIGS. 1-4, the add-on endoscopic instrument 500 can be adapted to fit within the first end of the instrument channel 120 of the endoscope 100.

  In various embodiments, the second end of the instrument channel 120 can be coupled to a vacuum source that draws material through the instrument channel 120. A suction conduit extends from the vacuum source through the instrument channel of the endoscope and further through the connector 560, cap 550, and rotor 530 to the first end of the inner blade 520, this first end Comprises an opening defined by the inner diameter of the inner blade 520. Connector 560, cap 550, casing 540, and rotor 530 include respective center holes 566, 556, 546, and 536 that are aligned and the material passes through the opening of inner blade 520 and the second of instrument channel 120. It can flow to the vacuum source through the end.

  Further, the casing 540 of the add-on endoscopic instrument 500 includes a pneumatic air inlet port 542 and a pneumatic air outlet port 544 as shown in FIG. The pneumatic air inlet port 542 can be configured to receive compressed air from a compressed air source via a pneumatic air inlet conduit that extends along the entire length of the endoscope 100 to the exterior of the patient's body, and the pneumatic air outlet port 544 Air impinging on the rotor 530 can be configured to be exhausted via a pneumatic air exhaust conduit that runs along the entire length of the endoscope 100 to the outside of the patient's body. This allows the rotor to be operated by the supply of compressed air from a compressed air source, as described above with respect to FIGS. Although the rotor and related elements disclosed herein involve the use of compressed air, the rotor may be hydraulically driven. In such embodiments, the pneumatic air conduit may be configured to allow a liquid such as water to flow to and from the area surrounding the rotor.

  Referring now also to FIG. 13, the pneumatic air inlet and outlet conduits may extend from the add-on endoscopic instrument through the instrument channel 120 of the endoscope 100 to the pneumatic air source. In such embodiments, tubing including separate conduits for the pneumatic air inflow and exhaust conduits and suction conduits may extend from outside the endoscope to add-on endoscopic instruments inside the endoscope. This tubing may be fed through the instrument channel of the endoscope and coupled to the add-on endoscopic instrument 500. In such embodiments, the add-on endoscopic instrument 500 can be configured to include additional components with pre-formed channels that connect each channel of tubing to the add-on endoscopic instrument. Coupled to the associated pneumatic air inlet and outlet opening and a suction conduit formed in the add-on endoscopic instrument. In addition, a cleaning fluid channel may also be formed in the tubing to allow cleaning fluid to be supplied to the add-on endoscopic instrument 500, which is diverted from the add-on endoscopic instrument into the suction conduit.

  In various embodiments, the tip of the outer blade 510 can be sharp, but can cause discomfort to the patient when entering a cavity in the patient's body. Therefore, before inserting the add-on endoscopic instrument into the patient's body, a guard structure (not shown), such as a gel cap or other similar structure, is attached to the outer blade and placed on the patient's body surface. Trauma due to contact of the blade may be prevented. The guard structure can be released from the outer blade 510 when the endoscopic instrument is inserted into the patient's body. In various embodiments, the guard structure may dissolve upon entering the patient's body.

  Referring now to FIG. 14, an improved endoscope with a self-contained polyp removal assembly according to embodiments of the present disclosure is illustrated. Although the improved endoscope 1400 is similar in many aspects to a conventional endoscope, the improved endoscope may include a built-in polyp removal assembly 1440 within the instrument channel of the endoscope 1400. It is different. Although the improved endoscope 1400 is similar in many aspects to a conventional endoscope, the improved endoscope may include a built-in polyp removal assembly 1440 within the instrument channel of the endoscope 1400. It is different. The polyp removal assembly 1440 includes a turbine assembly that includes a rotor 1442 with rotor blades enclosed within a casing 1444, the casing 1444 including one or more for operating the rotor 1442 to pneumatic or hydraulic fluid. Inflow and outflow ports are provided. These inlet ports, by design, ensure that the fluid interacts with the rotor blades at the proper angle to ensure that the rotor is driven at the desired speed.

  Further, the polyp removal assembly 1440 can be coupled to a connector 1420 configured to couple the polyp removal assembly 1440 to the tubing 1470. Tubing 1470 may include a pneumatic air inlet conduit 1412, a pneumatic air outlet conduit (not shown), a cleaning fluid conduit 1416, and a suction conduit 1418 passing through the center of the turbine assembly. Tubing 1440 may be dimensioned to ensure that tubing 1440 is coupled to connector 1420 such that one or more conduits of tubing 1440 are coupled to corresponding conduits within connector 1440. The connector 1420 can be designed to include a cleaning fluid inflow opening 419 that allows cleaning fluid to flow into the suction conduit 1418 of the tubing 1440 when the tubing is coupled to the connector.

  The turbine assembly of the endoscope 1400 can be coupled to a removable debridement assembly 1460 and is configured to enable the debridement assembly including a mandrel and cannula during operation of the turbine assembly.

  In other embodiments of the present disclosure, the endoscope can easily debride one or more polyps and remove debleed material associated with these polyps in a single operation. Can be designed as In various embodiments, the endoscope may include one or more separate items for removing debleed material, supplying cleaning fluid, supplying and removing at least one of pneumatic or hydraulic fluid. Of channels. Furthermore, the endoscope can include a debridement element that can be fixedly or detachably coupled to one end of the endoscope. In various embodiments, a separate debridement element channel may be designed for the debridement element based on the operation of the debridement element. In addition, the endoscope can include a light source and a camera. In one embodiment, the endoscope may utilize existing channels to supply pneumatic or hydraulic fluid to the endoscope instrument actuator to operate the debridement element. For example, in the endoscope shown in FIG. 1, the water channel 108A-N may be modified to supply fluid to the actuator pneumatically or hydraulically. In such embodiments, the endoscopic instrument can include a connector with a first end that can be coupled to an opening associated with an existing channel 108 of the endoscope, the other end of the connector being an actuator. Is exposed to the opening.

  In various embodiments of the present disclosure, the endoscopic instrument can be further configured to detect the presence of a certain layer of tissue. This can be especially useful when a physician performs a polyp debridement to be careful and prevent intestinal perforation. In some embodiments, the endoscopic instrument may include a sensor that can communicate with a sensor processing component external to the endoscope to identify the tissue type. This sensor collects temperature information in addition to density information and can provide a signal corresponding to this information to a sensor processing unit capable of identifying the type of tissue sensed. In some implementations, this sensor may be an electrical sensor.

  In addition, the endoscopic instrument may include an injectable dye element that allows the physician to mark specific areas within the patient. In other embodiments, a physician can mark a particular area using a debridement element without utilizing an injectable dye.

  While the present disclosure discloses various embodiments of endoscopic instruments including, but not limited to, a tool attached to the distal end of an endoscope and a tool that can be fed along the entire length of the endoscope, The scope of the present disclosure is not intended to be limited to such embodiments or endoscopic instruments in general. The scope of the present disclosure extends rather to any device that can perform and remove polyps from a patient's body using a single tool. Accordingly, the scope of the present disclosure extends to an improved endoscope that can be made using some or all of the components of the endoscopic instrument described herein. For example, an improved endoscope comprising an integral turbine assembly and configured to be coupled to a debridement element is also disclosed herein. In addition, the endoscope can also include a pre-formed conduit that extends its entire length, and only the suction conduit may be formed by disposable tubing, and the air entry and exhaust conduit and the wash conduit are improved endoscopes. It is formed permanently within. In other embodiments, the suction conduit is also pre-formed but can be made to be cleaned and cleaned for use with multiple patients. Similarly, the debridement element may be part of the endoscope, but may be washable and cleanable for use with multiple patients. In addition, those skilled in the art will recognize that some or all of the components that make up the endoscopic instrument may be used with existing endoscopes or newly used to perform and remove polyps from the patient's body. It should be understood that it may be incorporated into a designed endoscope.

  Referring now to FIG. 15, a conceptual system architecture diagram illustrating various components for operating an endoscopic instrument according to some embodiments of the present disclosure is shown. Endoscope system 1500 is an endoscope 100 with an endoscopic instrument 220 that includes an endoscope 100 that can be coupled to an air supply measurement system 1510, a cleaning system 1530, and a polyp removal system 1540. Yes. As described above, tubing extending within endoscope 100 can include one or more pneumatic air inlet conduits 412 and one or more pneumatic air outlet conduits 414. The pneumatic air inlet conduit 412 is coupled to an air supply measurement system 1510 that supplies one or more sensors, gauges, valves, and the endoscope 100 to drive the rotor 440. And other components that control the amount of gas, such as air that is produced. In some embodiments, the amount of air supplied to the rotor 440 may be controlled using the air supply measurement system 1510. Further, the air supply for operating the rotor 440 can be manually controlled by a doctor using the endoscope 100. In one embodiment, the physician can supply air to the rotor 440 using a foot pedal or manual lever.

  However, the pneumatic air exhaust conduit 414 need not be coupled to any component. As a result, the air discharged from the rotor 440 may simply be discharged into the atmosphere from the endoscope via the pneumatic air discharge conduit 414. In some embodiments, the pneumatic air exhaust conduit 414 is coupled to an air supply measurement system 1510 such that air exiting the pneumatic air exhaust conduit 414 is resupplied to the rotor via the pneumatic air inlet conduit 412. Also good. It should be understood that similar configurations may be used for a hydraulically driven turbine system.

  Further, the endoscope 100 can be coupled to a cleaning system 1530 via a cleaning fluid conduit 416. The cleaning system 1530 can include a flow meter 1534 coupled to the cleaning source 1532 for controlling the amount of fluid flowing from the cleaning source 1532 to the endoscope 100.

  As described above, the endoscope 100 can further include an aspiration conduit 418 for removing polyps from the patient's body. The suction conduit 418 can be coupled to a polyp removal system 1540 that can be configured to store a polyp. In various embodiments, a physician may be able to collect specimens in one or more cartridges 1542 in the polyp removal system 1540 so that the removed polyps can be individually examined.

  In various embodiments of the present disclosure, an endoscope includes a first end and a second end separated by a flexible housing, an instrument channel extending from the first end to the second end, a debridement man, And an endoscopic instrument including a specimen collection conduit disposed within the element and instrument channel. The endoscopic instrument can further include a flexible tubing having a sample collection conduit partially disposed therein, the flexible tubing extending from the first end to the second end of the endoscopic instrument. Stretched. The flexible tubing can also include a pneumatic air inlet conduit and a fluid flush conduit. In various embodiments, the debridement element may include a turbine assembly and a cutting tool. In various embodiments where the endoscope is configured with a built-in endoscopic instrument, the instrument channel diameter may be larger than the diameter of the instrument channel of an existing endoscope. In this way, a large portion of the debleed material can be aspirated from the patient's body without clogging the aspiration conduit.

  In another embodiment, the endoscope includes a first end and a second end separated by a flexible housing; an instrument channel extending from the first end to the second end; and the first of the endoscope An endoscopic instrument coupled to an instrument channel at an end can include an endoscopic instrument including a debridement element and a specimen collection conduit partially disposed within the instrument channel. In some embodiments, the endoscopic instrument can be removably attached to the endoscopic instrument.

  In another embodiment of the present disclosure, an endoscope system includes a first end and a second end separated by a flexible housing and an instrument channel extending from the first end to the second end. A mirror and an endoscopic instrument coupled to the instrument channel at a first end of the endoscope. The endoscopic instrument can include a debridement element and a flexible tubing that is longer than the length of the endoscope. In addition, the flexible tubing includes a sample collection conduit, a pneumatic air inflow conduit, a fluid wash conduit, a disposable cartridge configured to couple with the sample collection conduit proximal to the second end of the endoscope, A pressurized air source configured to couple with a pneumatic air inflow conduit proximal to the second end of the endoscope and configured to couple with a fluid wash conduit proximal to the second end of the endoscope A fluid cleaning source. In various embodiments, the endoscope can also include at least one camera source and at least one light source. In some embodiments of the present disclosure, the pneumatic air inflow conduit provides pressurized air to the turbine assembly of the debridement element proximal to the first end of the endoscope and the fluid wash conduit is A cleaning fluid is supplied to the specimen collection conduit proximal to the first end of the mirror.

  FIG. 16A shows a partially exploded view of endoscopic instrument 1600 that is configured to be inserted into an instrument channel of an endoscope, such as endoscope 100 shown in FIG. 1B. In that respect, it is similar to the endoscopic instrument 150 shown in FIG. 1C. FIG. 16B shows a partial cross-sectional view of the endoscopic instrument shown in FIG. 16A. As shown in FIGS. 16A and 16B, the head portion of the endoscopic instrument 1600 includes a power actuator 1605, a power drive instrument head 1680 including a cutting shaft 1610 and an outer structure 1615, and a distal end of the flexible tubular member 1630. A through connector 1620 coupled to the distal end. Flexible tubular member 1630 forms the distal end of endoscopic instrument 1600. Accordingly, FIGS. 16A and 16B show the head portion of endoscopic instrument 1600. FIG.

  The endoscopic instrument 1600 is configured to form an inhalation channel 1660 that extends from the proximal end of the flexible tubular member 1630 to the distal end 1614 of the power driver instrument head 1680. In some implementations, the proximal end of the flexible tubular member 1630 can be configured to fluidly couple to a vacuum source. In this way, when a suction force is applied at the proximal end of the flexible tubular member 1630, the material at or near the distal end 1614 of the power driven instrument head 1680 may become endoscopic instrumented at the distal end. 1600 can flow through the suction channel 1660 to the proximal end of the flexible tubular member 1630.

  The power actuator 1605 can be configured to drive a power driver instrument head 1680 that includes a cutting shaft 1610 disposed within the outer structure 1615. In some implementations, the power actuator 1605 can include a drive shaft 1608 that is mechanically coupled to the cutting shaft 1610. In some implementations, the drive shaft 1608 can be coupled to the proximal end 1611 of the cutting shaft 1610 using one or more coupling elements such that the cutting shaft 1610 is driven by the drive shaft 1608. The power actuator 1605 may be an electric actuator. In some implementations, the electric actuator can include an electrical terminal 1606 configured to receive a conductive wire for supplying current to the electric actuator 1605. In some implementations, the electric actuator can include an electric motor. In some implementations, the electric motor may be a micro-sized motor and may have an outer diameter of less than a few millimeters. In some implementations, the power actuator 1605 has an outer diameter that is less than about 3.8 mm. The power actuator 1605 can be configured to meet certain torque and rotational speed parameters in addition to having a small footprint. In some implementations, the power actuator 1605 can be configured to generate sufficient torque and / or rotate at a sufficient speed to remove tissue from within the subject. Examples of motors that meet these requirements include micromotors manufactured by Maxon Precision Motors, Inc., Fall River, Massachusetts, USA. Other examples of electric motors include any type of electric motor including AC motors, DC motors, piezoelectric motors, and the like.

  The power driver instrument head is configured to couple to the power actuator 1605 so that the power actuator 1605 can drive the power driver instrument head 1680. As described above, the proximal end 1611 of the cutting shaft 1610 can be configured to couple to the drive shaft 1608 of the power actuator 1605. The distal end 1614 of the cutting shaft 1610 opposite the proximal end 1611 can include a cutting tip 1612. The cutting tip 1612 can include one or more sharp surfaces capable of cutting tissue. In some implementations, the cutting shaft 1610 can be hollow, and a material inflow port 1613 can be formed at or near the cutting tip 1612, from which the cut material can be transferred to the material inflow port 1613. Endoscopic instrument 1610 can be entered through. In some implementations, the proximal end 1611 of the cutting shaft 1610 can include one or more outlets 1614 that are dimensioned to allow material entering from the material entry port 1613 to exit the cutting shaft 1610. . As shown in FIGS. 16A and 16B, the outlet 1614 is formed in the wall of the cutting shaft 1610. In some implementations, these outlets 1614 can be sized such that material entering the cutting shaft 1610 via the material entry port 1613 can flow out of the cutting shaft 1610 via the outlet 1614. In some implementations, the portion of the cutting shaft 1610 proximal to the drive shaft 1608 may be solid so that all material entering the cutting shaft 1610 can flow out of the cutting shaft 1610 via the outlet 1614. Good.

  The outer structure 1615 can be hollow so that the cutting shaft can be placed inside the outer structure 1615. Accordingly, the outer structure 1615 has an inner diameter that is larger than the outer diameter of the cutting shaft 1610. In some implementations, the outer structure 1615 is dimensioned such that the cutting shaft 1610 can rotate freely within the outer structure 1615 without contacting the inner wall of the outer structure 1615. The outer structure 1615 includes an opening 1616 at the distal end 1617 of the outer structure 1615, and the cutting tip 1612 and material formed on the cutting shaft 1610 when the cutting shaft 1610 is disposed within the outer structure 1615. The entry port 1613 is exposed. In some implementations, the outer surface of the cutting shaft 1610 and the inner surface of the outer structure 1615 are heat resistant to help suppress heat generation when the cutting shaft 1610 rotates within the outer structure 1615. A coating may be applied. The proximal end of the outer structure 1615 is configured to be attached to a housing that houses the power actuator 1605.

  The through connector 1620 can be concentrically arranged around the portion of the cutting shaft 1610 that forms the outlet 1614. In some implementations, the feedthrough connector 1620 is hollow and is configured to surround a region around the outlet 1614 of the cutting shaft 1610 so that material exiting the outlet 1614 of the cutting shaft 1610 is contained within the through connector 1620. It may be. The through connector 1620 can include an exhaust port 1622 that can be configured to receive the distal end of the tubular member 1630. In this way, the material in the through connector 1620 can flow into the distal end of the flexible tubular member 1630. The through connector 1620 can act as a fluid coupler that allows fluid communication between the cutting shaft 1610 and the tubular member 1630.

  Tubular member 1630 can be configured to couple to discharge port 1622 of through connector 1620. Via the cutting shaft 160, the through connector 1620 and the flexible tubular member 1630, the suction channel 1660 extends from the substance entry port 1613 of the cutting shaft 1610 to the proximal end of the tubular member 1630. In some implementations, the tubular member 1630 can be configured to couple to a vacuum source at the proximal end of the tubular member 1630. In this way, when the vacuum source applies a suction force to the proximal end of the tubular member 1630, the substance enters the suction channel via the substance entry port 1613 of the cutting shaft 1610 and flows through the suction channel 1660 toward the vacuum source. And exit the endoscopic instrument 1600. Thus, the suction channel 1660 extends from one end of the endoscopic instrument to the other end of the endoscopic instrument 1600. In some implementations, a vacuum source is applied to the tubular member 1630 so that the substance at the treatment site is aspirated from the treatment site, passes through the inhalation channel 1660, and is removed from the endoscopic instrument 1600. Endoscopic instrument 1600 can remain positioned within the endoscopic instrument channel and the subject being treated. In some implementations, one or more surfaces of the cutting shaft 1610, the through connector 1620, or the tubular member 1630 may be treated to improve fluid flow. For example, the inner surface of the cutting shaft 1610, penetrating connector 1620, or tubular member 1630 can be coated with a superhydrophobic material to reduce the likelihood that material removed from the patient's interior will clog the suction conduit. .

  Examples of various types of instrument heads that can be coupled to the power actuator 1605 include, for example, U.S. Pat.No. 4,368,734, U.S. Pat.No. 3,618,611, U.S. Pat. No. 0087260. In some other implementations, the instrument head is any type of cutting tip that can be driven by a power actuator, such as the power actuator 1650, to draw tissue through the inhalation channel formed in the endoscopic instrument 1600. Any type of cutting tip can be included that can cut tissue into small pieces for removal from the treatment site. In some implementations, the power driver instrument head 1680 can include a portion through which material from the treatment site can be removed. In some implementations, the outer periphery of the suction channel may be on the order of a few micrometers to a few millimeters.

  In some implementations, if the power actuator 1620 uses current for operation, this current can be supplied via one or more conductive lines that electrically couple the power actuator to a power source. In some implementations, the power source may be provided external to the endoscopic instrument 1600. In some implementations, the endoscopic instrument 1600 can include an energy storage element such as a battery configured to supply electrical energy to the electrical actuator. In some implementations, the energy storage element can be placed inside an endoscopic instrument. In some implementations, the energy storage element or other power source provides sufficient current to the power actuator to cause the power actuator to generate a desired amount of torque and / or speed so that the cutting shaft 1610 can cut tissue material. It can be configured as follows. In some implementations, the amount of torque sufficient to cut tissue can be about 2.5 N mm or more. In some implementations, the rotational speed of the cutting shaft can be 1000-5000 revolutions per minute. However, these torque ranges and speed ranges are examples and are not intended to be limiting in any way.

  Endoscopic instrument 1600 may include other components or members such as the illustrated seal 1640 and bearing 1625. In some implementations, the endoscopic instrument 1600 may include other components that are not shown but may be included in the endoscopic instrument 1600. Examples of such components include sensors, cables, wires, as well as other components such as, for example, a component that engages the inner wall of an instrument channel of an endoscope through which an endoscopic instrument can be inserted. Further, the endoscopic instrument can include a housing that houses one or more of a power actuator, a penetration connector 1620, and other components of the endoscopic instrument 1600. In some implementations, the distal end of the endoscopic instrument 1600 can also include a flexible housing similar to the flexible portion 165 shown in FIG. 1C, such as the flexible tubular member 1630 In addition to one or more flexible tubular members, any other wire, cable, or other component can be retained.

  In some implementations, the endoscopic instrument can be configured to engage the instrument channel of the endoscope into which the instrument is inserted. In some implementations, the outer surface of the head portion of the endoscopic instrument is engagable with the inner wall of the endoscopic instrument channel and the endoscopic instrument is not supported by the instrument channel. There is no unnecessary or undesirable movement that can occur. In some implementations, the head portion of the body of the endoscopic instrument can include a locking mechanism that secures the head portion of the body to the inner wall of the instrument channel. In some implementations, the locking mechanism can include deployment of a friction element that engages the inner wall. This friction element may be a seal, an O-ring, a clip or the like.

  FIG. 16C shows a schematic view of an exemplary endoscopic instrument engagement assembly. FIG. 16D shows a cut-away view of the engagement assembly in a disengaged state. FIG. 16E shows a cut-away view of the engagement assembly positioned to engage the instrument channel of the endoscope. As shown in FIGS. 16C and 16D, the engagement assembly 1650 includes a housing portion 1652 having a cylindrical groove 1654 formed around its outer surface 1656. The groove 1654 is sized so that the flexible sealing element 1670 can be partially received within the groove 1654. The columnar operation member 1660 is configured to surround the housing portion 1652. The columnar operation member 1660 can slide in the length direction of the housing portion 1652. The columnar operation member 1660 is configured to engage with the fixing member 1670 by pressing the surface of the fixing member 1670. The operation member 1660 can apply a force to the fixing member 1670 to deform the fixing member 1670 so that the fixing member 1670 is flatter and wider. When the fixing member 1670 becomes wider, the outer surface of the fixing member 1670 is configured to engage with the inner surface of the instrument channel of the endoscope into which the endoscope instrument is inserted. In this way, when the columnar operating member 1660 is operated, the endoscopic instrument 1600 can engage the instrument channel, thus preventing the endoscopic instrument 1600 from moving relative to the instrument channel. This helps to ensure stability while the operator is treating the subject. In some implementations, multiple engagement assemblies 1650 can be positioned along various portions of the endoscopic instrument 1600.

  FIG. 17A shows an exploded view of an exemplary endoscopic instrument 1700 according to an embodiment of the present disclosure. FIG. 17B shows a cross-sectional view of the endoscopic instrument 1700. Endoscopic instrument 1700 is similar to endoscopic instrument 1600 shown in FIGS. 16A and 16B and can be configured to be inserted into an instrument channel of an endoscope, such as endoscope 100 shown in FIG. 1B. However, the endoscopic instrument 1700 differs from the endoscopic instrument 1600 in that it forms an inhalation channel 1760 that extends through the power actuator 1705. By doing so, the substance that enters the substance entry port 1713 of the endoscope instrument 1700 flows through the endoscope instrument 1700 and can flow out of the endoscope instrument linearly.

  As shown in FIGS. 17A and 17B, endoscopic instrument 1700 is similar to endoscopic instrument 1600 except that it includes different power actuators 1705, different cutting shafts 1710, and different penetrating connectors 1720. The power actuator 1705 is similar to the power actuator 1605 shown in FIG. 16A, except that the power actuator 1705 includes a drive shaft 1708 that is hollow and extends the entire length of the power actuator 1705. The power actuator 1705 is similar to the power actuator 1605 shown in FIG. 16A, except that the power actuator 1705 includes a drive shaft 1708 that is hollow and extends the entire length of the power actuator 1705. Since some of the components are different, the manner of assembling the endoscopic instrument is also different.

  In some implementations, the power actuator 1605 can be any actuator that can include a hollow shaft that extends the entire length of the motor. The distal end 1708a of the drive shaft 1708 includes a first opening and is coupled to the proximal end 1711 of the cutting shaft 1710. Unlike cutting shaft 1610, cutting shaft 1710 includes a fluid outlet 1714 at the base of cutting shaft 1710. As a result, the cutting shaft 1710 is hollow over its entire length. The proximal end 1708b of the drive shaft 1708 is configured to couple to a feedthrough connector 1720, and the feedthrough connector 1720 includes a hollow hole 1722 that forms a channel aligned with the proximal end of the drive shaft 1708. It differs from the through connector 1620 in that the shaft and the hollow hole 1722 are fluidly coupled. Hollow hole 1722 is configured to couple to flexible tubular member 1730, which, like flexible tubular member 1630, is configured to couple from a distal end through connector to a vacuum source. Extends to the proximal end.

  As shown in FIGS. 17A and 17B, the drive shaft 1708 can be hollow, which includes a first opening at the distal end 1708a of the drive shaft 1708 and a second opening at the proximal end 1708b. The part is formed. The cutting shaft 1710 is also hollow, and an opening 1714 is formed in the base portion 1710a of the cutting shaft 1710. The distal end 1708a of the drive shaft 1708 is configured to couple to the base 1710a of the cutting shaft 1710, and the first opening of the drive shaft 1708 is aligned with the opening of the base 1710a of the cutting shaft 1710. Yes. In this way, the drive shaft 1708 can be fluidly coupled to the cutting shaft 1710. The distal end 1710b of the cutting shaft 1710 includes a cutting tip 1712 and a substance entry port 1713.

  The proximal end 1708a of the drive shaft 1708 is fluidly coupled to the distal end of the flexible tubular member 1730 via a through connector 1720. In some implementations, the through connector 1720 couples the drive shaft and the flexible tubular member so that the flexible tubular member does not rotate with the drive shaft. The proximal end of the flexible tubular member can be configured to fluidly couple to a vacuum source.

  As shown in FIG. 17B, the endoscope instrument 1700 extends from the substance entry port 1713 through the cutting shaft, the drive shaft, and the penetration connector 1720 to the second end of the flexible tubular member 1730. An inhalation channel 1760 is formed. In this way, the substance entering the substance entry port 1713 flows through the entire length of the endoscopic instrument and can exit the endoscopic instrument at the second end of the endoscopic instrument.

  Other components of the endoscopic instrument 1700 are similar to those shown in the endoscopic instrument 1600 shown in FIGS. 16A and 16B. For example, the outer structure 1715, encoding element 1606, seal, and bearing are essentially similar to the outer structure 1615, encoding element 1606, seal 1640, and bearing 1625 shown in FIG. Other components, some of which are illustrated, may also be included to configure the endoscopic instrument and to implement the proper function of the instrument.

  FIG. 18A shows an exploded view of an exemplary endoscopic instrument 1800 according to an embodiment of the present disclosure. FIG. 18B shows a cross-sectional view of endoscopic instrument 1800. Endoscopic instrument 1800 is similar to endoscopic instrument 1700 shown in FIGS. 17A and 17B and can be configured to be inserted into an instrument channel of an endoscope, such as endoscope 100 shown in FIG. 1B. However, endoscopic instrument 1800 differs from endoscopic instrument 1700 in that endoscopic instrument 1800 includes a pneumatic or hydraulic power actuator 1805.

  In some implementations, the power actuator 1802 includes a Tesla turbine that includes a Tesla rotor 1805, a housing 1806, and a connector 1830 that houses the Tesla rotor 1805 with the housing 1806. The Tesla rotor 1805 can include a plurality of disks 1807 that are spaced apart from each other and dimensioned such that the Tesla rotor 1805 fits within the housing. In some implementations, the Tesla rotor can include 7 to 13 disks with a diameter of 2.5 mm to 3.5 mm and a thickness of 0.5 mm to 1.5 mm. In some implementations, the disks are separated by a gap ranging from 0.2 mm to 1 mm. The Tesla turbine 1802 can also include a hollow drive shaft 1808 that extends along the center of the Tesla rotor 1805. In some implementations, the distal end 1808a of the drive shaft 1808 is configured to couple to the cutting shaft 1810 such that the cutting shaft 1810 is driven by a Tesla rotor. That is, in some implementations, the cutting shaft 1810 rotates as the drive shaft 1808 of the Tesla rotor 1805 rotates. In some implementations, the cutting shaft 1810 can include an outlet similar to the cutting shaft 1610 shown in FIG. 16A. In some such implementations, the feedthrough connector fluidly couples the cutting shaft and a flexible portion similar to the feedthrough connector 1630 shown in FIG. 16A.

  The connector 1830 of the Tesla turbine 1802 can include at least one fluid inlet port 1832 and at least one fluid outlet port 1834. In some implementations, the fluid intake may be such that fluid can enter the Tesla turbine 1802 via the fluid intake port 1832, rotate the Tesla rotor 1805, and exit the Tesla turbine 1802 via the fluid outlet port 1834. Port 1832 and fluid outlet port 1834 are configured. In some implementations, the fluid suction port 1832 is fluidly coupled to a fluid suction tubular member 1842 configured to supply fluid to the Tesla rotor via the fluid suction port 1832. The fluid outlet port 1834 is fluidly coupled to the fluid outlet tubular member 1844 and is configured to remove fluid supplied to the Tesla turbine 1802. The amount of fluid supplied to and removed from the Tesla turbine 1802 can be configured to cause the Tesla rotor 1805 to generate sufficient torque and rotate at a sufficient speed to cause the cutting shaft 1810 to cut tissue at the treatment site. In some implementations, the fluid may be air or any other stable gas. In some implementations, the fluid may be any stable liquid such as water. Additional details regarding how fluid is supplied to and removed from a pneumatic or hydraulic actuator, such as a Tesla turbine 1802, are described above in connection with FIGS.

  The connector 1830 also includes a suction port 1836 configured to couple to an opening formed in the proximal end 1808b of the hollow drive shaft 1808. Further, the suction port 1836 is configured to couple to a distal end of a flexible tubular member 1846 similar to the flexible tubular member 1730 shown in FIG. 17A, which is coupled to a vacuum source at the proximal end. It is configured. In some implementations, the flexible tubular housing can include one or more of a fluid inlet tubular member 184, a fluid outlet tubular member 1844, and a flexible tubular member 1846. In some implementations, the flexible tubular housing can include other tubular members and components that extend from the head portion of the endoscopic instrument to the proximal end of the distal end of the endoscopic instrument 1800.

  Cutting shaft 1810 and outer structure 1815 are similar to cutting shaft 1710 and outer structure 1715 of endoscopic instrument 1700 shown in FIG. 17A. The cutting shaft 1810 is hollow, and an opening is formed at the proximal end 1810b of the cutting shaft 1810. The proximal end 1810b of the cutting shaft 1810 is configured to couple to the distal end 1808a of the drive shaft 1808, and the opening of the distal end 1808a of the driving shaft 1808 is formed in the proximal end 1808b of the cutting shaft 1810. Aligned with the formed opening. In this way, the drive shaft 1808 can be fluidly coupled to the cutting shaft 1810. The distal end 1810b of the cutting shaft 1810 includes a cutting tip 1812 and a substance entry port 1813, similar to the cutting shafts 1610 and 1710 shown in FIGS. 16A and 17A.

  In some implementations, a cleaning opening 1852 can be formed in the housing 1806. The cleaning opening 1852 is configured to be fluidly coupled to the suction channel 1860. In some such implementations, the cleaning opening 1852 is configured to be fluidly coupled to a gap (not explicitly shown) that separates the wall of the outer structure 1815 and the wall of the cutting shaft 1810. ing. By doing so, the fluid supplied to the Tesla turbine 1802 can flow into the gap through the cleaning opening 1852. This fluid can flow toward the substance entry port 1813 of the cutting shaft 1810 through which the fluid can enter the suction channel 1860. In some implementations, the suction channel 1860 is fluidly coupled to a vacuum source so that fluid from the Tesla turbine 1802 can be used as a cleaning fluid along with the suction channel 1860 along with other materials near the material entry port 1813. Can be directed to flow. In this way, the irrigation fluid can reduce the likelihood of irrigating the suction channel 1860 and causing a blockage.

  Further, since the cleaning fluid flows in the gap separating the outer structure 1815 and the cutting shaft 1810, the cleaning fluid also serves to suppress the generation of heat. In some implementations, one or both of the cutting shaft 1810 and the outer structure 1815 can be provided with a heat resistant layer to prevent the cutting shaft and outer structure from becoming hot. In some implementations, one or both of the cutting shaft 1810 and the outer structure 1815 can be surrounded by a heat resistant sleeve to prevent the cutting shaft 1810 and the outer structure 1815 from becoming hot.

  In some implementations, other types of hydraulic or pneumatic power actuators may be used in place of the Tesla turbine. In some implementations, a multiblade rotor may be used. In some such implementations, the power actuator can be configured to be fluidly coupled to a fluid inlet tubular member and a fluid outlet tubular member similar to tubular members 1842 and 1844 shown in FIG. 18B.

  As described above with respect to the endoscopic instruments 1600, 1700, and 1800 shown in FIGS. 16A, 17A, and 18A, the endoscopic instruments are configured to meet certain dimensional requirements. In particular, when the endoscopic instrument is sufficiently long and fully inserted into the endoscope, the power driven instrument head can extend beyond the front of the endoscope at one end and the distal end of the endoscopic instrument is internal. While extending out of the other end of the endoscope, the cutting tip is exposed and the end can be coupled to a vacuum source. Thus, in some implementations, the endoscopic instrument can be configured longer than the endoscope into which the endoscopic instrument is inserted. Furthermore, since the diameter of the instrument channel differs depending on the endoscope, the endoscope instrument can also be configured so that its outer diameter is sufficiently small, and this endoscope instrument can be used for the endoscope into which it is to be inserted. Can be inserted into the instrument channel.

  Some endoscopes, such as colonoscopes, can have instrument channels with an inner diameter that can be only a few millimeters. In some implementations, the outer diameter of the endoscopic instrument can be less than about 3.2 mm. In this case, the outer diameter of the power actuator that is a part of the endoscopic instrument can be configured to be smaller than the outer diameter of the endoscopic instrument. At the same time, these power actuators can be configured to generate sufficient torque while rotating at a speed sufficient to cut tissue at the treatment site within the subject.

  In some other implementations, the configuration of the endoscopic instrument results in a portion of the endoscopic instrument where no power actuator is housed in the endoscopic instrument or can be inserted into the instrument channel of the endoscope. It can be prevented from being accommodated at least inside. The endoscopic instrument includes a flexible cable configured to couple the power driven instrument head of the endoscopic instrument to a power actuator located outside the endoscope.

  FIG. 19A shows an exemplary endoscopic instrument 1900 coupled to a power actuator / vacuum source system 1980. This endoscopic instrument includes a head portion 1902 and a terminal portion. The terminal portion includes a flexible cable 1920 that can apply torque to the head portion 1902. The power actuator / vacuum source system 1980 includes a power actuator 1925, a coupler 1935, and a vacuum tubing 1930 configured to couple to a coupler 1935 at a first end 1932 and to a vacuum source at a second end 1934. Including. In some implementations, the flexible cable 1920 can be hollow and configured to carry fluid from the head portion 1902 to the coupler 1935.

  FIG. 19B shows a cross-sectional view of the power actuator / vacuum system 1980 of FIG. 19A. The power actuator 1925 includes a drive shaft 1926 that is mechanically coupled to the proximal end 1922 of the flexible cable 1920. In some implementations, the drive shaft 1926 and the flexible cable 1920 are mechanically coupled via a coupler 1935. The coupler 1935 includes a vacuum port 1936 to which the first end 1932 of the vacuum tubing 1930 is fluidly coupled. The coupler 1935 can be surrounded such that the vacuum tubing 1930 and the flexible cable are fluidly coupled. In this way, the suction force applied in the vacuum tubing 1930 can also be applied to the head portion 1902 of the endoscope instrument 1900 through the entire length of the flexible cable 1920. Further, the material in the flexible cable 1920 can flow through the flexible cable through the coupler 1935 to the vacuum tubing 1930. In some implementations, the flexible cable and the vacuum tubing may be coupled within the head portion 1902. In such an implementation example, the coupler 1935 may be configured to be small enough to be placed in the head portion 1902.

  FIG. 19C shows an exploded view of an exemplary head portion of the endoscopic instrument 1900 shown in FIG. 19A. The head portion includes a housing cap 1952, a collection portion 1954, a cutting shaft 1956, a shaft coupler 1958, and a head portion housing 1960. In some implementations, the collection portion 1954 is slightly tapered toward the distal end so that it can be coupled to a cutting shaft 1956 disposed within the collection portion 1954. Shaft coupler 1958 is configured to couple the cutting shaft to the distal end of flexible cable 1920. Head portion 1960 and housing cap 1952 are configured to accommodate shaft coupler 1958.

  FIG. 19D shows a cutaway view of a portion of endoscopic instrument 1900 with an engagement assembly. In some implementations, the head housing 1960 can include an engagement assembly that engages the inner wall of the instrument channel. This engagement assembly may be similar to the engagement assembly 1650 shown in FIG. 16C. In some implementations, the engagement assembly can be actuated via a vacuum source. FIG. 19E shows a cutaway view of the engagement assembly shown in FIG. 19D in the disengaged position. FIG. 19F shows a cutaway view of the engagement assembly shown in FIG. 19D in the engaged position.

  The engagement assembly includes a pair of vacuum actuating members 1962 that are positioned generally parallel to the wall of the instrument channel 1990 and an extended position that extends outwardly to engage the wall of the instrument channel 1990. It is comprised so that it may rotate between retracted positions. The groove 1964 is fluidly coupled to a suction channel 1970 formed in the flexible cable 1920. In some implementations, the fluid channel 1966 fluidly couples the groove 1964 to the suction channel 1970. When a vacuum source is applied to the suction channel 1970, a suction force is applied to the member 1962, moving them from the retracted position (shown in FIG. 19E) to the extended position (shown in FIG. 19F). In some implementations, the engagement assembly can also include an outer ring supported by a vacuum actuation member 1964. Outer ring 1966 can be configured to help guide the endoscopic instrument along the instrument channel of the endoscope. In particular, the outer ring can prevent the power driven instrument head from striking the instrument channel due to the endoscopic instrument tilting in one direction.

  Endoscopic instrument 1900 is similar to endoscopic instrument 1600, 1700, and 1800 shown in FIGS. 16A-18A, respectively, but endoscopic instrument 1900 is within head portion 1902 of endoscopic instrument 1900. It differs in that it does not include a power actuator. Instead, the endoscopic instrument 1900 includes a flexible cable 1920 for applying torque to the power-driven instrument head 1904 of the endoscopic instrument 1900. In some implementations, the power driver instrument head 1904 may be similar to the power driver instrument head shown in FIGS. In some implementations, the flexible cable 1920 can be hollow to allow fluid to flow through the flexible cable 1920. In some such implementations, the proximal end 1922 of the flexible cable 1920 can be configured to couple to a vacuum source, while the distal end 1921 of the flexible cable 1920 can be configured to couple to the power driver instrument head 1904. In this way, the fluid entering the material entry port 1907 flows through the power driver head 1904 and into the flexible cable 1920 from which the fluid flows through the flexible cable 1920 and near the flexible cable 1920. At the distal end 1922, it is removed from the endoscopic instrument 1900.

  In some implementations, a flexible cable such as flexible cable 1920 may be used in place of the power actuator and drive shaft housed within the endoscopic instrument. For example, endoscopic instruments 1600, 1700, and 1800 shown in FIGS. 16A, 17A, and 18A are flexible cables coupled at the distal end to a cutting shaft of a power driven instrument head, Can be configured to utilize a flexible cable that is coupled at a proximal end to a power actuator disposed externally. The power actuator located outside the endoscopic instrument may be significantly larger than the power actuators 1605, 1705, or 1805. When the power actuator is actuated, the torque generated by the power actuator can be transmitted from the power actuator to the power driver head via the flexible cable. The flexible cable 1920 is configured to transmit torque from the power actuator to the cutting shaft. In some implementations, the flexible cable 1920 is or includes a fine coil with multiple threads and multiple layers, with rotation of one end of the flexible cable to the opposite end of the flexible cable. I can tell you. Due to the flexibility of the cable, the coil can maintain its performance even in the bent portion of the coil. An example of the flexible cable 1920 includes a torque coil manufactured by ASAHI INTECC USA, INC, located in Santa Ana, California. In some implementations, the flexible cable 1920 can be surrounded by an outer sheath to avoid frictional contact between the outer surface of the flexible cable and other surfaces. In some implementations, the flexible cable 1920 can be coated with polytetrafluoroethylene (PFTE) to reduce frictional contact between the outer surface of the flexible cable and other surfaces.

  FIG. 20 is a conceptual system architecture diagram illustrating various components for operating an endoscopic instrument, according to some embodiments of the present disclosure. Endoscope system 2000 includes an endoscope 100 with an endoscopic instrument 2002 that includes a flexible end 2004. The endoscopic instrument may be, for example, the endoscopic instrument 220, 1600, 1700, 1800, or 1900 shown in FIGS. 4A-14, 16A, 17A, 18A, and 19A. The system also includes an endoscope control unit 2005 that controls the operation of the endoscope 100, and an instrument control unit 2010 that controls the operation of the endoscope instrument 2002.

  The endoscopic instrument further includes a vacuum source 1990, a specimen collection unit 2030, and a tissue sensing module 2040. The vacuum source 1990 is configured to fluidly couple to a flexible tubular member that forms part of the suction channel. In this way, the material flowing from the endoscopic instrument through the inhalation channel toward the vacuum source 1990 can be collected by the 2030 sample collection unit. The tissue sensing module can be communicatively coupled to a tissue sensor provided at the distal end of the endoscopic instrument 2000. In some such implementations, the tissue sensing module is communicatively coupled to the instrument control unit 2010 so that the tissue sensing module can transmit one or more signals that cause the control unit 2010 to deactivate the power actuator. Can be configured.

  In some implementations where the power actuator is electrically actuated and located within the endoscopic instrument, the power actuator can be electrically coupled to the instrument control unit 2010. In some such implementations, the power actuator is coupled to the control unit via one or more electrical cables. In some implementations, the power actuator may be battery operated, in which case the tubing may include a cable that extends from the control unit to the power actuator or battery for operating the power actuator.

  In some implementations, where the power drive instrument head is coupled to a flexible torque coil that couples the power drive instrument head to a power actuator located external to the endoscope, the power actuator is one of the instrument control units. It may be a part.

  In various embodiments of the present disclosure, an endoscope includes a first end and a second end separated by a flexible housing, an instrument channel extending from the first end to the second end, a debridement man, And an endoscopic instrument including a specimen collection conduit disposed within the element and instrument channel. The endoscopic instrument can further include a flexible tubing having a sample collection conduit partially disposed therein, the flexible tubing extending from the first end to the second end of the endoscopic instrument. Stretched. The flexible tubing can also include a pneumatic air inlet conduit and a fluid flush conduit. In various embodiments, the debridement element may include a turbine assembly and a cutting tool. In various embodiments where the endoscope is configured with a built-in endoscopic instrument, the instrument channel diameter may be larger than the diameter of the instrument channel of an existing endoscope. In this way, a large portion of the debleed material can be aspirated from the patient's body without clogging the aspiration conduit.

  In another embodiment, the endoscope includes a first end and a second end separated by a flexible housing; an instrument channel extending from the first end to the second end; and the first of the endoscope An endoscopic instrument coupled to an instrument channel at an end can include an endoscopic instrument including a debridement element and a specimen collection conduit partially disposed within the instrument channel. In some embodiments, the endoscopic instrument can be removably attached to the endoscopic instrument.

  In another embodiment of the present disclosure, an endoscope system includes a first end and a second end separated by a flexible housing and an instrument channel extending from the first end to the second end. A mirror and an endoscopic instrument coupled to the instrument channel at a first end of the endoscope. The endoscopic instrument can include a debridement element and a flexible tubing that is longer than the length of the endoscope. In addition, the flexible tubing includes a sample collection conduit, a pneumatic air inflow conduit, a fluid wash conduit, a disposable cartridge configured to couple with the sample collection conduit proximal to the second end of the endoscope, A pressurized air source configured to couple with a pneumatic air inflow conduit proximal to the second end of the endoscope and configured to couple with a fluid wash conduit proximal to the second end of the endoscope A fluid cleaning source. In various embodiments, the endoscope can also include at least one camera source and at least one light source. In some embodiments of the present disclosure, the pneumatic air inflow conduit provides pressurized air to the turbine assembly of the debridement element proximal to the first end of the endoscope and the fluid wash conduit is A cleaning fluid is supplied to the specimen collection conduit proximal to the first end of the mirror.

  As described above with respect to FIGS. 19A-19C, the endoscopic instrument can include a flexible cable that can be configured to be driven by a power actuator located external to the endoscopic instrument. This flexible cable may be a torque coil or a rope.

  21AA-21F show multiple faces of the endoscope assembly. Specifically, FIGS. 21AA-21F show various views of an endoscopic tool 2110 coupled to a power actuator 2120 housed in a housing 2150. FIG. As shown in FIG. 21, the power actuator 2120 may be a motor operably coupled to the flexible cable via a pulley system. A casing 2150 that includes one or more structures such as a bottom plate 2152, one or more side plates 2154, and a top plate 2156 can house the motor 2120. The coupling component 2130 can be configured to couple the flexible cable 2114 to the motor 2120 while providing a suction mechanism for removing fluid that passes through the endoscopic instrument 2110. The coupling component 2130 can include a suction port 2170 that can remove and collect fluid within the endoscopic instrument 2110. In FIG. 21B, a pair of pulleys 2160 and 2162 coupled to the timing belt 2164 are configured such that rotational energy from the motor is transmitted to one end of the flexible cable 2114. The other end of the flexible cable 2114 can be coupled to the cutting member 2112. Additional details regarding the flexible cable 2114 are described herein with respect to FIGS.

  22A-22H show various implementations of exemplary flexible cables. In some implementations, the flexible torque cable can be made from three separate threads or wires. The inner wire can be left-hand wound, the center wire can be right-handed, and the outer wire can be left-handed. In some implementations, the inner wire can be right-handed, the center wire can be left-handed, and the outer wire can be right-handed. In some implementations, the flexible torque cable can be made from two separate threads or wires. In some such implementations, the inner wire can be left-handed and the outer wire can be right-handed. In some other implementations, the inner wire can be right-handed and the outer wire can be left-handed. In some implementations, the strands of wire rope can be twisted with Z or S twist. Examples of flexible cable 1920 include wire ropes and torque coils manufactured by Asahi Intec USA. In some implementations, the outer diameter of the torque rope or coil is limited by the size of the working channel of the endoscope in which the endoscopic tool is used in combination. Other size considerations that need to be taken into account include ensuring sufficient space in the suction channels, wash channels, etc. In some implementations, the outer diameter of the torque coil or torque rope may be between 0.1 mm and 4 mm. In some implementations, the outer diameter of the torque coil or rope may be between 0.5 mm and 2.0 mm.

  Referring again to FIG. 21D, a cross-sectional view of the coupling component 2130 is shown. Coupling component 2130 couples one end of the endoscopic instrument to power actuator 2120 via pulleys 2160 and 2162 and also to suction port 2170. The coupling component 2130 includes a collection chamber 2181 in which fluid in the suction tube 2118 of the endoscopic instrument 2110 can be collected prior to aspiration from the coupling component 2130. This coupling component includes a collection chamber 2181 and can also include a drive shaft 2186 configured to engage a pulley 2162. A flexible cable or torque rope 2114 can be coupled to one end of the drive shaft 2186. The opposite end of drive shaft 2186 is coupled to pulley 2162 and this drive shaft is operably coupled to motor 2120. In this way, when the motor rotates, the pulley and timing belt 2164 are configured to rotate the drive shaft 2186 and then the torque rope 2114. 24A-24C show various aspects of the drive shaft of the coupling component 2130. FIG. As shown in FIGS. 24A-24C, the drive shaft 2186 can be configured to house one end of the flexible cable through the opening 2406. The pair of holes 2402a and 2402b can be configured to accommodate a set screw or other securing member for securing the flexible cable to the drive shaft 2186.

  The coupling component 2130 further includes a housing component 2500 that couples the flexible portion of the endoscopic tool to the suction port 2170 via the opening 2502. FIG. 25 shows an exemplary housing component 2500.

  Figures 26A-26E show exemplary sleeve bearings.

  27A-27C show an exemplary bottom plate 2152 that forms part of the casing. Figures 28A-28D show exemplary side plates that form part of the casing. This side plate also functions as a through mount.

  In some implementations, this coupling component is part of an endoscopic tool. In some implementations, the coupling component is coupled to the flexible portion of the endoscopic instrument via a compression fitting member 2182.

  The flexible portion of the endoscopic instrument includes an outer tubing, and the tubing includes a suction tube 2118, a torque rope 2114, and an exterior 2116 surrounding the outer periphery of the torque rope 2114. This sheath helps to reduce the formation of friction or twist. The suction tube 2118 is configured to be coupled to the cutting tool 2190, and the substance that enters the cutting tool 2190 through the opening 2193 can pass through the entire length of the endoscope tool 2110 through the suction tube 2118.

  As shown in FIGS. 21E-21F, the torque rope is configured to be coupled to an inner cannula 2192 that forms part of the cutting tool. The inner cannula 2192 can be surrounded by or disposed within the outer cannula 2191. Opening 2193 is formed in outer cannula 2191 at one end of cutting tool 2190. Details of the cutting tool 2190 are described herein. 23AA to 23BB show typical implementation examples of the cutting tool. The cutting tool may be any type of cutting tool used with existing medical devices. The cutting tools shown in FIGS. 23AA-23BB are shown for illustrative purposes only, and the present disclosure is not intended to be limited to such sizes, shapes, or dimensions. Commercially available cutting tools can be used. In some implementations, these cutting tools are adjustable in length. In some implementations, the inner cannula can be secured to the ferrule while the outer cannula can be coupled to the outer suction tube. In some implementations, the connection between the outer cannula and the inhalation channel can be sealed to prevent material from leaking from the connection.

  In some implementations, the torque rope 2114 is coupled to the inner cannula 2192 via a ferrule 2194. The ferrule is a component that couples the torque rope to the inner cannula so that rotational energy within the torque rope is transmitted to the inner cannula. Additional details regarding ferrule shape, size, and dimensions are shown in FIGS. 29AA-29EE. The shape and size of the ferrule may be changed depending on the size of the torque rope or the flexible cable used in the endoscope tool 2110. Furthermore, the ferrules shown in FIGS. 29AA-29EE are shown for illustrative purposes only and are not intended to be limited to the illustrated size, shape, or dimensions. In some implementations, the end of the torque rope can be inserted into the subcutaneous tubing and secured to its short length. Doing so makes it easier to glue the ferrule to the distal end and clamp it to the proximal end (towards the drive shaft). In some implementations, graphite-filled cyanoacrylates such as Loctite Black Max can be used. Other similar types of materials can be used instead.

  30AA to 30C show a plurality of surfaces of the endoscope assembly into which the tip is press-fitted. In some implementations, the flexible portion of the endoscopic instrument can include a deployable balloon structure that can engage the inner wall of the endoscope. This balloon structure can be coupled to an air supply line 3006 coupled to an air source, and when supplied with air, the balloon can expand and engage the inner wall of the endoscope. In some implementations, the balloon structure can be expanded asymmetrically as shown in FIGS. 30AA-30AB. In some implementations, this air source can be actuated via a foot pedal. The cleaning line 3002 can be configured to supply a cleaning fluid. The cleaning fluid can flow toward the cutting tool, where the cleaning fluid can pass through the suction channel 3004. The cleaning fluid can prevent clogging of the suction channel. As shown in FIG. 30C, a flexible cable or torque rope can be press fit into the button at one end of the cutting tool.

  31AA-31AB and 31B-31C show multiple surfaces of the endoscope assembly where the tip is press-fit. In some implementations, the flexible portion of the endoscopic instrument can include a deployable balloon structure that can engage the inner wall of the endoscope. This balloon structure can be coupled to an air supply source, and when supplied with air, the balloon can expand and engage the inner wall of the endoscope. In some implementations, the balloon structure can be expanded symmetrically as shown in FIGS. 31AA and 31AB. The cleaning line can be configured to supply a cleaning fluid. The cleaning line can be configured to supply a cleaning fluid. The cleaning fluid can flow towards the cutting tool, where the cleaning fluid can pass through the suction channel. The cleaning fluid can prevent clogging of the suction channel. As shown in FIG. 31C, the flexible cable or torque rope can be welded to one end of the cutting tool.

  FIG. 32 shows a top view of an exemplary flexible section of an endoscopic tool. In some implementations, the flexible section shown in FIG. 32 can be used with the implementations shown in FIGS. 30AA-30C and 31AA-31AB and 31B-31C. The flexible portion 3202 includes a central channel 3204 through which the flexible cable passes. Further, the flexible portion 3202 includes two suction channels 3406a and 3406b, a cleaning channel 3408, and an air supply channel 3410.

  In some implementations, the operating speed of the torque rope is variable. In some typical implementations, the operating speed of the torque rope may be in the range of 0.5 k revolutions per minute to 20 k revolutions per minute. In some implementations, the operating speed of the torque rope may be in the range of 1 k revolutions per minute to 4 k revolutions per minute. In some implementations, the operating speed of the torque rope is variable. In some exemplary implementations, the torque rope can operate with a torque of 5-100 mN * m (millinewton meters). In some implementations, the torque rope can operate with a torque of 20-50 mN * m (millinewton meters). In some implementations, the torque rope can operate with a torque of 20-50 mN * m (millinewton meters). However, one skilled in the art should understand that the torque and operating speed of the flexible cable can be varied based on the performance of the endoscopic tool. In some implementations, various factors including the amount of suction, the type of cutter, the size of the opening of the cutter, etc. contribute to the performance of the endoscopic tool. Therefore, the torque and operating speed for operating the flexible cable depend on a plurality of factors.

  FIG. 33 is a cross-sectional view of an exemplary cutting assembly of an endoscopic instrument that uses a torque rope. Cutting assembly 3300 includes an outer cannula 3302, an inner cannula 3304 including an inner cutter 3306 disposed within the outer cannula 3302, a PTFE bearing 3308, a semi-compliant balloon 3310, and a multilumen type Extruded product 3312. Torque rope 3314 can be coupled to inner cutter 3306. The diameter of the outer cannula can be between 0.05 inches and a suitable size that passes through the instrument channel of the endoscope.

  34A-34C are cross-sectional views of different configurations of the flexible region of an implementation example of the endoscopic tool described herein. The flexible region can include an inhalation lumen 3402, an inflation lumen 3404, an irrigation or irrigation lumen 3406, and a torque rope.

  Figures 35AA-35AC show various views of portions of the endoscopic tool. Endoscopic tools include an outer cannula 1, an inner cutter 2, an inner cannula 3, a torque rope 4, a three-lumen extrudate 5, a balloon 6, a PTFE washer 7, and two side arms 8. A proximal plug 9, a PTFE gasket 10, and a gasket cap 11.

  FIG. 36 shows a cross-sectional view of the flexible portion region of one implementation example of the endoscopic instrument described herein. This flexible region can include an outer inflation jacket 3602, an outer coil 3604, a torque coil 3606, and a multi-lumen extrudate 3608 disposed within the torque coil. Multi-lumen extrudate 3608 can include an irrigation lumen 3610 and an inhalation lumen 3612.

  FIG. 37 shows a cross-sectional view of one implementation example of the endoscopic tool described in this specification. The endoscopic tool includes an outer cannula 3702, an inner cutter 3704, an inner torque coil 3706, an outer coil 3708, an outer inflation jacket and balloon 3710, and a multi-lumen extrudate 3712. A gear 3714, such as a worm gear, can engage the torque coil to drive the inner cutter.

  38A and 38B show various views of the distal portion of one implementation of the endoscopic device described herein. The endoscopic tool includes an outer cutter 3802 that forms an opening 3804. The endoscopic tool further includes an inner cutter 3806 disposed within the outer cutter. This inner cutter is coupled to the torque coil 3808. This torque coil is placed in a PET heat shrink 3810 or other type of tubing. The outer cutter is coupled to the braided shaft 3812 to allow the outer cutter 3802 to rotate relative to the inner cutter 3806.

  39A and 39B show cross-sectional views of the distal portion of the endoscopic tool shown in FIGS. 38A and 38B, taken along the BB and CC sections.

  In some implementations, an endoscopic instrument that can be inserted into a single instrument channel of an endoscope can include a power-driven instrument head or cutting assembly configured to excise material at a site within a subject. it can. The cutting assembly includes an outer cannula and an inner cannula disposed within the outer cannula. This outer cannula forms an opening through which the material to be ablated passes as it enters the cutting assembly. The endoscopic instrument also includes a flexible outer tubing coupled to the outer cannula, the flexible outer tubing configured to rotate the outer cannula relative to the inner cannula. The outer diameter of this flexible outer tubing can be smaller than the instrument channel into which the endoscopic instrument can be inserted. The endoscopic instrument also includes a flexible torque coil with a portion disposed within the flexible outer tubing. The flexible torque coil includes a distal end coupled to the inner cannula. The flexible torque coil is configured to rotate the inner cannula relative to the outer cannula. The endoscopic instrument further includes a proximal connector coupled to the proximal end of the flexible torque coil and configured to engage the drive assembly, the drive assembly being activated, The flexible torque coil and the inner cannula are configured to rotate. The endoscopic instrument further includes an inhalation channel with an inhalation port configured to engage a vacuum source. The suction channel is formed in part by the inner wall of the flexible torque coil and the inner wall of the inner cannula and extends from an opening formed in the inner cannula to the suction port. Further, the endoscopic instrument is a cleaning channel with a first portion formed between the outer wall of the flexible torque coil and the inner wall of the flexible outer tubing and is configured to carry cleaning fluid to the inhalation channel Containing wash channels.

  In some implementations, the proximal connector is hollow and the inner wall of the proximal connector forms part of the inhalation channel. In some implementations, the proximal connector is a rigid cylindrical structure and is configured to be disposed within the drive receptacle of the drive assembly. The proximal connector can include a coupler configured to engage the drive assembly and a tension adjusting spring configured to bias the inner cannula toward the distal end of the outer cannula. In some implementations, the tension adjustment spring is sized and biased so that the tension adjustment spring positions the cut portion of the inner cannula adjacent to the opening of the outer cannula. In some implementations, the proximal connector is rotatably fluidly coupled to the flexible torque coil. In some implementations, the tension adjustment spring is sized and biased so that the distal end of the inner cannula contacts the inner distal wall of the outer cannula. This can limit the lateral or undesired movement generated by the whip at the distal end of the inner cannula due to rotation of the flexible torque coil.

  In some implementations, the endoscopic instrument further includes an irrigation connector including a irrigation entry port and a tubular member coupled to the irrigation connector and the flexible outer tubing. The inner wall of the tubular member and the outer wall of the flexible torque coil can form a second portion of the cleaning channel that is fluidly coupled to the first portion of the cleaning channel. In some implementations, the endoscopic instrument is a rotary coupler that couples the flexible outer tubing to the tubular member, wherein the flexible outer tubing is rotated relative to the tubular member and formed on the outer cannula. Also included is a rotary coupler configured to rotate the opening relative to the inner cannula. In some implementations, the irrigation connector forms an inner hole with a flexible torque coil disposed therein. In some implementations, the irrigation connector forms an inner hole with a flexible torque coil disposed therein.

  In some implementations, the endoscopic instrument also includes a lining with a flexible torque coil disposed therein, the outer wall of the lining being configured to form part of the wash channel. In some implementations, the inner cannula is configured to rotate about the longitudinal axis of the inner cannula and relative to the outer cannula so that the inhalation channel applies a suction force at the opening of the inner cannula. It is configured.

  In some implementations, the flexible torque coil includes a plurality of threads. Each of the plurality of threads can be wound in a direction opposite to the direction in which one or more adjacent threads of the plurality of threads are wound. In some implementations, the flexible torque coil includes multiple layers. Each of the plurality of layers can be wound in a direction opposite to the direction in which one or more adjacent layers of the plurality of layers are wound. In some implementations, each layer can include one or more threads. Additional details regarding the flexible torque coil are described above in connection with the description herein of at least the flexible cable with respect to FIGS.

  In some implementations, the flexible outer tubing has a length that exceeds the length of the endoscope into which the endoscopic instrument is inserted. In some implementations, the flexible outer tubing has a length that is at least 100 times greater than the outer diameter of the flexible outer tubing. In some implementations, the flexible portion is at least 40 times as long as the cutting assembly.

  40A-40B show perspective views of endoscopic tool 4000 and a portion of drive assembly 4050 configured to drive the endoscopic tool. Referring now also to FIGS. 41, 42, and 43, FIG. 41 shows a top view of the endoscopic tool 4000 shown in FIGS. 40A-40B and a top exposed view of a portion of the drive assembly 4050. FIG. 42 shows a cross-sectional view of a portion of endoscopic tool 4000 and drive assembly 4050 with respect to the AA cross section. FIG. 43 shows an enlarged view of the endoscope drive connector and drive assembly 4050 portion. 44 shows a perspective view of a portion of the endoscopic tool 4000 and drive assembly shown in FIGS. 40A-40B. FIG. 45 shows a cross-sectional view of the portion of the endoscopic tool and drive assembly for the BB cross section. FIG. 46 shows an enlarged cross-sectional view of the rotary coupler portion of this endoscopic tool. 47A and 47B show a top view and a cross-sectional view of the rotary coupler of the endoscope tool.

  Endoscopic instrument 4000 can be configured to be inserted into an instrument channel of an endoscope, as shown in FIGS. Examples of endoscopes can include gastroscopes such as colonoscopy, laryngoscopes or other flexible endoscopes. Such an endoscopic tool can include a flexible portion 4002 that is shaped, dimensioned, and configured to be inserted into an instrument channel, while the remaining portion of the endoscopic tool 4000 is an endoscopic tool. It can be configured to remain outside the instrument channel. The flexible portion 4002 can be shaped and dimensioned to fit within the instrument channel and can be configured to pass through a serpentine path formed by the instrument channel when the endoscope is inserted into the patient. In the case of a colonoscope, the colonoscope can form a series of curvatures that are at least 60 degrees and in some cases greater than 90 degrees.

  Endoscopic tool 4000 can include a cutting assembly 4010 configured to excise material at a site within a subject. The cutting assembly 4010 may be similar to the cutting assembly 160 described in FIG. 1C and elsewhere herein and in the drawings. In some implementations, the cutting assembly 4010 includes an outer cannula and an inner cannula disposed within the outer cannula. The outer cannula can form an opening 4012 through which material to be ablated passes as it enters the cutting assembly 4010. In some implementations, the opening 4012 is formed through a portion of the radial wall of the outer cannula. In some implementations, this opening may extend only a portion of the radius range of the outer cannula, for example up to one third of the radial wall circumference. Since the suction channel 4090 extends between the suction port 4092 and the opening 4012, if a suction force is applied at the suction port 4092, a suction force is applied at the opening 4012. This suction force introduces the substance into the opening of the outer cannula, which can then be cut by the inner cannula of the cutting assembly.

  The inner cannula can include a cut configured to be positioned adjacent the opening 4012 so that the material to be cut through the opening 4012 that enters the cutting assembly is cut by the cut in the inner cannula. it can. The inner cannula is hollow and the inner wall of the inner cannula can form part of an inhalation channel that can be extended over the entire length of the endoscopic instrument. The distal end of the inner cannula can include a cut, while the proximal end of the inner cannula can be opened, and the material that enters the distal end of the inner cannula through the cut is the proximal end of the inner cannula. Can pass through. In some implementations, the distal end of the inner cannula can contact the inner surface of the distal end of the outer cannula. This, in some implementations, allows the inner cannula to rotate relative to the outer cannula generally along the longitudinal axis, making the inner cannula more stable as the inner cannula rotates. In some implementations, the size of the opening determines the size of the material that is cut or excised by the inner cannula. Thus, the size of the opening is determined based in part on the size of the suction channel formed by the inner periphery of the flexible torque coil.

  Endoscopic instrument 4000 can include a flexible torque coil 4080 that is configured to couple at its distal end to the proximal end of the inner cannula. The flexible torque coil includes a fine coil with multiple threads and multiple layers, which can transmit the rotation of one end of the flexible torque coil to the opposite end of the flexible torque coil. Each thread layer of the flexible torque coil can be wound in a direction opposite to the direction in which each thread layer adjacent to the thread layer is wound. In some implementations, the flexible torque coil is wound in a clockwise direction with a first thread layer wound in a clockwise direction, a second thread layer wound in a counterclockwise direction, and a clockwise direction. And a third thread layer. In some implementations, the first thread layer is separated from the third thread layer by a second thread layer. In some implementations, each thread layer may include one or more threads. In some implementations, the layers of threads can be made of different materials or have different characteristics such as thickness and length.

  Due to the flexibility of the torque coil 4080, the coil can maintain its performance even in the bent portion of the torque coil 4080. An example of a flexible torque coil 4080 includes a torque coil manufactured by ASAHI INTECC USA, INC, Santa Ana, California. In some implementations, the flexible torque coil 4080 can be enclosed or lined to avoid frictional contact between the outer surface of the flexible torque coil 4080 and other surfaces. In some implementations, the flexible torque coil 4080 can be coated with polytetrafluoroethylene (PFTE) to reduce frictional contact between the outer surface of the flexible torque coil 4080 and other surfaces. The flexible torque coil 4080 can be sized, shaped, or configured to have an outer diameter that is smaller than the diameter of the instrument channel of the endoscope into which the endoscopic instrument is inserted. For example, in some implementations, the outer diameter of the flexible torque coil may be in the range of 1 to 4 millimeters. The length of the flexible torque coil can be dimensioned to exceed the length of the endoscope. In some implementations, the inner wall of the flexible torque coil 4080 can be configured to form another portion of the inhalation channel that is fluidly coupled to the portion of the inhalation channel formed by the inner wall of the inner cannula of the cutting assembly 4010. The proximal end of the flexible torque coil 4080 can be coupled to the proximal connector assembly 4070, details of which will be described later.

  Endoscopic instrument 4000 can include a flexible outer tubing 4086 that can be coupled to the proximal end of the outer cannula. In some implementations, the distal end of the flexible outer tubing 4086 can be coupled to the proximal end of the outer cannula using a coupling component. In some implementations, the outer cannula can be configured to rotate in response to rotation of the flexible outer tubing. In some implementations, the flexible outer tubing 4086 can be a hollow braided tubing with an outer diameter that is smaller than the instrument channel of the endoscope into which the endoscopic instrument 4000 is inserted. In some implementations, the length of the flexible outer tubing 4086 can be sized to exceed the length of the endoscope. The flexible outer tubing 4086 can form a hole through which a portion of the flexible outer tubing 4086 extends. The flexible outer tubing 4086 can include braids, threads, or other features that facilitate rotation of the flexible outer tubing 4086 relative to a flexible torque coil that is partially disposed within the flexible outer tubing 4086.

  Endoscopic tool 4000 can include a rotary coupler 4030 configured to couple to the proximal end of flexible outer tubing 4086. The rotary coupler 4030 may be configured to allow an operator of the endoscopic tool to rotate the flexible outer tubing 4086 via a rotary tab 4032 that is coupled to or an integral part of the rotary coupler 4030. By rotating the rotation tab 4032, the operator can rotate the flexible outer tubing and outer cannula along the longitudinal axis of the endoscope and relative to the inner cannula of the endoscope and cutting assembly 4010. In some implementations, the operator may wish to rotate the outer cannula when the endoscopic instrument is inserted into the endoscope and the endoscope is indwelling in the patient. The operator can rotate the outer cannula to form the opening in the outer cannula so that the operator can see the material entering the endoscopic instrument for resection through the opening. It may be desirable to place the radial wall portion of the outer cannula in a position that can be aligned with the endoscope camera. This is possible in part because the opening is formed along a radial wall that extends to the side of the outer cannula rather than an opening formed in the axial wall of the outer cannula. It is.

  In some implementations, the proximal end 4034 of the rotary coupler 4030 can be coupled to the irrigation connector 4040. In some implementations, the rotary coupler 4030 may be a rotary luer component that allows the distal end 4036 of the rotary coupler 4030 to rotate relative to the proximal end 4034 of the rotary coupler 4030. In this way, when the flexible outer tubing 4086 rotates, the component to which the proximal end 4034 of the rotary coupler 4030 is coupled does not rotate. In some implementations, the proximal end 4034 of the rotary coupler 4030 can be coupled to an outer tubular member 4044 that is configured to couple the proximal end 4034 of the rotary coupler 4030 to the irrigation connector 4040. The rotary coupler 4030 can form a hole along the central portion of the rotary coupler 4030 through which a portion of the flexible torque coil 4080 extends. In some implementations, the rotary coupler 4030 can be a male-to-male rotary luer coupler. In some implementations, the rotary coupler can be configured to handle pressures up to 1200 psi.

  Irrigation connector 4040 can be configured to introduce cleaning fluid into endoscopic instrument 4000. Irrigation connector 4040 includes an irrigation port 4042 configured to engage a cleaning source such as a water container. In some implementations, the irrigation connector 4040 is a Y-port used in a fluid delivery system and compliant with medical device industry standards, with a flexible outer tubing 4086 or the distal end of the irrigation connector 4040 coupled to a rotary coupler. It may be a Y port sized to couple to the outer tubular member 4044 which serves to couple to the proximal end 4034 of 4030. In some implementations, the irrigation connector can form a hollow channel between the proximal end 4046 and the distal end 4048 of the irrigation connector 4040, where the flexible torque coil 4080 is within the irrigation connector 4040. Dimensioned to pass through this hollow channel formed in

  As described above, the proximal connector assembly 4070 is configured to be coupled to the proximal end of the flexible torque coil 4080. Proximal connector assembly 4070 can be configured to engage a drive assembly 4050 configured to provide torque to the inner cannula via proximal connector assembly 4070 and flexible torque coil 4080. The proximal connector assembly 4070 can further form a portion of the suction channel and can be configured to fluidly connect the suction channel to a vacuum source so as to easily remove material that enters the suction channel. In some implementations, the proximal end of the proximal connector assembly 4070 can include an inhalation port 4092 through which material entering the endoscopic tool 4000 can be retrieved from the endoscopic tool 4000.

  In some implementations, the endoscopic tool 4000 can be configured to be driven by the drive assembly 4050. Drive assembly 4050 is configured to provide rotational energy from an energy source to endoscopic tool 4000. The drive assembly 4050 can include a housing 4060 that can accommodate a first bevel gear 4054 and a second bevel gear 4056 that are positioned such that rotation of the first bevel gear 4054 causes the second bevel gear 4056 to rotate. Has been. The second bevel gear 4056 can be coupled to a drive receptacle that is dimensioned to receive and engage the proximal connector assembly 4070 of the endoscopic instrument 4000. In some implementations, the first bevel gear 4054 can be coupled to a motor (not shown) or other rotational source via a rotational input shaft 4052.

  The proximal connector assembly 4070 can include a hollow drive shaft 4072, a coupler 4076 through which the hollow drive shaft 4072 passes, and a tension adjustment spring 4074 coupled to the hollow drive shaft 4072. The distal end of drive shaft 4072 can be coupled to the proximal end of flexible torque coil 4080. In some implementations, the drive shaft 4072 and the flexible torque coil 4080 can be permanently coupled to each other. In some implementations, the coupling of the drive shaft 4072 and the flexible torque coil 4080 allows the flexible torque coil 4080 to rotate when the drive shaft 4072 rotates and the material drive shaft passes through the flexible torque coil 4080. A coupler that allows 4072 to pass, welding such as press fitting, butt welding, or any other attachment means may be used. The proximal end of drive shaft 4072 can form a suction port 4092. In some implementations, the suction port 4092 can engage a vacuum source so that material entering the opening 4012 can pass through the suction channel 4090 and drain from the endoscopic instrument via the suction port 4092. .

  A coupler 4076, such as a hexagonal coupler, can be configured to couple with the hollow drive shaft. In some implementations, the hexagonal coupler is part of a hollow drive shaft. The coupler 4076 can include an outer wall configured to engage the inner wall of the drive receptacle 4058. The drive receptacle 4058 is coupled to the second bevel gear 4056 and is configured to rotate when the second bevel gear 4056 rotates. In some implementations, the drive receptacle 4058 may be a hollow cylindrical tube. In some implementations, the proximal end 4059 of the drive receptacle 4058 can include an opening formed by the inner wall of the proximal end of the drive receptacle 4058, the diameter of which is greater than the inner diameter of the remainder of the drive receptacle 4058. small. In some implementations, the diameter of the opening through the proximal end 4059 of the drive receptacle 4058 is sized to receive the drive shaft 4072, but a tension adjusting spring 4074 coupled to the drive shaft 4072 includes the opening. Small enough to not pass. In some implementations, the inner diameter of the remaining portion of the drive receptacle is sized to engage the coupler 4076.

  By biasing tension adjusting spring 4074, during operation of endoscopic tool 4000, tension adjusting spring 4074 has a drive shaft 4072, a flexible torque coil 4080, and an inner cannula proximal to endoscopic tool 4000. The sliding toward the end can be prevented. In some implementations, without the tension adjustment spring 4074, the inner cannula may slide away from the distal end of the endoscopic instrument 4000. This may be due to the force applied by the material that is excised at the opening 4012. In some implementations, the tension adjustment spring 4074 may be provided with a countering force that prevents the inner cannula from sliding away from the distal end when the inner cannula contacts the material to be excised at the opening 4012. force). In some implementations, the tension adjustment spring 4074 can be configured to bias the distal end of the inner cannula to contact the inner wall of the distal end of the outer cannula. In some implementations, the tension adjustment spring 4074 is sized and biased so that the distal end of the inner cannula contacts the inner distal wall of the outer cannula. . This can limit the lateral or undesired movement generated by the whip at the distal end of the inner cannula due to rotation of the flexible torque coil.

  The housing 4060 can be configured to engage the suction end cap 4062 and the locking collar 4064. In some implementations, the configuration of the suction end cap 4062 ensures that the vacuum source remains connected to the suction port 4092 of the drive shaft 4072. In some implementations, the configuration of the suction end cap 4062 maintains a reliable connection between the vacuum source and the suction port 4092 of the drive shaft 4072 while allowing the drive shaft 4072 to rotate. In some implementations, the suction end cap 4062 is a part of the housing 4060 such that the suction port of the drive shaft 4072 is accessible through the opening of the suction end cap 4064. It can be configured to be fixed to. In some implementations, the vacuum source can be coupled to the end cap 4064 such that the vacuum source does not rotate with the proximal end of the drive shaft 4072. In some implementations, one or more bearings or bushings are used to facilitate fluid coupling between the suction port 4092 of the drive shaft 4072 and the vacuum source without rotating the vacuum source with the drive shaft 4072 it can.

  The locking collar 4064 can be configured to secure the irrigation connector 4040 to the proximal connector assembly 4070. In some implementations, the locking collar 4064 can be configured to secure the proximal end 4046 of the irrigation connector 4040 to the housing 4060 of the drive assembly 4050. The locking collar 4064 can be further configured to prevent the proximal connector assembly 4070 from moving away from the drive receptacle 4058 toward the distal end of the endoscopic instrument 4000. In some implementations, the locking collar 4064 can be configured to secure the lining 4082 with the flexible torque coil 4080 disposed therein to the flexible torque coil 4080, the drive shaft 4072, or the housing 4060. In some implementations, the lining 4082 acts as a heat shrink to reduce the dissipation of heat generated by the flexible torque coil to other components of the endoscopic instrument. In some implementations, the outer wall of the lining 4082 can form part of the wash channel, while the inner wall of the lining 4082 prevents material passing through the suction channel from leaking out of the flexible torque coil wall. Can be helpful. In some implementations, the lining 4082 further helps prevent cleaning fluid passing through the cleaning channel from flowing into the suction channel 4090 through the wall of the flexible torque coil 4080.

  The distal end 4048 of the irrigation connector 4040 can be configured to engage the inner wall of the outer tubing 4044. In some implementations, the distal end 4048 of the irrigation connector 4040 can be press fit into the proximal end of the outer tubing 4044. In some implementations, a connector that connects the distal end 4048 of the irrigation connector 4040 and the outer tubing can be used. The inner wall of the outer tubing 4044 and the outer wall of the lining 4082 can form part of the cleaning channel 4096. Outer tubing 4044 can extend from distal end 4048 of irrigation connector 4040 to proximal end 4034 of rotary coupler 4030. The distal end of the outer tubing 4044 can be configured to engage the proximal end 4034 of the rotary coupler 4030.

  In some implementations, the wash channel can extend from the wash entry port to the opening of the outer cannula. An irrigation channel can be formed by the inner wall of the outer tubular member, the rotary coupler, the inner wall of the outer tubing, and the inner wall of the outer cannula. In some implementations, the irrigation channel can also be formed by the outer wall of the inner cannula and the outer wall of the flexible torque coil 4080. In some implementations, the endoscopic instrument 4000 can also include a hollow lining 4082 that is dimensioned to be fitted around the flexible torque coil 4080. In some implementations, the endoscopic instrument 4000 can also include a hollow lining 4082 that is dimensioned to be fitted around the flexible torque coil 4080. In some implementations, the hollow lining 4082 can act as a barrier between the wash channel 4096 and the suction channel 4090. In some implementations, the hollow lining 4082 can prevent air or other fluids from leaching through the threads of the flexible torque coil 4080. In some implementations, the hollow lining 4082 can prevent air or other fluids from leaching through the threads of the flexible torque coil 4080. Furthermore, the hollow lining prevents air from escaping or entering through the thread of the flexible torque coil 4080, so that the suction channel can maintain suction force over the entire length of the suction channel.

  As described above, the cutting assembly 4010 includes an outer cannula. Braided tubing 4086 is coupled to the outer cannula, and rotation of rotation tab 4032 of rotary coupler 4030 will rotate the outer cannula. The outer cannula includes an opening 4012 at the distal end of the outer cannula. This opening is formed in a portion of the radial wall of the outer cannula and may extend only a portion of the radial range of the outer cannula. Since the suction channel 4090 extends between the suction port 4092 and the opening 4012, if a suction force is applied at the suction port 4092, a suction force is applied at the opening 4012. This suction force introduces the substance into the opening of the outer cannula, which can then be cut by the inner cannula of the cutting assembly. In some implementations, the inhaled material is collected in a collection cartridge. In some implementations, the collection cartridge can be fluidly coupled to the proximal end of the inhalation channel.

  The inner cannula is disposed within the outer cannula and configured to excise material that is aspirated or otherwise entered into the opening 4012 by a suction force in the suction channel 4090. The inner cannula can cut, cut, cut, debride, or scrape material at the opening 4012 based in part on the interaction of the cutting surface and the wall of the outer cannula that forms the opening. . In some implementations, the rotational movement of the cutting surface relative to the opening 4012 allows the material to be cut, excised, trimmed, or scraped off. The flexible torque coil is coupled to the inner cannula and rotates the inner cannula along the longitudinal axis of the inner cannula. Since the outer cannula is coupled to the outer tubing and is not rotatably coupled to the inner cannula or the flexible torque coil, the inner cannula rotates relative to the outer cannula. The gap between the outer wall of the inner cannula and the inner wall of the outer cannula is a cleaning fluid formed in part by irrigation connector 4040, outer tubing 4044, rotary coupler 4030, and flexible outer tubing 4086. Forming a portion of the wash channel that flows through the channel portion toward the cutting surface of the inner cannula. The inner cannula can form part of an inhalation channel through which the cut or excised material and irrigation fluid can flow from the cut surface of the inner cannula toward the inhalation port 4092.

  The length of the cutting assembly 4010 can be dimensioned to allow the endoscopic tool 4000 to pass through the entire length of the endoscope when the endoscope is inserted into the patient. In some implementations, the endoscope can be placed in the patient, and the endoscope can include more than 60 degrees of curvature. Also, the length of the cutting assembly 4010 may not exceed a few centimeters. In some implementations, the length of the cutting assembly 4010 may be less than 1% of the length of the endoscopic tool 4000 or the length of the flexible portion of the endoscope into which the endoscopic tool can be inserted. As described above, tissue sensing capabilities can be implemented in the cutting assembly and function as part of the tissue sensor.

  It should be understood that one or more seals, bearings, and other components can be used. Seals can be used to maintain pressure, prevent fluid leakage, or allow the components to engage securely. In some implementations, bearings can be used to rotate the components relative to each other without adversely affecting the components or performance of the endoscopic tool.

  FIG. 45 shows a cross-sectional view of the endoscopic tool and drive assembly portion with respect to the B-B cross section. As shown in FIG. 45, the second bevel gear 4056 can be configured to engage the drive receptacle 4058 of the drive assembly 4050. The proximal connector 4070 of the endoscopic instrument 4000 includes a coupler 4076 and a drive shaft 4072 that can be inserted into the drive receptacle 4058. The outer wall of the coupler 4076 is sized to engage the inner wall of the drive receptacle 4058 and when the drive receptacle 4058 rotates, the coupler 4076 also rotates. Since coupler 4076 is coupled to drive shaft 4072, drive shaft 4072 also rotates when drive receptacle 4058 rotates. The inner wall of the drive shaft forms part of the suction channel 4090.

  FIG. 46 shows an enlarged cross-sectional view of the rotary coupler portion of this endoscopic tool. 47A and 47B show a top view and a cross-sectional view of the rotary coupler of the endoscope tool.

  As shown in FIGS. 46-47B, the outer tubing 4044 is configured to engage the rotary coupler 4030. Outer tubing 4044 surrounds lining 4082, which surrounds flexible torque coil 4080. The inner wall of the flexible torque coil 4080 can form part of the suction channel 4090. The gap between the inner wall of the outer tubing 4044 and the outer wall or surface of the lining 4082 can form part of the wash channel. The tab 4032 can be configured to be rotated by an operator of this endoscopic tool. In some implementations, the operator rotates tab 4032 and rotates the outer cannula relative to the inner cannula and endoscope while the endoscopic instrument is inserted into the instrument channel of the endoscope. be able to. In this way, the operator can position the opening formed through the outer cannula by rotating the outer cannula to the desired position. In some implementations, by providing a mechanism that allows the outer cannula to rotate relative to the endoscope, the operator can operate while the endoscopic instrument is being inserted into the instrument channel of the endoscope. There is no need to worry about the position of the opening because the operator can adjust the position of the opening by rotating the outer cannula while the endoscopic instrument is inserted into the endoscope.

  FIG. 48 is a perspective view of a portion of an endoscopic instrument inserted to operate within the drive assembly. The drive assembly 4800 includes a drive interface 4810 configured to receive the proximal connector 4070 of the endoscopic tool 4000. The proximal connector 4070 can engage the drive receptacle of the drive interface 4810 to transfer the rotational energy generated by the drive assembly 4800 to the cutting assembly of the endoscopic tool 4000. The drive assembly 4800 can include a pump 4820 or other fluid transfer device for controlling the flow of cleaning fluid into the irrigation port 4042 of the endoscopic instrument 4000. In some implementations, the pump 4829 may be a peristaltic pump. In some implementations, the pump may be a positive displacement fluid pump. In some implementations, a valve can be placed between pump 4829 and irrigation port 4042 to control the amount of irrigation fluid entering the endoscopic instrument. In some implementations, the operating speed of the pump 4829 can determine the rate at which fluid enters the endoscopic tool. The drive assembly can also include a pinch valve 4380. In some implementations, the pinch valve can be configured to control the application of a suction force applied to the suction channel.

  In some implementations, the drive assembly 4800 can be actuated using an actuator such as a control switch. In some implementations, the actuator may be a foot pedal, hand switch, or any other actuation means for controlling the drive assembly 4800. In some implementations, this actuator can be coupled to drive means such as pump 4820, and when this actuator is actuated, pump 4820 begins to rotate and generates torque, which is transmitted via drive interface 4810. Transmitted to the proximal connector of the endoscopic tool. Torque applied to the proximal connector is transmitted to the inner cannula via a flexible torque coil, allowing the inner cannula to rotate relative to the outer cannula. In some implementations, this actuator can be coupled to a pinch valve, such as pinch valve 4830, to control the amount of suction force applied to the suction channel. In some implementations, the actuator can be configured to actuate the drive means and pinch valve simultaneously so that the inner cannula will rotate while the suction force is applied through the suction channel. In some implementations, the actuator may be coupled to a cleaning control switch or valve that controls the flow of cleaning fluid through the cleaning entry port 4042 into the endoscopic instrument. In some implementations, the actuator can be configured to actuate the drive means, the pinch valve for suction, and the cleaning control switch for cleaning at the same time so that suction is applied through the suction channel. And the inner cannula will rotate while cleaning fluid is being supplied to the endoscopic instrument.

  In some implementations, a separate cleaning control switch may be configured to control the flow of cleaning fluid through the endoscopic instrument. An operator can control the amount of cleaning fluid supplied to the cleaning channel via a cleaning control switch.

  The configuration of the drive assembly shown in FIGS. 40A to 48 is one configuration example of the drive assembly. It should be understood that the endoscopic tool 4000 can be configured to be driven by other drive assembly configurations. In some implementations, the proximal connector portion of the endoscopic tool 4000 may be modified to engage other drive assembly configurations. In some implementations, the endoscopic instrument 400 is configured to be provided together as one or more different components that can be assembled prior to inserting the endoscopic instrument into the instrument channel of the endoscope. it can. In some implementations, the proximal connector of the endoscopic instrument 4000 may be used to operate the endoscopic instrument after one or more components of the endoscopic instrument are engaged with a component of the drive assembly. Can be assembled by a person.

  FIG. 49 illustrates another implementation of an endoscopic tool and a drive assembly configured to drive the endoscopic tool. FIG. 49 illustrates another implementation of an endoscopic tool and a drive assembly configured to drive the endoscopic tool. 50A is a side view of the endoscopic instrument and drive assembly shown in FIG. 49. FIG. 50B is a cross-sectional view taken along the line AA of the endoscope tool and the drive assembly shown in FIG. Endoscopic tool 4910 is similar to endoscopic tool 4000 but differs from endoscopic tool 4000 in that endoscopic tool 4910 includes a different proximal connector 4912. In this implementation, the proximal connector 4912 can be coupled to a flexible torque coil similar to the flexible torque coil of the flexible torque coil 4000 shown in FIGS. 40A-43 and further configured to engage the drive assembly 4950. A proximal connector engagement structure 4914. The proximal connector engagement structure can be dimensioned to engage the drive assembly 4950 and can further include one or more engagement surfaces configured to engage the drive assembly 4950. These engagement surfaces can be coupled to a drive shaft contained within the proximal connector 4912, and when the drive assembly 4950 applies a rotational force to the engagement surface, the drive shaft rotates, which is the flexibility of the endoscopic instrument 4900. Rotate the torque coil and cutting assembly. In some implementations, the engagement surface 4914 may be a cylindrical object with an outer wall configured to engage the drive assembly 4950 and an inner wall configured to engage the outer wall of the drive shaft. In some implementations, the proximal connector 4910 can also include fins 4916 or other structures that prevent the proximal connector 4910 and the endoscopic instrument 4910 from rotating relative to the drive assembly 4950. In some implementations, one side of fin 4916 is disposed or engageable on mounting structures 4936a and 4936b. In this way, the fin 4916 prevents the proximal connector 4910 from rotating relative to the drive assembly 4950 when a rotational force is applied to the engagement surface by the drive assembly. Depending on the configuration of the mounting structure 4936, various components of the drive assembly 4950 can be attached to or supported from the mounting structure 4936.

  The drive assembly 4950 can include a retractable arm 4922, one or more spring loaded bearings 4932, a drive belt 4932, drive wheels 4936, and one or more stationary bearings 4940. The retractable arm 4922 can be configured to rotate between a first position and a second position. Spring-loaded bearing 4924 is attached to and retracted from retractable arm 4922 so that when retractable arm 4922 is in the first position shown in FIGS. The proximal connector can be maintained in place while the drive assembly 4950 is activated. The spring-loaded bearing 4924 is arranged so that when the proximal connector 4912 of the endoscopic instrument 4910 engages the drive assembly 4950, the spring-loaded bearing 4924 is disposed within the proximal connector 4912 (not shown). ) Engaging component 4916. Engagement component 4916 can be provided at a critical location on proximal connector 4912 and spring-loaded bearing 4924 contacts engagement component 4916 when retractable arm 4922 is in the first position. The engagement component 4916 can be cylindrical and can enclose a drive shaft disposed within the proximal connector 4912. The engagement component 4916 can form part of the outer wall of the proximal connector 4912. In some implementations, the engagement component 4916 rotates along the longitudinal axis of the proximal connector 4912 and can rotate relative to the proximal connector 4912. In some implementations, the drive wheel 4936 may be an elastomer friction drive wheel.

  . Drive means, such as a motor or other drive source, can drive drive wheels 4936 attached to the attachment shaft 4930 via a drive belt 4934 that operates when the drive means is activated. The drive belt 4934 can rotate the drive wheel 4936. The engagement component 4916 of the proximal connector 4912 contacts the drive wheel 4936 when the endoscopic instrument is placed in the drive assembly 4950. While the engagement component 4916 is rotated by rotation of the drive wheel 4936, the stationary bearing 4940 of the drive assembly 4950 can be positioned to hold the proximal connector 4912 in place. Stationary bearing 4940 may also provide a force that maintains contact between drive wheel 4936 and engagement component 4916.

  As shown in FIG. 50B, when the retractable arm is in the first or engagement position, the spring-loaded bearing 4924 contacts one or more engagement components 4916 on the first side and the drive wheel 4936 contacts engagement component 4916 at the second side. Spring loaded bearings allow engagement component 4916 to rotate as the drive wheel rotates. Fins 4914 abut against the mounting structure of the drive assembly and prevent the endoscopic tool from rotating. When the retractable arm is in the second or separated position, the spring-loaded bearing 4924 does not contact the one or more engaging components 4916. Thus, the endoscopic tool is not firmly positioned in the drive assembly, and therefore the flexible torque coil in the endoscopic tool does not rotate when the drive means is actuated.

  The outer diameter of the endoscopic instrument may be dimensioned so that it can be inserted into the instrument channel of the endoscope when the endoscope is being inserted into the subject. In addition, the endoscopic instrument is dimensioned so that the endoscopic instrument is large enough to contact the inner wall of the instrument channel at various locations of the instrument channel to maintain the stability of the endoscopic instrument. it can. If the outer diameter of the endoscopic instrument is much smaller than the inner diameter of the instrument channel, there may be a large space between the endoscopic instrument and the inner diameter of the instrument channel, which may cause the endoscopic instrument to move during operation, It may vibrate or some degree of instability may occur in other modes.

  The drawings shown herein are intended for illustrative purposes only, and are not intended to limit the scope of the present application in any way. Further, it should be understood that the dimensions shown herein are exemplary dimensions only and can be varied based on specific requirements. For example, the dimensions can be changed to change suction rate, cleaning flow, amount of torque applied, cutting speed, cutting efficiency, and the like. Further, it should be understood that details in the drawings are part of the disclosure. Further, the shape, material, size, configuration, and other details are shown for illustrative purposes only, and those of ordinary skill in the art having ordinary skills will be able to select the shape, material, It should be understood that both the size and configuration can be changed. For the purposes of this disclosure, the term “coupled” means connecting two members directly or indirectly to each other. Such a connection may be fixed or movable in nature. These connections can be two members, two additional members integrally formed as a single integral with two members, or two or more additional intermediate members attached to each other with two members. It can also be achieved with components. Such a connection may be permanent in nature, fixed or releasable.

While the present disclosure relates to an endoscopic instrument adapted for use with any type of endoscope, the teachings of the present disclosure relate to an endoscopic instrument for use with a lower gastrointestinal scope such as a colonoscope for convenience. Shall. However, the inspection mirror of the present disclosure is not limited to endoscopic instruments for use with gastrointestinal endoscopes, but includes bronchoscopes, gastroscopes and laryngoscopes or other types of medical devices that can be used to treat a patient. Extends to any type of flexible endoscope, but not limited to them.
Integrated torque generating element

  Some aspects of the present disclosure relate to an endoscope configured to include a torque generating element formed in an insertable portion of an endoscope that is inserted into a mammalian cavity of a patient. The torque generating element can be configured to generate a torque and provide the generated torque to a surgical cutting assembly that can be removably inserted into an endoscope, the surgical cutting assembly configured for use with such an endoscope. , Designed or otherwise assembled. 52A-53C and 54A-54B and their corresponding descriptions herein relate to endoscopes that include an integral torque generating element, while FIGS. 53D-53F and their corresponding descriptions herein include It relates to a surgical cutting assembly insertable into the endoscope shown in FIG. 53A. Another aspect of the present disclosure is configured to include a torque delivery element formed in an insertable portion of the endoscope configured to deliver torque to a surgical cutting assembly that can be removably inserted into the endoscope. Related to the endoscope. 55A-55B and their corresponding description herein relate to an endoscope that includes an integral torque delivery element. In addition, some aspects of the present disclosure are endoscopes that include one of a torque generating element or a torque delivery element that convert rotational energy into linear motion to cut and remove tissue using reciprocating motion. The endoscope is configured as described above. FIGS. 56A-57C and their corresponding descriptions herein include an inner structure configured to convert rotational energy into linear motion to provide a surgical cutting assembly that uses reciprocating motion to cut and remove tissue. The present invention relates to an endoscope assembly including an endoscope. An additional aspect of the present disclosure relates to an endoscope assembly that includes an endoscope and a surgical cutting assembly, wherein the endoscope is configured to rotate an outer cannula of the surgical cutting assembly using a rotary actuator. ing. 58A-59B and their corresponding description herein relate to such an endoscope assembly. An additional aspect of the present disclosure relates to a surgical cutting assembly that includes an outer coupler and an inner coupler that are magnetically or otherwise coupled to each other. 60A-60B and their corresponding description herein relate to such a surgical cutting assembly.

  The surgical cutting assembly described herein may be substantially similar to the endoscopic instrument or tool described with respect to FIGS. 40A and 40B. However, this surgical cutting assembly described below does not include a flexible torque coil that extends and delivers torque from outside the endoscope to the inner cannula of the surgical cutting assembly. Rather, the surgical cutting assembly includes a coupling member connected to the inner cannula or cutting assembly and is configured to couple to a coupling component of the endoscope itself. The coupling component of the endoscope is included in the surgical cutting assembly, although torque is included from a torque generating element integrated into the endoscope or in an endoscope as described above in connection with FIGS. 40A and 40B. It is configured to provide a coupling member of a surgical cutting assembly from a torque delivery element such as a flexible torque coil that is not a part.

  As described above in connection with FIG. 14, FIG. 14 illustrates one implementation of an improved endoscope 1400 that includes a self-contained polyp removal assembly 1440. The improved endoscope 1400 may be configured to include a torque generating element such as a rotary actuator configured to drive a removable surgical cutting assembly.

  FIG. 51 illustrates an endoscope 5100 showing a perspective view of an endoscope including an integral torque generating element or torque delivery element according to an embodiment of the present disclosure dimensioned to fit in one or more mammalian cavities of a patient. Can be determined and molded. In some implementations, the endoscope 5100 can be sized and shaped to fit in a particular mammalian cavity of the patient. For example, endoscope 5100 is a flexible endoscope that can be inserted into a patient's colon. However, the present disclosure is not limited to colonoscopes. Therefore, this endoscope may be a laryngoscope, bronchoscope, lower gastrointestinal scope, hysteroscope or the like. In some implementations, the endoscope may be a flexible endoscope that can pass through a serpentine path formed by the mammalian cavity of the patient into which the endoscope is inserted.

The endoscope 5100 can include a distal end 5110 and a proximal end 5114.
The distal end 5110 of the endoscope 5100 includes a distal tip 5112 that is initially inserted into the patient's mammalian cavity when the endoscope 5100 is inserted into the patient. Proximal end 5114 can be sized so as not to be inserted into the patient's mammalian cavity. The distal end 5110 can be connected to the proximal end 5114 via an elongate tubular body 5116. The elongate tubular body may be flexible so that the distal end and a portion of the elongate tubular body 5116 can be inserted into a mammalian cavity such as the patient's colon or other cavity that forms a serpentine path. In some implementations, the endoscope 5100 may have dimensions similar to existing colonoscopes. In some implementations, the proximal end 5114 is a handle 5120 or other configuration used by a medical professional or endoscopic user to control the endoscope and one or more features of the endoscope. It can be connected to or close to the element. In some implementations, the endoscope can include one or more steering control means 5122 for steering the distal tip 5112 of the endoscope 5100. Additionally, the endoscope 5100 includes a connection housing that provides the endoscope with one or more functions, including but not limited to cleaning fluid, camera function, one or more lighting elements, and the like. Ports and plugs or other connection mechanisms can be included.

  Referring now to FIG. 52A, a top view of the distal end of an endoscope assembly 5199 including the endoscope 5100 shown in FIG. 51 and a surgical cutting assembly 5320 inserted into the instrument channel 5140 of the endoscope 5100. It is. The distal tip 5112 of the endoscope 5100 includes a camera 5130, two light sources 5132 and 5134, one or more wash channels 5136, and an instrument channel 5140. In some implementations, the endoscope 5100 can include one or more instrument channels.

  52B is a cross-sectional view of a portion of the endoscope assembly along reference line BB shown in FIG. 52A. Endoscope assembly 5199 includes an endoscope 5100 and a surgical cutting assembly 5320. Additional details of the surgical cutting assembly 5320 are described below in connection with at least FIGS. The elongated tubular body 5116 of the endoscope 5100 and the distal tip 5112 of the distal end 5110 are instrument channels 5140 through which one or more instruments, such as a surgical cutting assembly, can be inserted from the proximal end of the endoscope 5100. Forming a part of The instrument channel 5140 is a hole formed in the endoscope, the first opening formed in the distal tip 5112 of the endoscope 5100 and the second formed in the proximal end 5114 of the endoscope. It may be a hole extending between the openings. Instrument channel 5140 extends along the entire length of tubular body 5116 of endoscope 5100. In some implementations, the instrument channel 5140 may be cylindrical and large enough to accommodate the surgical cutting assembly, but with sufficient space to contain other components and channels such as a camera, light source, wash channel, etc. Can be provided in the endoscope 5100 while having a diameter dimensioned to a small size that can be formed in the endoscope 5100. Further, the instrument channel 5140 can be dimensioned to ensure sufficient space for torque generating or torque delivery elements inserted or formed in the endoscope 5100 as will be described in more detail below.

  In some implementations, these instruments can be inserted through the distal end 5110 of the endoscope, but only before the endoscope 5100 is inserted into the patient's mammalian cavity. This is because once the endoscope is inserted into the mammalian cavity, the instrument channel opening at the distal end is no longer available.

  The endoscope 5100 can include a coupling component 5150. This coupling component can be located at or near the distal end of endoscope 5100. In some implementations, this coupling component can be located at the distal tip 5112 of the endoscope 5100.

  In some implementations, the coupling component 5150 can be configured to be placed around a portion of the instrument channel 5140. The coupling component 5150 can be configured to form a hole in which a portion of the flexible outer tubing 5140 is formed. The diameter of the hole formed by the inner wall of the coupling component 5150 can be larger than the diameter of the instrument channel 5140. In this way, the outer diameter of this portion of the instrument channel 5140 is placed inside the hole of the coupling component 5150. In some implementations, the coupling component 5150 can be cylindrical. In some implementations, the inner hole of the coupling component 5150 can be cylindrical, while the outer wall of the coupling component 5150 can include one or more sides or surfaces. The coupling component 5150 can be aligned with the instrument channel 5140. That is, the longitudinal axis of the hole in which a portion of instrument channel 5140 is formed can be parallel to the corresponding longitudinal axis of instrument channel 5140. Further, each of the longitudinal axes corresponding to the coupling component 5150, the instrument channel 5140, and the endoscope 5100 can be parallel to each other.

  The instrument channel 5140 of the endoscope 5100 can include an engagement portion of the instrument channel 5140. The engagement portion of the instrument channel 5140 is the portion of the instrument channel 5140 that is configured such that the surgical cutting assembly 5320 inserted into the endoscope engages the coupling component 5150 of the endoscope, and the torque generating element is The generated torque or torque delivered by the torque delivery element is moved, transmitted, or otherwise provided to the surgical cutting assembly 5320. In some implementations, the engagement portion of the instrument channel 5140 can be positioned, positioned, or otherwise formed near the distal tip of the endoscope. In some implementations, the engagement portion of the instrument channel 5140 can be positioned, positioned, or otherwise formed near the distal tip of the endoscope and engages the engagement portion of the instrument channel 5140. The components of the surgical cutting assembly 5320 configured as described above allow the rigid cutting device of the surgical cutting assembly 5320 to cut tissue. Conversely, the engagement portion of the instrument channel 5140 is disposed in a portion away from the distal end of the endoscope and one or more bends are formed between the engagement portion and the distal tip. In some cases, the surgical cutting assembly 5320 can be designed to include a flexible torque delivery element configured to torque the cutter to cut tissue. While the description herein refers to applying torque and torque to the surgical cutting assembly 5320, this torque is particularly relevant to surgical cutting assemblies that utilize rotational motion to cut tissue. high. However, this description is not limited to cutting assemblies based on rotational motion, and the teachings herein can be applied to cutting assemblies based on reciprocating motion. Details of the cutting assembly based on the reciprocating motion will be described later.

  In some implementations, the coupling component 5150 of the endoscope 5100 can be a cylindrical ring structure that includes an inner wall and an outer wall. The coupling component 5150 can be disposed around the engaging portion of the instrument channel 5140 and the inner wall of the coupling component can form a portion of the wall of the endoscope 5100 that forms the instrument channel 5140.

  In some implementations, the coupling component 5150 can be sized and positioned to allow the endoscope to pass through the serpentine path of the patient's mammalian cavity where the endoscope is inserted by its design. In some implementations, the dimensions of this coupling component can be based on the bending radius of the endoscope. In some implementations, defining the dimensions of the coupling component, particularly the height of the coupling component, allows the endoscope to be inserted into the patient's mammalian cavity and the serpentine path formed by the mammalian cavity to I can pass. If the height of the coupling component is too large, the coupling component 5150 is formed by a mammalian cavity with an elongated tubular body in which the coupling component 5150 is formed, placed, or otherwise disposed. May obstruct passage through the bend. In some implementations, the coupling component 5150 can be manufactured from a material that takes the form of an elongated tubular body. In some such implementations, the coupling component 5150 can have a height that is greater than the height at which the elongated tubular body would otherwise prevent passage through the mammalian cavity.

  The coupling component 5150 can be configured to provide torque from the endoscope 5100 to the surgical cutting assembly 5320 by coupling to corresponding components of the surgical cutting assembly 5320. The coupling component 5150 is configured to receive torque from the torque generating element, such as a rotary actuator, or to deliver torque from the torque generating element to which the torque delivery element is coupled, to impart to the surgical cutting assembly 5320. Details of a torque generating element or torque delivery element, which can be received from a torque delivery element such as a torque coil or torque rope, are configured to receive torque therefrom.

  In some implementations, the coupling component 5150 can be or include a magnetic coupler. The coupling component 5150 may be a magnet with a magnetic field. In some implementations, the coupling component 5150 is coupled to a surgical cutting assembly 5320 configured to be inserted into an instrument channel of an endoscope with sufficient magnetic field strength, depending on its arrangement. It can be magnetically coupled to the member. The coupling component 5150 can be configured to magnetically couple with the coupling member of the surgical cutting assembly 5320, and when the coupling component 5150 rotates, the coupling member of the surgical cutting assembly 5320 also becomes the surgical cutting assembly 5320. It is rotated by the magnetic field of the coupling component 5150 acting on the coupling member.

  53A is a perspective view of the portion of the endoscope assembly shown in FIG. 51. FIG. 53B is a cross-sectional view of the portion of the endoscope assembly shown in FIG. 53A. 53C is an enlarged cross-sectional view of a portion of the endoscope assembly shown in FIG. 53A. With reference to FIGS. 53A-53C and FIG. 52B, a surgical cutting assembly 5320 is disposed within the instrument channel 5140 of the endoscope 5100.

  Surgical cutting assembly 5320 is configured for insertion into instrument channel 5140 of endoscope 5100. Thus, the surgical cutting assembly 5320 can be sized and shaped to correspond to the dimensions of the instrument channel 5140. Surgical cutting assembly 5320 can comprise an outer diameter or dimension that is less than the inner diameter of the instrument channel or other corresponding dimension. Further, in some implementations, surgical cutting assembly 5320 includes an instrument channel opening at the distal tip of endoscope 5100 and an instrument channel opening at proximal end 5114 of endoscope 5100. A length greater than the corresponding length of the instrument channel, which may be between, may be provided.

  FIG. 53D is a perspective view of the surgical cutting assembly inserted into the endoscope shown in FIG. 53A. FIG. 53E is a cross-sectional view of a portion of the surgical cutting assembly shown in FIG. 53D. FIG. 53F is a side cross-sectional view of the surgical cutting assembly shown in FIG. 53D. Referring now to FIGS. 53D-53F, a surgical cutting assembly 5320 includes a cutter portion including an outer cannula 5322 and an inner cannula 5330 at the distal end of the surgical cutting assembly 5320, a coupling member 5336, and a cutter portion. An elongated flexible tubing portion (shown to include braided tubing 5325 and suction tube 5333 described below) extending from the proximal end of surgical cutting assembly 5320 to the proximal end of the surgical cutting assembly 5320. The outer cannula 5322 can include a distal tip 5323a and can form an opening 5324 along the radial wall of the distal tip 5323a of the outer cannula 5322. Because the inner cannula 5330 can be disposed within the outer cannula 5322, the inner cannula 5330 rotates about or along the longitudinal axis extending within the outer cannula 5322 along the length of the surgical cutting assembly 5320. Can move. The inner cannula 5330 can include a cutting edge configured to cut tissue entering the opening 5324 of the outer cannula 5322 at the distal tip 5331a of the inner cannula 5330. Outer cannula 5322 can include an outer diameter that is smaller than the diameter of instrument channel 5140, and inner cannula 5330 can have an outer diameter that is smaller than the inner diameter of outer cannula 5322. The gap 5339 between the inner wall of the outer cannula 5322 and the outer wall of the inner cannula 5330 can form part of the irrigation channel of the surgical cutting assembly 5320.

  The proximal end 5323b of the outer cannula 5322 can be coupled to an elongate braided tubing 5325. The elongate braided tubing 5325 can extend from the outer cannula 5322 of the surgical cutting assembly 5320 to the proximal end. The elongate braided tubing 5325 can be configured to transmit rotation imparted at a portion of the proximal end of the elongate braided tubing 5325 to the outer cannula 5322. In this way, by rotating the portion of the elongated braided tubing 5325 at the proximal end, the opening 5324 of the outer cannula 5322 can be rotated relative to the endoscope 5100 into which the surgical cutting assembly 5320 is inserted. Further, the inner wall of the braided tubing 5325 can form another portion of the wash channel that fluidly couples to a gap 5339 extending between the outer cannula 5322 and the inner cannula 5330.

  The proximal end 5331b of the inner cannula 5330 can be configured to couple to the distal end 5341a of the coupling member 5340. Since the coupling member 5340 can be coupled to the inner cannula, when the coupling member 5340 rotates, the inner cannula 5130 can also rotate. Further, the hole in the inner cannula 5130 forms part of the inhalation channel 5332 through which tissue cut by the inner cannula 5330 is inhaled along the surgical cutting assembly 5120. The coupling member 5340 can be configured to form a fluidly coupled hole in the portion of the inhalation channel 5332 formed by the inner cannula 5330 such that material that enters the inhalation channel 5332 through the cutting tip of the inner cannula 5330 is coupled member 5340. It will be able to flow inside. The proximal end 5314b of the coupling member 5340 can be fluidly coupled to the suction tube 5333. The suction tube 5333 may be an elongate tube that can extend from the proximal end 5341a of the coupling member 5340 to the proximal end of the surgical cutting assembly 5320. The suction tube 5333 can be disposed within the long braided tubing 5325 and the outer wall of the suction tube 5333 can form part of the wash channel 5327 with the inner wall of the long braided tubing 5325. In some implementations, the inhalation tube 5333 and the braided tubing 5325 are sufficiently bent to pass through the serpentine path formed by the instrument channel 5140 when the endoscope 5100 is inserted into the patient's mammalian cavity. It can be made of a material configured to do.

  Surgical cutting assembly 5320 can include a rotational seal 5336 configured to couple the proximal end 5341a of the coupling member 5340 to the distal end 5334a of the suction tube 5333. The rotary seal 5336 can be designed and configured to prevent rotation of the suction tube 5333 when the coupling member 5340 rotates. In some implementations, the rotating seal 5336 may be configured to couple the inner cannula 5330, the coupling member 5340, and the suction tube 5333 to the braided tubing 5325 and the outer cannula 5322. In some implementations, the outer ring of the rotating seal 5336 can couple the proximal end 5323b of the outer cannula 5322 to the distal end of the braided tubing 5325. In some implementations, the outer surface of the outer ring of the rotating seal 5336 can include a friction element that frictionally engages the outer ring with a portion of the outer cannula or the inner wall of the braided tubing, the outer cannula and the inner cannula being Even if it is not rotatably coupled, it can move integrally in the lateral direction. The rotary seal 5336 can also include an inner ring connected to the outer ring. In some implementations, the inner ring can rotate independently of the outer ring, and vice versa. The inner ring may comprise a rotating part and a stationary part. The rotating portion can be coupled to the proximal end 5341a of the coupling member 5340, while the stationary portion can be coupled to the distal end 5334a of the suction tube 5333. The rotating and stationary portions can be fluidly coupled to allow fluid passing through the inner cannula 5330 and coupling member 5340 to flow through the suction tube 5333. The outer and inner rings are either fluid separated or fluid uncoupled, preventing fluid passing through the suction channel 5332 from flowing into the wash channel via the rotating seal 5336, and allowing fluid from the wash channel 5327 to flow. It can be prevented from flowing into the suction channel 5332 through the rotary seal 5336. Although the rotary seal is described herein to couple the coupling member to the suction tube, any configuration that can separate the rotation of the coupling member from the suction tube while allowing fluid coupling of the coupling member to the suction tube Elements can be used. Additional details and other aspects of the surgical cutting assembly are described below.

  In some implementations, the surgical cutting assembly is attached to the endoscopic instrument 4000 described above, the surgical cutting assembly and the endoscopic instrument, an outer cannula, an inner cannula, and an outer coupled to the outer cannula. A braided tubing and a wash channel formed between the inner wall of the outer cannula and outer braided tubing and the outer wall of the inner cannula and suction tube (formed by a flexible torque coil in the endoscopic instrument). It is similar in that it can. This surgical cutting assembly does not include a flexible torque coil or rope, but instead is a flexible inhalation tube that is coupled to the inner cannula via a coupling member that can be magnetically coupled to the coupling component of the endoscope It differs in that it has.

  The surgical cutting assembly can include a rotary coupler (similar to rotary coupler 4030) configured to couple to the proximal end of outer braided tubing 5325. The rotary coupler is configured to allow an operator of the surgical cutting assembly to rotate the outer braided tubing 5325 via a rotary tab (similar to the rotary tab 4032) coupled to or integral with the rotary coupler. You can do it. By rotating the rotary tab, the operator can rotate the outer braided tubing 5325 and outer cannula 5322 relative to the inner cannula 5330 of the endoscope and surgical cutting assembly 5320 along the longitudinal axis of the endoscope. . In some implementations, the operator may wish to rotate the outer cannula when the endoscopic instrument is inserted into the endoscope with the endoscope in place in the patient. The operator rotates the outer cannula so that the operator can see the material entering the endoscopic instrument for excision through the opening so that the opening of the outer cannula is open or the cutting window is open. It may be desirable to place the radial wall portion of the outer cannula formed so that it can be aligned with the endoscope camera. This is possible in part because the opening is formed along a radial wall that extends to the side of the outer cannula rather than an opening formed in the axial wall of the outer cannula. It is.

  In some implementations, the proximal end of the rotary coupler 4030 (similar to the proximal end 4034) can be coupled to an irrigation connector (similar to the irrigation connector 4040). In some implementations, the rotary coupler may be a rotating luer component that allows the distal end of the rotary coupler to rotate relative to the proximal end of the rotary coupler. In this way, when the outer braided tubing 5325 rotates, the component to which the proximal end of the rotary coupler is coupled does not rotate. In some implementations, the proximal end of the rotary coupler can be coupled to an outer tubular member (similar to outer tubular member 4044) configured to couple the proximal end of the rotary coupler to an irrigation connector. . The rotary coupler can form a hole along the center of the rotary coupler through which a portion of the suction tube 5333 extends. In some implementations, the rotary coupler can be a male to male rotary luer coupler. In some implementations, the rotary coupler can be configured to handle pressures up to 1200 psi.

  An irrigation connector (similar to irrigation connector 4040) can be configured to introduce irrigation fluid into surgical cutting assembly 5320. Irrigation connector 4040 includes an irrigation port (similar to irrigation port 4042) configured to engage a cleaning source such as a water container. In some implementations, the irrigation connector is a Y port used in a fluid delivery system and compliant with medical device industry standards, with the outer braided tubing 5325 or the distal end of the irrigation connector proximal to the rotary coupler. It may be a Y port dimensioned to couple to an outer tubular member that serves to couple to the end. In some implementations, the irrigation connector can form a hollow channel between the proximal and distal ends of the irrigation connector, the hollow channel comprising the hollow tube with a suction tube 5333 formed in the irrigation connector. Dimensioned to pass through the channel.

  FIG. 54A is a cross-sectional perspective view of a portion of an endoscope assembly including an endoscope and a surgical cutting assembly, where the endoscope includes an integrated torque generating element according to an embodiment of the present invention. Yes. The endoscope assembly 5499 shown in FIG. 54A may be the endoscope assembly 5100 shown in FIGS. FIG. 54B is an enlarged view of the torque generating element of the endoscope shown in FIG. 54A. Referring now to FIGS. 54A-54B, the endoscope assembly includes an endoscope 5400 and the surgical cutting assembly 5320 shown in FIGS. 53A-53F. Endoscope 5400 includes a distal tip 5412 coupled to a distal portion of flexible elongate tubular body 5416. The elongate tubular body 5416 includes a torque generating element 5420 configured to generate a torque that can be applied to a surgical cutting assembly 5320 that can be inserted into the instrument channel 5440 of the endoscope 5400 via the coupling component 5450. be able to.

  In some implementations, the torque generating element 5420 may be a rotary actuator configured to generate torque or rotational energy. In some implementations, the torque generating element 5420 may be a hydraulic or pneumatic rotary actuator. In some implementations, the hydraulic or pneumatic rotary actuator can include a rotor configured to rotate by supplying fluid to the rotary actuator. In some implementations, the rotary actuator can be operated using a vacuum source. The rotary actuator can be sized to fit within an elongated tubular body. Further, the rotary actuator can be sized to allow the elongate tubular body to pass through the bend in the patient's mammalian cavity while fitting within the elongate tubular body. In some implementations, the rotary actuator can be configured to include a coupling component 5450. In some implementations, the coupling component 5450 may form part of the torque generating element. In some implementations, the coupling component 5150 shown in FIGS. 53A-53C can form the inner portion of a rotary actuator 5420 configured to rotate. In some implementations, the coupling component 5450 can be coupled to the shaft of the rotary actuator, and when the shaft of the rotary actuator rotates, the coupling component 5450 can also rotate. An example of a hydraulic or pneumatic rotary actuator that can be used as the torque generating element can include a vane-type rotary actuator provided by Kuroda Pneumatics Co., Ltd., Tokyo, Japan. The rotary actuator 5420 can include one or more features similar to those of the rotor 440 shown in FIG. 4A. As described in connection with FIG. 4A, the rotor 440 is formed in an endoscopic instrument that is inserted into the endoscope. In contrast, however, the rotary actuator 5420 is configured to be formed on the endoscope itself and does not include a torque generating element but receives a torque generated by the rotary actuator 5420 via the coupling component 5150. It is configured to generate a torque that can be applied to an endoscopic instrument, such as assembly 5320.

  In some implementations, the elongate tubular body 5416 includes at least one fluid delivery channel 5452 configured to deliver fluid to the torque generating element 5420 and at least configured to remove fluid from the torque generating element 5420. One fluid removal channel 5454 can be included. The fluid delivery channel 5542 and the fluid removal channel 5454 can be formed in an elongate tubular body and can extend parallel to each other and to one or more channels formed in the endoscope 5400. In some implementations, fluid delivery channel 5542 and fluid removal channel 5454 are formed in elongate tubular body 5416, while fluid delivery channel 5542 and fluid removal channel 5454 are formed in elongate tubular body 5416. You can avoid crossing the channel. In some implementations, each of the fluid delivery channel 5542 and the fluid removal channel 5454 can include a corresponding opening formed in the proximal end of the elongate tubular body 5416. The fluid delivery channel 5542 can be fluidly coupled to a fluid source configured to provide fluid for driving the torque generating element 5420. In some such implementations, the fluid removal channel 5454 can be configured to remove the fluid supplied by the fluid delivery channel 5542 from the torque generating element 5420. In some implementations, the fluid may be a liquid such as water or other liquid suitable for use to drive a hydraulic rotary actuator. In some implementations, the fluid delivery channel 5542 can be configured to supply pressurized air to the pneumatic rotary actuator to drive the pneumatic rotary actuator. In some such implementations, the fluid removal channel 5454 can be configured to remove air previously supplied by the fluid delivery channel from the pneumatic rotary actuator.

  In some implementations, the torque generating element 5420 may be a piezoelectric rotary actuator configured to generate torque. In some implementations, the torque generating element may be an electric motor including but not limited to a step motor, servo motor, and the like. In some such implementations, one or more channels for electrical wires for powering the electric motor can be formed in the elongated tubular body. In some implementations, the electric motor is battery powered, and the elongate tubular body can include one or more energy storage elements such as cells, batteries, or other components that can store charge. In some such implementations, the endoscope may include a battery charging port, or the energy storage element may be configured to be removable from the endoscope. Examples of motors that can be used as torque generating elements include DC motors manufactured by Maxon Precision Motors, Inc., Fall River, Massachusetts, USA. The size of these DC motors can range from less than 4mm to more than 12mm. Since a typical colonoscope's long tubular body may have an outer diameter of about 13 mm, these motors can be housed within the long tubular body while still providing space for other characteristic channels. In some implementations, a SQUIGGLE micrometer and an M3-R micrometer from New Scale Technologies, Inc., Victor, NY, USA, can be used. In some implementations, a squiggle micrometer can be used to generate the linear motion described above in connection with FIGS. 56-57C.

  In some such implementations, the coupling component 5450 can form part of the torque generating element. The torque generating element may be a frameless motor including a stator and a rotor. In some such implementations, the coupling component 5450 can form the stator portion of a frameless motor. The coupling component 5450 can be sized to fit within the endoscope and can be positioned so that the coupling component 5450 encloses the portion of the instrument channel toward the distal tip 5421 of the endoscope. The coupling component 5450 can be configured to engage the coupling member 5349 of the surgical cutting assembly 5320 such that the coupling component 5450 rotates when the component 5450 is actuated. The coupling component can be actuated by a current provided through an electrical connection to the power source. In some implementations, this electrical connection may be from a power source external to the endoscope. In some implementations, this electrical connection may be from a battery or other power source provided within the endoscope.

  In some implementations, the elongated tubular body 5416 of the endoscope 5400 can form a cavity disposed near the distal tip 5421 of the endoscope 5400. This cavity can be sized and shaped to accommodate the torque generating element. The cavity can include an opening fluidly coupled to the fluid delivery channel 5542 and the fluid removal channel 5454. The placement of the torque generating element causes the fluid delivery channel 5542 and fluid removal channel 5454 openings to be fluidly coupled to the torque generating element, generating torque in the torque generating element 5420 when fluid is supplied to and removed from the torque generating element 5420. Can be made.

  The torque generating element 5420 or the cavity in which the torque generating element is placed is dimensioned to allow the endoscope to pass through a serpentine path formed by the patient's mammalian cavity into which the endoscope 5400 is inserted. I can decide. Further, the torque generating element can be placed in the endoscope at a location near the distal tip, and a coupling component 5450 that is part of or coupled to the torque generating element is generated by the torque generating element 5420. Torque can be provided to the surgical cutting assembly, the distal end of the inner cannula of the surgical cutting assembly can extend beyond the distal end 5412 of the endoscope 5400 and the proximal end of the inner cannula 5330 is the endoscope Rotatingly coupled to the coupling component 5450 of 5400, the surgical cutting assembly does not include a torque delivery element that can be configured to deliver the torque generated by the torque generating element 5420.

  FIG. 55A is a perspective view of a portion of an endoscope assembly including an endoscope and a surgical cutting assembly, where the endoscope includes an integrated torque delivery element according to an embodiment of the present invention. . 55B is a cross-sectional view of a portion of the endoscopic tool shown in FIG. 55A and a surgical cutting assembly inserted into the endoscope, according to an embodiment of the present disclosure. Referring now to FIGS. 55A-55B, endoscope assembly 5599 includes a surgical cutting assembly, such as endoscope 5500 and surgical cutting assembly 5320. Endoscope 5500 is similar to endoscope 5400, but endoscope 5500 does not include torque generating element 5400, but instead is configured to provide torque from torque delivery element to surgical cutting assembly 5320. The difference is that it includes a torque delivery element 5560 coupled to a coupling component 5550.

  The torque delivery element 5560 delivers torque applied at the proximal end of the torque delivery element that extends outside the proximal end of the endoscope 5500 to the distal end of the torque delivery element disposed within the endoscope 5500. Possible flexible torque coils or torque ropes. The torque delivery element may be similar to the flexible cable 1920 described above with respect to FIGS. 19A-19C and the torque coil 4080 described above with respect to FIG. Torque delivery element 5560 can include multiple layers of threads. Each thread layer can be wound in a direction opposite to the direction in which adjacent thread layers are wound. Torque delivery element 5560 can be configured to generate rotation in a first direction based on the direction in which these thread layers are wound. In some implementations, the torque delivery element 5560 can be designed to deliver rotational energy in a suitable direction, but may be capable of delivering rotational energy in a direction opposite to the preferred direction. Torque delivery element 5560 is similar to flexible cable 1920 or torque coil 4080, but torque delivery element 5560 is rotational energy provided at the proximal end of the torque delivery element that extends outside the proximal end of endoscope 5500. Can be any type of torque delivery element that can be delivered to the distal end of the torque delivery element disposed within the elongated tubular 5516 of the endoscope 5500.

  The proximal end of torque delivery element 5560 can be configured to couple to a torque generating element configured to generate rotational energy. The torque generating element can be any rotary actuator that can provide rotational energy to the torque delivery element 5560 to deliver it to the distal end of the torque delivery element. The size and shape of the torque delivery element 5560 is such that the torque delivery element 5560 delivers sufficient rotational energy to allow the inner cannula 5330 of the surgical cutting assembly 5320 that can be inserted into the endoscope 5500 to be operated on within the patient's mammalian cavity. What is necessary is just to make it rotate at sufficient speed to cut | disconnect a structure | tissue from a site | part.

  The endoscope 5500 includes a torque delivery channel 5558 configured to place a torque delivery element. The torque delivery channel can be sized to have an inner diameter that is slightly larger than the outer diameter of the torque delivery element. In some implementations, the torque delivery channel 5558 can be lined with an endothermic material such as PTFE or other material that absorbs the heat generated by the torque delivery element 5560 during operation of the torque delivery element 5560. The torque delivery channel can extend from the distal end of the endoscope to an opening formed at the proximal end of the endoscope. The torque delivery channel can comprise a longitudinal axis that extends parallel to the longitudinal axis of the instrument channel 5540. In some implementations, the torque delivery channel can be formed within the endoscope such that the torque delivery channel 5558 does not intersect or otherwise interfere with other components within the endoscope. The distal end of the torque delivery channel can include an opening configured to couple the distal end of the torque delivery element 5558 to the torque transmission assembly 5564.

  Torque transmission assembly 5564 can include a coupling component 5550 and a second coupler 5566. In some implementations, the distal end of the torque delivery element 5560 can be coupled to the second coupler 5566 and torque from the torque delivery element 5560 is transmitted to the second coupler 5566 to cause the second coupler 5566 to Rotate. In some implementations, the torque delivery element 5560 can be coupled to the second coupler 5566 using a friction based fit such as press fit or some adhesive or other coupling mechanism. In some implementations, the outer wall of the torque delivery element 5560 is attached to the inner wall 5568 of the second coupler 5566. In some implementations, the coupling component 5550 and the second coupler 5566 can be cylindrical structures. In some implementations, the radial wall of the coupling component 5550 and the outer portion of the radial wall 5569 of the second coupler 5566 can transmit rotational energy to the coupling component 5550 from the second coupler 5566 and further to the coupling configuration. A groove, raised edge, or other engagement member configured to provide from the element 5550 to the second coupler 5566 can be included. In this way, torque from the torque delivery element 5560 can rotate the second coupler 5566, which can rotate the coupling component 5550, which is placed in the instrument channel 5540 of the endoscope 5500. The inner cannula 5330 of the surgical cutting assembly 5320 can be rotated.

  Surgical cutting assembly 5320 includes an outer cannula 5522, an inner cannula 5330, a coupling member 5340 coupled to the inner cannula 5330, an inhalation tube 5333 coupled to the proximal end of the coupling member, and a proximal of the outer cannula 5522. Braided tubing 5325 coupled to end 5323b, including braided tubing 5325 having suction tube 5331 and coupling member 5340 disposed therein. In some implementations, the inner cannula 5330 may be longer than the outer cannula 5522, and a portion of the inner cannula 5330, the coupling member 5340, and the inhalation tubing 5333 are within the braided tubing 5325 of the surgical cutting assembly 5320. Be placed. This allows the coupling member 5340 to be adjacent to the coupling component 5550 of the endoscope 5500, but the coupling member is separated from the coupling component 5550 by the braided tubing 5325 of the surgical cutting assembly 5320 rather than by the outer cannula 5522. In some implementations, the length of the inner cannula 5330 and the coupling member 5340 is longer than the length of the outer cannula 5522 to ensure that a portion of the coupling member 5340 is separated from the coupling member 5550 by the braided tubing 5325. To.

  In operation, when the torque delivery element 5560 is actuated by the torque generation element, the torque delivery element 5560 receives the torque generated by the torque generation element at the proximal end of the torque generation element 5560 and transmits the torque to the torque delivery element 5560. Can be transmitted to the distal end. Torque delivery element 5560 is rotatably coupled to second coupler 5566 and torque from torque delivery element 5560 is transmitted to second coupler 5566. The second coupler 5566 can be rotationally coupled to the coupling component 5550 and can be configured to be placed around a portion of the instrument channel of the endoscope. The torque of the second coupler 5566 can be transmitted to the coupling component 5550. The coupling component can rotate to form a magnetic field because the coupling component includes a magnet in its inner portion. An inner portion of the coupling component 5550 surrounds a portion of the instrument channel and the coupling component 5550 extends longitudinally substantially parallel to the axis of the instrument channel portion of the endoscope adjacent to the coupling component. It can be arranged to rotate along an axis. When the surgical cutting assembly is inserted into the instrument channel, the surgical cutting assembly can be inserted deep enough into the instrument channel so that the distal tip of the outer cannula extends out of the distal tip of the endoscope. The coupling member attached to the inner cannula is disposed in the portion of the instrument channel adjacent to the coupling component 5550. The coupling member 5340 attached to the inner cannula can be made of a material that can be affected by the magnetic field of the coupling component or can include that material on the outer radial wall of the coupling member. In some implementations, the coupling member can be made from a magnetizable ferromagnetic material such as a metal or a metal alloy such as annealed iron. When the surgical assembly coupling member 5340 is positioned adjacent to the coupling component 5550, a magnetic coupling effect is exerted, and the coupling component and coupling member 5340 are magnetically coupled. As described above, in operation, when the coupling component is rotated by torque transmitted through the torque delivery element, rotation of the coupling component rotates the coupling member, which rotates the inner cannula.

  Length of outer cannula, inner cannula and coupling member 5340 of surgical cutting assembly 5320, length of coupling component 5550, and position of coupling component 5550 relative to the opening of instrument channel 5540 at the distal tip of the endoscope Is a feature that can affect the operability and performance of the endoscope assembly. One constraint in selecting the length of the coupling component 5550 is the bending radius of the endoscope. The coupling component 5550 may be sized so as not to prevent the bending radius of the endoscope from becoming larger than the threshold amount. The threshold amount can be specific to the type of endoscope. For example, the bend formed by the colon is much steeper than the bend of the patient's uterine tract, so the colonoscope may have a smaller bend radius than the hysteroscope. In some implementations, the colonoscope can be configured to bend about 180 degrees in the vertical (y) axis and about 160 degrees in the horizontal (x) axis. The colonoscope can be configured to bend at angles less than about 180 degrees in the y-axis and less than about 160 degrees in the x-axis, but this is a serpentine shape formed by the colon, especially at the junction that connects the sigmoid colon to the rectum The function of the endoscope passing through the path may be adversely affected. Thus, the length of the coupling component should be dimensioned so that the colonoscope can bend along the vertical and parallel axes by at least a threshold amount. In addition, the length of the outer cannula and the combined length of the inner cannula and coupling member are sufficiently short so that the surgical cutting assembly is inserted into the endoscope when the endoscope is inserted into the patient's mammalian cavity. It should be possible. However, the length of the inner cannula and the coupling member should be sufficiently large so that the coupling member is positioned adjacent to the coupling component of the endoscope and the coupling member can be magnetically coupled to the coupling component.

  FIG. 56A is a perspective view of a portion of an endoscope assembly including an endoscope with an integral torque generating assembly according to an embodiment of the present disclosure, wherein the torque generating assembly is inserted into the endoscope A surgical cutting assembly that allows reciprocating motion to cut tissue. 56B is an enlarged perspective view of the torque generating assembly shown in FIG. 56A. Endoscope assembly 5699 includes an endoscope 5600 and a surgical cutting assembly 5720. This endoscope is similar to other endoscopes, such as endoscope 5500, but this endoscope includes a rotary actuator 5610 and a rotary / linear motion conversion assembly 5620 that converts rotational motion into linear motion, It differs in that it includes a linear motion generating assembly that includes a coupling component 5650 with an outer surface configured to engage a rotational / linear motion conversion assembly 5620. The rotary actuator 5610 may be a hydraulic or pneumatic actuator or rotary actuator similar to that described herein. In some implementations, the rotary actuator includes a shaft that couples to a rotary / linear motion conversion assembly 5620.

  The rotation / linear motion conversion assembly 5620 can include a first gear 5622 coupled to the shaft of the rotation actuator 5610. The first gear 5622 can include an engagement element configured to engage a corresponding engagement element of the second gear 5624. The orientation of the first gear is a direction transverse to the rotation axis of the shaft of the rotary actuator. The orientation of the second gear 5624 is in a direction transverse to the orientation of the first gear, and a gear coupler 5630 coupled to the second gear 5624 includes a coupling component and instrument channel around which the coupling component is disposed. It is configured to rotate along an axis that intersects the longitudinal axis. The gear coupler 5630 can include one or more structures 5632 on the outer wall of the gear coupler 5630 configured to engage corresponding structures 5562 formed on the outer wall of the component coupler 5650. . Structure 5632 is configured to frictionally engage structure 5562, and when gear combiner 5630 rotates, structure 5632 and structure 5562 engage each other to connect the coupling component to the instrument channel and coupling configuration. Move along a longitudinal axis extending along the length of element 5550. The direction in which rotary actuator 5610 rotates determines the direction in which coupling component 5650 moves along the longitudinal axis. In some implementations, the rotary actuator rotates in the first direction to move the coupling component from the first position to the second position, and then moves the coupling component back from the second position to the first position. It is configured to rotate in a second direction opposite to the one direction. In some implementations, the rotation / linear motion conversion assembly 5620 can also include a support structure 5612 configured to maintain the rotary actuator 5610 and the first and second gears 5622 and 5624 in place.

  It should be understood that the rotational / linear motion conversion assembly 5620 shown in FIG. 56A is one implementation of the rotational / linear motion conversion assembly. The rotational / linear motion conversion assembly 5620 can include any number of components collectively configured to convert the rotational motion generated by the rotational actuator into linear motion, which can be coupled to the endoscope. The component can be repeatedly moved between a first position and a second position so that the inner cannula enters the cutting window or opening of the outer cannula of the surgical cutting assembly inserted into the instrument channel of the endoscope. Can be cut or excised.

  In some implementations, instead of using a rotary actuator and a rotary / linear motion conversion assembly, the endoscope can include an actuator configured to generate linear motion. For example, using the principle that a squiggle micrometer or squiggle motor manufactured by New Scale Technologies, Inc., located in Victor, NY, USA, can be used to linearly move the coupling component along the longitudinal axis of the instrument channel. it can. Because the coupling member of surgical cutting assembly 5320 can be magnetically coupled to the coupling component, when the coupling component moves linearly along the longitudinal axis, the coupling member and the inner cannula coupled thereto also move linearly along the longitudinal axis. Will do.

  57A-57C are side perspective views of a portion of an endoscope assembly that includes an endoscope and a surgical cutting assembly inserted into the endoscope that reciprocates tissue in accordance with an embodiment of the present invention. is there. FIG. 57A shows an endoscope assembly 5799 that includes an endoscope 5700 and a surgical cutting assembly 5720. Surgical cutting assembly 5720 is similar to surgical cutting assembly 5320, but the inner cannula moves linearly relative to the outer cannula as opposed to rotating along the longitudinal axis relative to the outer cannula. It differs in that it is configured to. Various components of the endoscope assembly 5799 are not shown. In FIG. 57A, the coupling member 5740 of the surgical cutting assembly 5720 is shown positioned in the first position. In this position, the distal end 5742 of the coupling member 5740 is located near the distal tip. When the coupling member 5740 is in the first position, the inner cannula 5730 of the surgical cutting assembly 5720 is in the closed position. In the closed position, the distal tip of the inner cannula 5730 contacts or is close to the inner wall of the distal end of the outer cannula 5722, and the inner cannula 5730 closes the opening 5724 of the outer cannula 2722 as shown. .

  In FIG. 57B, the coupling member 5740 of the surgical cutting assembly 5720 is shown in the second position. In this position, the distal end 5742 of the coupling member 5740 is located farther from the distal tip than when the coupling member 5740 was in the first position shown in FIG. 57A. When the coupling member 5740 is in the second position, the inner cannula 5730 of the surgical cutting assembly 5720 is in the semi-closed position. In the semi-closed position, as shown, the distal tip of the inner cannula 5730 is positioned such that the inner cannula 5730 occludes a portion of the opening 5724 of the outer cannula 2722.

  In FIG. 57C, the coupling member 5740 of the surgical cutting assembly 5720 is shown positioned in the third position. In this position, the distal end 5742 of the coupling member 5740 is located farther from the distal tip than when the coupling member 5740 was in the second position shown in FIG. 57C. When the coupling member 5740 is in the third position, the inner cannula 5730 of the surgical cutting assembly 5720 is in the open position. In the open position, as shown, the distal tip of the inner cannula 5730 is positioned such that the inner cannula 5730 does not block the opening 5724 of the outer cannula 2722.

  FIG. 58A is a cross-sectional perspective view of an endoscope assembly including an endoscope and a surgical cutting assembly, wherein the endoscope uses an actuator according to an embodiment of the present invention to provide a surgical cutting assembly. The outer cannula is configured to rotate. FIG. 58B is a perspective view of the components of the endoscope for rotating the outer cannula of the surgical cutting assembly shown in FIG. 58A. Endoscope assembly 5899 includes an endoscope 5800 and a surgical cutting assembly 5820. Endoscope 5800 is similar to any of the endoscopes shown in FIGS. 51-57, except that endoscope 5800 extends outside cannula 5822 of surgical cutting assembly 5859 along the length of the outer cannula. The difference is that it includes a movable coupling assembly 5859 that is configured to articulate relative to the longitudinal axis of the cannula. A movable coupling assembly 5859 is disposed within the distal end of the endoscope 5800 and includes a torque generating element 5860, a first gear 5862 coupled to the torque generating element, and a second gear 5864 coupled to the first gear 5862. Can be included. The second gear can include an inner radial wall 5876 having one or more engagement elements 5878 formed therein. These engagement elements 5878 are grooves or ribs and may include grooves or ribs configured to engage complementary engagement elements 5823 formed in the outer cannula 5822. In some implementations, the complementary engagement element may be a rib or groove.

  Torque generating element 5860 may be a rotary actuator configured to rotate in one or both directions. In some implementations, the rotary actuator may be an electric motor configured to generate sufficient torque to rotate the outer cannula 5822. In some implementations, the rotary actuator can be controlled by a switch or other input mechanism that allows the operator of the endoscope to actuate the rotary actuator. In some implementations, the rotary actuator 5860 is configured to rotate the outer cannula 5822 to one or more predetermined positions. In some implementations, these predetermined positions may be relative to the camera position of endoscope 5800. For example, one location can orient the outer cannula cutting window or opening 5824 so that the camera can capture an image showing the cutting window. In some implementations, the movable coupling assembly 5859 can be formed in the distal tip of the endoscope 5800. In some implementations, the movable coupling assembly 5859 is disposed within the endoscope 5800 and a coupling component configured to rotate the inner cannula 5830 of the surgical cutting assembly 5820 disposed within the endoscope 5800. The movable coupling assembly 5859 can be prevented from interfering with other components of the endoscope including a torque generating element or torque delivery element configured to rotate the 5850. The coupling component 5850 can be similar to the other coupling components shown in FIGS.

  To rotate the outer cannula 5822 via the movable coupling assembly 5859, do not rotate the outer tubing 5825 coupled to the outer cannula and configured to form part of the irrigation channel, as described herein. It should be understood that there is a need to be careful. In some implementations, a rotating seal 5826 can couple the outer tubing 5825 to the outer cannula 5822. Rotating seal 5826 can allow rotation of outer cannula 5822 about its longitudinal axis while preventing outer tubing from rotating with outer cannula 5822.

  In some implementations, the endoscope 5800 may include a dedicated cleaning channel formed in the endoscope configured to supply fluid to a surgical cutting assembly that is insertable into the endoscope 5800. it can. In some implementations, the dedicated wash channel includes a wash fluid inlet formed at the proximal end of the elongated tubular body of the endoscope and a wash fluid outlet formed in the body of the tubular body. The space can be stretched. The arrangement of the irrigation fluid outlet can allow fluid coupling to a surgical cutting assembly that can be inserted into the instrument channel of the endoscope. In some implementations, the irrigation fluid outlet can be configured to engage an opening to the irrigation path formed in the surgical cutting assembly. In some implementations, the cleaning fluid outlet can be formed in a radial wall that forms the instrument channel. In some implementations, the cleaning fluid outlet can be formed near or within the movable coupling assembly 5859. In some implementations, the irrigation fluid outlet can be fluidly connected to an opening formed near or within the outer cannula, and when the outer cannula engages the movable coupling assembly 5859, the irrigation fluid outlet is surgically The fluid assembly can be fluidly coupled to the cleaning path formed by the inner wall of the outer cannula and the outer wall of the inner cannula. In some implementations, irrigation fluid from an irrigation channel formed in the endoscope can be configured to enter the surgical cutting assembly by a suction force applied to the suction channel of the surgical cutting assembly. In some implementations where the suction channel is fluidly coupled to the irrigation fluid outlet, the irrigation fluid can flow from the endoscope's irrigation fluid outlet to an opening in the surgical cutting assembly. In some implementations, the opening in the surgical cutting assembly can be fluidly coupled to the inhalation channel, and a suction force applied to the inhalation channel can allow irrigation fluid to flow into the opening of the surgical cutting assembly, thereby cutting the outer cannula. Can enter the inhalation channel through the window. The surgical cutting assembly can include an irrigation fluid port near the outer cannula. In some implementations, the irrigation fluid port can be located where the outer cannula is coupled to the outer tubing of the surgical cutting assembly.

  In some implementations, one or more seals can be placed to prevent this fluid from escaping from the instrument channel opening formed at the distal end of the endoscope. In some implementations, one or more seals may be further arranged to prevent cleaning fluid from escaping from the instrument channel opening formed at the proximal end of the endoscope. The irrigation channel can be configured to carry irrigation fluid and to clean the inhalation channel of the surgical cutting assembly. In some implementations, the irrigation channel can also be configured to deliver a topical medication described below. In some implementations, the control mechanism can control the amount of fluid supplied to the wash channel. The control mechanism can be controlled by the operator of the endoscope. In some implementations, the control mechanism may be an actuator.

  FIG. 59A is a perspective view of the surgical cutting assembly shown in FIG. 58A. FIG. 59B is a cross-sectional perspective view of the surgical cutting assembly shown in FIG. 58A. Surgical cutting assembly 5820 includes an outer cannula 5822, an inner cannula disposed within the outer cannula, and a coupling member 5840 coupled to the inner cannula, wherein the coupling member 5840 is inserted by the surgical cutting assembly. And a coupling member 5840 configured to rotate when positioned adjacent to the rotational coupling component of the endoscope. The surgical cutting assembly can further include a rotational seal 5836 configured to fluidly couple the coupling member 5840 to an inhalation tube 5831 with an inner wall that forms a portion of the inhalation channel 5832. The outer cannula can include one or more engagement elements 5823 configured to engage complementary engagement elements of the movable coupling assembly of endoscope 5800. Further, the outer cannula 5822 can be coupled to the outer tubing 5825 via a rotational seal (not shown in FIGS. 59A and 59B), which is configured to rotate the outer cannula relative to the outer tubing 5825. The inner wall of the outer tubing 5825 and the outer wall of the inhalation tube 5831 can form a first portion of the irrigation channel that delivers irrigation fluid to the opening of the outer cannula that forms one end of the inhalation channel. The inner wall of the outer cannula 582 and the outer wall of the inner cannula 5830 form a second portion of the wash channel that is fluidly coupled to the first portion.

  FIG. 60A is a perspective view of a surgical cutting assembly according to an embodiment of the present disclosure. 60B is a cross-sectional perspective view of the surgical cutting assembly shown in FIG. 60A. Surgical cutting assembly 6020 is similar to surgical cutting assembly 5820 shown in FIG. 59A, except that surgical cutting assembly 6020 includes an outer coupling element 6044. The outer coupling element can have an outer diameter that is smaller than the inner diameter of an instrument channel of an endoscope configured to be inserted with a surgical cutting assembly. Further, the outer coupling element 6040 can be configured to engage a complementary coupling component that can provide torque to the outer coupling element.

  Outer coupling element 6044 can include a hollow hole into which other components of surgical cutting assembly 6020 can be placed. For example, a portion of the outer braided tubing 6029 can be coupled to the outer coupling element via a rotational seal or other component that can remain stationary relative to the outer coupling element of the outer braided tubing while allowing rotation of the outer coupling element. .

  Similar to the surgical cutting assembly 5320, the outer braided tubing 6029 can be coupled to the outer cannula 6022 while the inner cannula 6030 disposed within the outer cannula can be coupled to the inhalation tube 6031 via the inner coupling member 6040. Inner coupling member 6040 is coupled to outer coupling element 6044 so that inner coupling member 6040 can move with outer coupling element 6044. The inner coupling member 6040 can be coupled to the outer coupling element 6044 so that when the outer coupling element rotates, the inner coupling member 6040 also rotates. In some implementations, the inner coupling member 6040 can be magnetically coupled to the outer coupling element 6044. To that end, the inner portion of the outer coupling element 6044 can be configured to include one or more magnets that generate a magnetic force against the inner coupling member 6040.

  The inner coupling member 6040 can be aligned with the outer coupling element 6044 and the inner coupling member 6040 can be positioned adjacent to the outer coupling element 6044. In some implementations, the inner coupling member and inner cannula can be sized relative to the outer cannula and outer coupling element, and the inner cannula is distal when the distal tip of the inner cannula is adjacent to the cutting window or opening of the outer cannula. The coupling member can be adjacent to the outer coupling element, but is separated from the outer coupling element by an outer tubing coupled to the outer cannula. In some implementations, the rotary seal 6036 that fluidly couples the inner coupling member to the suction tube while maintaining the inner coupling member rotationally separated from the suction tube can be configured to include an outer ring or radial surface, so The inner coupling member 6040 and the outer coupling element 6044 are assembled so that they remain aligned with each other so that the inner coupling member 6040 is inserted by the surgical cutting assembly rather than part of the surgical cutting assembly 6020. The inner coupling member 6040 can respond better to the rotational energy imparted to the outer coupling element 6044 when magnetically coupled to the outer coupling member that is part of the endoscope being made.

  The endoscope into which the surgical cutting assembly 6020 can be inserted can include a complementary coupling component that is configured such that the outer coupling element 6044 receives rotational energy or torque therefrom. The complementary coupling component can be a frameless motor stator in which the outer coupling element 6044 acts as a rotor. In some implementations, the complementary coupling component can be a rotating member configured to provide torque from the rotating portion of the torque generating element or from the torque generating element or torque delivery element of the endoscope. In some implementations, the complementary coupling component can transmit torque to the outer coupling element via friction or other physical contact. In some implementations, the complementary coupling component need not be placed around the instrument channel. Instead, the complementary coupling component can be designed and positioned within the endoscope to transmit rotational energy from the torque generating element or torque delivery element to the outer coupling element 6044. The complementary coupling component may be a wheel or rotating element with an outer surface that can contact the outer radial wall of the outer coupling element 6044.

  As described herein, a surgical cutting assembly, such as FIGS. 52A-60B, includes a cleaning channel that provides a passage for cleaning fluid to be supplied from the exterior of the endoscope to the distal tip of the endoscope. Or you can shape it. The irrigation fluid at the distal tip can enter an opening or cutting window formed in the outer cannula and pass through an inhalation channel partially formed in the inner wall of the inner cannula and the inhalation tube. In order for this cleaning fluid to flow into the inner cannula through an opening formed in the outer cannula, a suction force is generally applied to the proximal end of the suction tube, creating a differential pressure that causes the cleaning fluid to flow into the suction channel. . In some implementations, the wash channel can be used as a drug delivery channel. To that end, the irrigation fluid is typically water, but the drug is exchangeable when it approaches the distal tip of the outer cannula, which can be replaced with a drug administered at any site, such as a surgical site within the patient's mammalian cavity. In order to prevent being sucked into the suction channel, the suction force applied to the suction channel is stopped or reduced. Furthermore, the pressure or flow rate at which the drug solution is delivered can be increased to a fairly high rate, and the drug solution flows out of the gap formed between the inner and outer cannulas with a sufficiently large force or pressure to deliver the drug solution. Can be ejected, sprayed, or delivered to a site within the cavity. In some implementations, the drug solution exits the surgical cutting assembly in a direction based on the location of the outer cannula opening. As described above, the outer cannula is an outer braided tubing coupled at the distal end to the outer cannula, the outer braid having a proximal end extending from the opening of the instrument channel at the proximal end of the endoscope. It can be rotated via tubing. In some implementations, the irrigation channel receives fluid at a first flow rate to provide a irrigation fluid to facilitate aspiration, and irrigates through an outer cannula opening or cutting window at a site within the mammalian cavity. It can be configured to receive at a second flow rate for spraying fluid.

  As described above, the endoscope may include a dedicated cleaning channel formed in the elongated body of the endoscope. In some implementations, the surgical cutting assembly can include an irrigation fluid port for receiving irrigation fluid from an irrigation channel formed in the endoscope. In some implementations, the irrigation fluid port can be located near the outer cannula. In some implementations, the irrigation fluid port can be located where the outer cannula is coupled to the outer tubing of the surgical cutting assembly. In some implementations, the irrigation fluid can be configured to enter the irrigation path of the surgical cutting assembly formed in part by the inner wall of the outer cannula and the outer wall of the inner cannula. In some implementations, the starting point of the cleaning path is a cleaning fluid port fluidly coupled to a cleaning fluid outlet formed in the endoscope.

  In some implementations, the instrument channel of the endoscope can be configured to include at least one groove configured to engage a corresponding key of a surgical cutting assembly that can be inserted into the endoscope, thereby Ensure that the orientation of the outer cannula opening of the surgical cutting assembly is aligned with the camera lens of the endoscope. In some implementations, the proximal end of the outer tubing can include indicia indicating the length of the portion of the surgical cutting assembly inserted into the instrument channel and the orientation of the cutting window of the outer cannula. This allows a medical professional inserting the surgical cutting assembly to rotate the proximal end of the outer tubing to place the cutting window of the outer cannula in the desired location.

  It should be understood that the surgical cutting assembly may be similar to the endoscopic instrument 400 described above with respect to FIGS. In some implementations, the surgical cutting assembly described in connection with FIGS. 51-60B is an endoscopic instrument 400 and the surgical cutting assembly includes a suction tube instead of a flexible torque coil. It is different in point. As described above, the suction tube can be fluidly coupled to a coupling member that is coupled to the inner cannula. In some implementations, the surgical cutting assembly can include a seal or other coupling component that fluidly couples the coupling member to the inspiratory tube but allows rotational separation of the coupling member from the inspiratory tube. In addition, the proximal end of the inspiratory tube can be configured to be connected to a suction source, in which case the proximal end is configured to drive a flexible torque coil similar to the proximal connector described in connection with FIGS. There is no need to couple to the connector.

  In some implementations, the endoscope described in connection with FIGS. 50A-60B describes inserting a surgical cutting assembly through an opening at the proximal end of the endoscope. However, in some other implementations, the surgical cutting assembly may be configured to be inserted into the endoscope through an opening at the distal end of the endoscope. In some implementations, the surgical cutting assembly may not include an inhalation tube or outer tubing. Rather, the surgical cutting assembly can include an outer cannula, an inner cannula, and a coupling member configured to move (eg, translate, rotate, etc.) the inner cannula relative to the outer cannula. In some implementations, the outer cannula can be configured to engage a movable coupling assembly configured to rotate the outer cannula relative to the endoscope. The movable coupling assembly can be controlled or actuated by an endoscope operator via a control mechanism. The operator can rotate or move the orientation, such as the outer cannula and the cutting window of the outer cannula. The surgical cutting assembly can be configured to engage an endoscope deployment element configured to be actuated by an actuator. The deployment element can be configured to bias the surgical cutting assembly to a retracted position. In some implementations, the operator can load the surgical cutting assembly into a retracted position within the endoscope prior to inserting the endoscope into the patient's mammalian cavity. The deployment element can be configured to maintain a surgical cutting assembly disposed within the tubular body in an undeployed or retracted position. The deployment element can be further configured to deploy the surgical cutting assembly from the undeployed position to the deployed position when the deployment element is actuated. In some implementations, the deployment element moves between a closed state in which the surgical cutting assembly is maintained in an undeployed position and an open position in which the surgical cutting assembly is disposed to a second deployed position. It is configured. In some implementations, the deployment element may be a sliding cover that covers the distal end of the endoscope. In some implementations, the deployment element may be a spring that is movable between a biased state and a relaxed state.

  In some implementations, when the surgical cutting assembly is in the deployed position, the outer cannula of the surgical cutting assembly extends outwardly from the distal end of the endoscope along the longitudinal axis of the endoscope. Thus, the cutting window can be displayed in an image captured by the camera.

  FIG. 61 shows an endoscope assembly 6199 that includes the endoscope 5300 shown in FIG. 53B and a surgical cutting assembly 6120 similar to the surgical cutting assembly shown in FIG. 53B. As shown in FIG. 61, the length of the coupling member 6140 of the surgical cutting assembly 6120 is longer than the corresponding coupling component 5350 of the endoscope 5300. Because the length of coupling member 6140 must be longer than the length of coupling component 5350, the endoscope and surgical cutting assembly must be dimensioned for insertion into the mammalian cavity of the patient, so coupling component 5350 and Although the dimensions of the coupling member 6140 are constrained, the operator of the surgical cutting assembly determines that the surgical cutting assembly 6120 is based on the length of the coupling member 6140 along the longitudinal axis of the instrument channel of the endoscope. Can be moved over a distance. As long as a portion of the coupling member 6140 is disposed adjacent to the coupling component 5350, the coupling member 6140 can be configured to magnetically couple to the coupling component 5350. This provides the operator with greater freedom and greater travel distance of the surgical cutting assembly along the longitudinal axis of the instrument channel of the endoscope while still allowing the inner cannula to move relative to the outer cannula 6112. Can be rotated.

  In some implementations, the coupling member of surgical cutting assembly 6120 has a first length that extends from a first end coupled to the inner cannula to a second end coupled to the inspiratory tube. In some implementations, the first length may be longer than the corresponding length of the endoscope coupling component into which the surgical cutting assembly can be inserted. The coupling member 6140 is from a first position where the first end of the inner cannula is adjacent to the proximal end of the coupling component to a second position where the second end of the coupling member is adjacent to the distal end of the coupling component. It can be configured to rotatably couple to the coupling component of endoscope 5300 over an extended distance.

  In some implementations, the coupling member of the surgical cutting assembly comprises a first length extending from a first end coupled to the inner cannula 6130 to a second end coupled to the inspiratory tube 6132. Which is shorter than the corresponding length of the endoscope coupling component into which the surgical cutting assembly can be inserted. In some implementations, the coupling member 6140 may be configured such that the distal end of the inner cannula is from a first position adjacent the proximal end of the coupling component and the second end of the coupling member is the distal end of the coupling component 5350. Is configured to rotatably couple to the coupling component 5300 over a distance extending to a second position adjacent thereto.

  By providing a surgical cutting assembly coupling member 6140 that is longer than the corresponding coupling component 5350 of the endoscope, the operator of the surgical cutting assembly can obtain greater maneuverability in performing surgical resection. Become. The length of the coupling member 6140 is limited by the space within which the surgical cutting assembly must be inserted and the serpentine path that the endoscope can follow when the endoscope is inserted into the mammalian cavity. As such, in some implementations, a telescoping tube or coupler may be used. The surgeon can extend the length of the coupling member or surgical cutting assembly by nesting it to increase the reach. Furthermore, the use of a telescoping tube allows various exposures and increases the range of operations by the surgeon.

  In general, the size and dimensions of an endoscope can vary depending on the type of endoscope and the size and shape of the patient's mammalian cavity into which the endoscope is inserted. For example, the endoscope may be a colonoscope configured to pass through the patient's colon. The colonoscope can have an outer diameter sized to be inserted into an opening through which it reaches the colon. Further, the colonoscope may be inserted along the length of the colon and provided with sufficient bendability or flexibility to allow passage through the serpentine path formed by the colon. It should be understood that the colon may include several bends, some greater than 90 degrees. The length of the colonoscope may be sized to be approximately the same or longer than the length of the patient's colon. In some implementations, the length of the colonoscope can be between 3 feet and 8 feet. The disclosure described herein provides details regarding the colonoscope, but those of ordinary skill in the art can use the bronchoscope, laryngoscope, hysteroscope, any gastrointestinal scope, or the patient's mammalian cavity. It should be understood that other types of medical devices that can be inserted may be used.

  Referring now to FIG. 62, a flowchart illustrating a method for excising material from within a mammalian cavity of a patient is shown. In summary, a flexible endoscope is inserted into the opening to the patient's mammalian cavity, and the flexible endoscope is inserted into the opening through the distal end of the endoscope (block 6205). A surgical cutting assembly is placed in the instrument channel of the flexible endoscope (block 6210). The cutting window of the outer cannula of the surgical cutting assembly is positioned at the material to be ablated within the mammalian cavity (block 6215). A torque is then applied to rotate the inner cannula relative to the outer cannula (block 6220). Next, the specimen retrieval element of the surgical cutting assembly is activated to remove the ablated material through the inhalation channel (block 6225).

  Specifically, the method includes inserting a flexible endoscope into an opening to a patient's mammalian cavity, the flexible endoscope being inserted into the opening through the distal end of the endoscope. (Block 6205). The flexible endoscope can be inserted into the opening through the distal end of the endoscope. A medical professional may insert an endoscope. In some implementations, the mammalian cavity is a mammalian cavity such as the patient's colon, patient's larynx, patient's uterus, patient's lungs, stomach, patient's esophagus or duodenum, or any other part of the gastrointestinal tract. Good.

  The method includes placing a surgical cutting assembly within an instrument channel of a flexible endoscope (block 6210). The instrument channel of the endoscope can extend between an opening at the proximal end of the endoscope and another opening at the distal end of the endoscope. The surgical cutting assembly can be inserted into the instrument channel through an instrument channel opening at the proximal end of the endoscope. Even after the endoscope is inserted into the mammalian cavity, this end of the endoscope remains outside the opening to the mammalian cavity. As described above, the surgical cutting assembly may be any of the surgical cutting assemblies described above with respect to FIGS. In some implementations, the surgical cutting assembly may be an endoscopic instrument as described above with respect to FIGS. The surgical cutting assembly can include a cutter assembly with an outer cannula, an inner cannula disposed within the outer cannula, and a cutting window formed along a portion of the radial wall of the outer cannula. The proximal end of the inner cannula can be fluidly coupled to an inhalation channel that extends along the length of the flexible endoscope. The inner cannula can be configured to rotate relative to the outer cannula to cut material that enters the cutting window of the outer cannula.

  The method includes rotating the outer cannula of the surgical cutting assembly to place the cutting window in the material within the mammalian cavity to be excised (block 6215). In some implementations, the outer cannula can be coupled to the distal end of the outer tubing. The outer tubing may be a braided tubing or any other tube or coil configured to rotate the outer cannula by rotating the distal end of the outer tubing. In some implementations, the outer tubing may be a flexible torque coil.

  The method includes applying a torque via a flexible torque element to rotate the inner cannula relative to the outer cannula (block 6220). This torque is applied either through a torque delivery element located within the distal end of the endoscope or a flexible torque element that extends from the proximal end of the endoscope to the distal end of the endoscope. be able to. This torque causes the coupling component of the endoscope to rotate and the coupling member of the surgical cutting assembly and the inner cannula to rotate relative to the outer cannula to ablate at least a portion of the material with the cutting window of the outer cannula. . In some implementations, the material may be a lesion, fibrous tissue, or other mass or appearance formed within a mammalian cavity.

  In some implementations, the method includes activating a torque generating element. In some implementations, actuating the torque generating element comprises supplying fluid to the torque generating element via the fluid inflow channel and removing fluid from the torque generating element via the fluid outflow channel. Including. In some implementations, actuating the torque generating element includes supplying current to the torque generating element via an electrical wire that extends from the torque generating element to a power source external to the flexible endoscope.

  In some implementations, the method includes actuating a rotary actuator disposed external to the endoscope and connected to the torque delivery element. The torque delivery element is configured to deliver torque generated by the rotary actuator to the coupling component. The torque delivery element includes a flexible torque coil or a flexible torque rope with multiple layers of one or more threads, each of which is wound by one or more adjacent layers. It is wound in the opposite direction to the direction in which it is drawn.

  In some implementations, the flexible endoscope includes a coupling component disposed within the distal end of the endoscope. The coupling component can include at least one magnet, and the method further includes magnetically coupling the coupling component of the endoscope and the coupling member of the endoscope. In some implementations, the torque generated by the rotary actuator or delivered by the torque delivery element is applied to the coupling component, which rotates the coupling component. The coupling member can be magnetically coupled to the coupling member of the surgical cutting assembly. The coupling member can be coupled to the inner cannula so that rotation of the coupling member can cause the inner cannula to rotate.

  The method includes actuating the specimen collection element of the surgical cutting assembly to remove the ablated material via the inhalation channel (block 6225). With the suction source hung on the proximal end of the inhalation channel, the material that enters the endoscope through the cutting window of the outer cannula and is excised by the inner cannula is aspirated through the surgical cutting assembly in the inhalation channel Can be. In some implementations, the suction channel can be formed by the inner wall of the inner cannula, the inner wall of the coupling member, and the inner wall of the suction tube. In some implementations where the inner cannula is rotated through the flexible torque delivery element of the surgical cutting assembly, the suction channel can be formed by the inner wall of the inner cutter and the inner wall of the flexible torque delivery element.

  In some implementations, a method for excising a lesion from within a patient's mammalian cavity includes inserting a flexible endoscope into an opening to the patient's mammalian cavity, wherein the flexible endoscope is the endoscope. The flexible endoscope is inserted into the opening through the distal end. The method includes placing a surgical cutting assembly within an instrument channel of a flexible endoscope. The surgical cutting assembly is inserted into the instrument channel through the instrument channel opening to the instrument channel at the proximal end of the endoscope remaining outside the opening to the mammalian cavity. The surgical cutting assembly includes an outer cannula, an inner cannula disposed within the outer cannula, a cutting window formed along a portion of the radial wall of the outer cannula, and a proximal of the inner cannula coupled to the coupling member. And a coupling member is fluidly coupled to an inhalation tube extending along the length of the flexible endoscope, the coupling member being rotatable with a coupling component of the flexible endoscope Configured to join. The method includes rotating the outer cannula of the surgical cutting assembly to place the cutting window at a lesion within the mammalian cavity to be excised. The method includes applying a torque to an endoscope coupling component. Torque is provided through one of a torque delivery element disposed within the distal end of the endoscope or a flexible torque element that extends from the proximal end of the endoscope to the distal end of the endoscope. The torque causes the coupling component of the endoscope to rotate and rotate the coupling member of the surgical cutting assembly and the inner cannula relative to the outer cannula and ablate at least a portion of the lesion with the cutting window of the outer cannula. The method activates a specimen retrieval element to provide suction to remove a resected portion of the lesion through an inhalation channel formed by the inner wall of the inner cannula, the inner wall of the coupling member, and the inhalation tube. including.

  In some implementations, the method includes activating a torque generating element. In some implementations, actuating the torque generating element comprises supplying fluid to the torque generating element via the fluid inflow channel and removing fluid from the torque generating element via the fluid outflow channel. Including. In some implementations, actuating the torque generating element includes supplying current to the torque generating element via an electrical wire that extends from the torque generating element to a power source external to the flexible endoscope.

  In some implementations, the method includes actuating a rotary actuator disposed external to the endoscope and connected to the torque delivery element. The torque delivery element is configured to deliver torque generated by the rotary actuator to the coupling component. The torque delivery element includes a flexible torque coil or a flexible torque rope with multiple layers of one or more threads, each of which is wound by one or more adjacent layers. It is wound in the opposite direction to the direction in which it is drawn.

  In some implementations, the coupling component includes at least one magnet, and the method further includes magnetically coupling the endoscope coupling component and the endoscope coupling member.

  In some implementations, the method further includes supplying a cleaning fluid to the surgical cutting assembly via a cleaning fluid delivery channel formed in the endoscope, the cleaning fluid delivery channel comprising: An entry port at the proximal end of the endoscope and a fluid outlet port disposed toward the distal end of the endoscope, the fluid outlet port fluidly coupled to the irrigation inlet of the surgical cutting assembly; The cleaning inlet of the cutting assembly is fluidly coupled to a cleaning path formed between the outer and inner cannulas of the cutter assembly.

  In some implementations, a portion of the cleaning fluid delivery channel provides at least one of the torque generation element, the coupling component, or the torque delivery element to provide a cooling effect to the torque generation element, the coupling component, or the torque delivery element. Is placed adjacent to one.

  In some implementations, rotating the outer cannula of the surgical cutting assembly to place the cutting window at the lesion to be resected within the mammalian cavity is a movable coupling disposed at the distal end of the endoscope The movable coupling assembly is configured to engage the outer cannula and configured to rotate the outer cannula relative to the endoscope, including actuating the assembly.

  In some implementations, rotating the outer cannula of the surgical cutting assembly to place the cutting window at the lesion to be resected in the mammalian cavity includes rotating the outer tubing coupled to the outer cannula. The outer tubing is configured to rotate the outer cannula relative to the endoscope based on the rotation of the outer tubing.

  In some implementations, a method for retrieving a polyp from a patient's mammalian cavity includes inserting a flexible endoscope into an opening to the patient's mammalian cavity. An endoscopic instrument is placed or inserted into the instrument channel of a flexible endoscope to remove at least a portion of a lesion from within a mammalian cavity. The endoscopic instrument includes a cutting assembly comprising an outer cannula, an inner cannula disposed within the outer cannula, and a cutting window formed along a portion of the radial wall of the outer cannula, the inner cannula comprising: A flexible torque element having a length extending along the length of the flexible endoscope is rotatably coupled to the flexible torque element, when activated, imparts torque to the inner cannula to provide a portion of the lesion. Rotate relative to the outer cannula to excise. Next, when the endoscopic instrument is placed in the instrument channel, cleaning fluid is supplied from the irrigation port of the endoscopic instrument that remains outside the flexible endoscope. The irrigation port is fluidly coupled to the outer cannula via a rotary coupler, which couples the irrigation port to an outer tubing connected to the outer cannula. As a portion of the rotary coupler rotates, the rotary coupler allows rotation relative to the irrigation port of the outer tubing and outer cannula. The outer cannula is then rotated through the rotation of that portion of the rotary coupler to a position where the outer cannula opening is visible through the camera of the flexible endoscope. Next, the cutting window of the outer cannula is placed in the lesion of the mammalian cavity. The flexible torque element is then activated to rotate the inner cannula relative to the outer cannula, and the inner cannula cuts that portion of the lesion as the inner cannula rotates adjacent to the cutting window. The specimen collection element of the endoscopic instrument is activated to remove the severed portion of the lesion from the interior of the mammalian cavity through the inhalation channel formed by the inner wall of the inner cannula and the flexible torque element.

  In some implementations, placing the endoscopic instrument in the instrument channel of the flexible endoscope includes inserting the distal end of the endoscopic instrument into the instrument channel of the flexible endoscope.

  In some implementations, a proximal connector coupled to the flexible torque element, the proximal connector disposed at the proximal end of the endoscopic instrument is configured to torque the flexible torque element. Engage the drive assembly.

  In some implementations, a vacuum source is fluidly coupled to the distal end of the endoscope to remove the portion of the polyp that enters the endoscopic instrument through the opening of the outer cannula from the endoscopic instrument.

  In some implementations, the flexible torque element includes a flexible torque coil with multiple layers of one or more threads, each of the multiple layers being adjacent to one or more of the multiple layers. Winding in a direction opposite to the direction in which the layers are wound, the suction channel is partly formed by the inner wall of the flexible torque coil.

  In some implementations, activating the flexible torque element and activating the sample collection element of the endoscopic instrument includes activating the flexible torque element and simultaneously activating the sample collection element of the endoscopic instrument. including.

  In some implementations, actuating the flexible torque element includes applying sufficient torque to the inner cannula to cut at least a portion of the polyp. In some implementations, activating the flexible torque element includes activating the flexible torque element to rotate the inner cannula of the cutting assembly relative to the outer cannula via the foot pedal.

  In some implementations, the lesion is the first polyp and the mammalian cavity is the colon. When at least a portion of the first polyp is cut, the opening of the outer cannula is placed in the second polyp in the colon without removing the endoscopic instrument from the flexible endoscope. Actuating the flexible torque element rotates the inner cannula relative to the outer cannula, which cuts at least a portion of the second polyp. The specimen collection element of the endoscopic instrument is activated to remove the cut portion of the second polyp from within the colon.

  In some implementations, a method of removing a polyp from within a patient includes inserting a flexible endoscope into the patient's opening and in the instrument channel of the flexible endoscope to remove the polyp from the surgical site. Disposing an endoscopic instrument comprising: an outer cannula; an inner cannula disposed within the outer cannula; and an opening formed along a portion of the radial wall of the outer cannula. The inner cannula is rotatably coupled to a flexible torque element having a length extending along the length of the flexible endoscope, and the flexible torque element is actuated to actuate the inner cannula Torque, positioning the outer cannula, positioning the opening of the outer cannula in the polyp, and actuating the flexible torque element to rotate the inner cannula relative to the outer cannula And actuating the inner cannula to cut a portion of the polyp as the inner cannula rotates adjacent to the opening, and actuating the specimen collection element of the endoscopic instrument to Removing the cut portion from the patient via the inner wall of the inner cannula and the inhalation channel formed by the flexible torque element.

  In some implementations, the method includes supplying irrigation fluid from the irrigation port of the endoscopic instrument that remains external to the flexible endoscope when the endoscopic instrument is disposed within the instrument channel. Including. The irrigation port is fluidly coupled to the outer cannula via a rotary coupler, the rotary coupler couples the irrigation port to the outer tubing connected to the outer cannula, and when a portion of the rotary coupler rotates, the rotary coupler is Allow rotation of the outer tubing and outer cannula relative to the irrigation port.

  In some implementations, the method includes rotating the outer cannula through a rotation of that portion of the rotary coupler to a position where the opening of the outer cannula is visible through the camera of the flexible endoscope. including.

  In some implementations, placing the endoscopic instrument in the instrument channel of the flexible endoscope includes inserting the distal end of the endoscopic instrument into the instrument channel of the flexible endoscope.

  In some implementations, the method includes a proximal connector coupled to the flexible torque element, wherein the proximal connector disposed at the proximal end of the endoscopic instrument is torqued to the flexible torque element. Engaging a drive assembly configured to provide.

  In some implementations, the method includes fluidly coupling a vacuum source to the distal end of the endoscopic instrument, wherein a polyp cutting portion that enters the endoscopic instrument through an opening in the outer cannula is used. Removing from the endoscopic instrument, fluid coupling.

  In some implementations, the flexible torque element includes a flexible torque coil with multiple layers of one or more threads, each of the multiple layers being adjacent to one or more of the multiple layers. Winding in a direction opposite to the direction in which the layers are wound, the suction channel is partly formed by the inner wall of the flexible torque coil.

  In some implementations, activating the flexible torque element and activating the sample collection element of the endoscopic instrument includes activating the flexible torque element and simultaneously activating the sample collection element of the endoscopic instrument. including.

  In some implementations, actuating the flexible torque element includes applying sufficient torque to the inner cannula to cut at least a portion of the polyp. In some implementations, activating the flexible torque element includes activating the flexible torque element to rotate the inner cannula of the cutting assembly relative to the outer cannula via the foot pedal.

  In some implementations, the polyp is a first polyp, and the method includes: removing at least a portion of the first polyp without removing the endoscopic instrument from the flexible endoscope; Placing an opening in a second polyp at another surgical site; activating a flexible torque element to rotate the inner cannula relative to the outer cannula, and the inner cannula cuts at least a portion of the second polyp; Activating the specimen collection element of the endoscopic instrument to remove the cut portion of the second polyp from within the patient.

  In some implementations, a method of resecting a lesion from within a patient's mammalian cavity includes inserting a flexible endoscope into an opening into the patient's mammalian cavity, the flexible endoscope including A coupling component is disposed within the distal end of the endoscope, the endoscope being inserted into the opening through the distal end. The method includes placing a surgical cutting assembly within an instrument channel of a flexible endoscope. The surgical cutting assembly is inserted into the instrument channel through the instrument channel opening to the instrument channel at the proximal end of the endoscope remaining outside the opening to the mammalian cavity. The surgical cutting assembly includes a cutter assembly comprising an outer cannula, an inner cannula disposed within the outer cannula, and a cutting window formed along a portion of the radial wall of the outer cannula, The proximal end of the cannula is coupled to a coupling member that is fluidly coupled to an inhalation tube that extends along the length of the flexible endoscope, the coupling member being rotatable with the coupling component of the flexible endoscope Is configured to be coupled to. The method includes rotating the outer cannula of the surgical cutting assembly to place the cutting window at a lesion within the mammalian cavity to be excised. The method includes applying a torque to an endoscope coupling component. Torque is provided through one of a torque delivery element disposed within the distal end of the endoscope or a flexible torque element that extends from the proximal end of the endoscope to the distal end of the endoscope. The torque causes the coupling component of the endoscope to rotate and rotate the coupling member of the surgical cutting assembly and the inner cannula relative to the outer cannula and ablate at least a portion of the lesion with the cutting window of the outer cannula. The method activates a specimen retrieval element to provide suction to remove a resected portion of the lesion through an inhalation channel formed by the inner wall of the inner cannula, the inner wall of the coupling member, and the inhalation tube. including.

  In some implementations, the method includes activating a torque generating element. In some implementations, actuating the torque generating element comprises supplying fluid to the torque generating element via the fluid inflow channel and removing fluid from the torque generating element via the fluid outflow channel. Including. In some implementations, actuating the torque generating element includes supplying current to the torque generating element via an electrical wire that extends from the torque generating element to a power source external to the flexible endoscope.

  In some implementations, the method includes actuating a rotary actuator disposed external to the endoscope and connected to the torque delivery element. The torque delivery element is configured to deliver torque generated by the rotary actuator to the coupling component. The torque delivery element includes a flexible torque coil or a flexible torque rope with multiple layers of one or more threads, each of which is wound by one or more adjacent layers. It is wound in the opposite direction to the direction in which it is drawn.

  In some implementations, the coupling component includes at least one magnet, and the method further includes magnetically coupling the endoscope coupling component and the endoscope coupling member.

  In some implementations, the method further includes supplying a cleaning fluid to the surgical cutting assembly via a cleaning fluid delivery channel formed in the endoscope, the cleaning fluid delivery channel comprising: An entry port at the proximal end of the endoscope and a fluid outlet port disposed toward the distal end of the endoscope, the fluid outlet port fluidly coupled to the irrigation inlet of the surgical cutting assembly; The cleaning inlet of the cutting assembly is fluidly coupled to a cleaning path formed between the outer and inner cannulas of the cutter assembly.

  In some implementations, a portion of the cleaning fluid delivery channel provides at least one of the torque generation element, the coupling component, or the torque delivery element to provide a cooling effect to the torque generation element, the coupling component, or the torque delivery element. Is placed adjacent to one.

  In some implementations, rotating the outer cannula of the surgical cutting assembly to place the cutting window at the lesion to be resected within the mammalian cavity is a movable coupling disposed at the distal end of the endoscope The movable coupling assembly is configured to engage the outer cannula and configured to rotate the outer cannula relative to the endoscope, including actuating the assembly.

  In some implementations, rotating the outer cannula of the surgical cutting assembly to place the cutting window at the lesion to be resected in the mammalian cavity includes rotating the outer tubing coupled to the outer cannula. The outer tubing is configured to rotate the outer cannula relative to the endoscope based on the rotation of the outer tubing.

  63A is a perspective view of a distal portion of a surgical cutting assembly according to an embodiment of the present disclosure. FIG. 63B is an exploded view of the distal partial surgical cutting assembly shown in FIG. 63A. 63C is a cross-sectional perspective view of the distal portion of the surgical cutting assembly shown in FIG. 63A. 63D is an enlarged view of the portion of FIG. 63B including the first coupler of the surgical cutting assembly shown in FIG. 63A. 63E is an enlarged view of the portion of FIG. 63B including the second coupler of the surgical cutting assembly shown in FIG. 63A. 63F is a side view of the second coupler of the surgical cutting assembly shown in FIG. 63A.

  Similar to the other surgical cutting assemblies described above with respect to FIGS. 53A-61, the surgical cutting assembly 6320 is configured to be insertable into an endoscope and is further driven or actuated through the endoscope. It is configured as follows. In some implementations, the surgical cutting assembly 6320 is configured to operate via a rotary actuator or torque generating element of the endoscope or to deliver torque to the surgical cutting assembly via the endoscope. It can be actuated via a torque delivery element.

  Referring now to FIGS. 63A-63F, the surgical cutting assembly can include an outer cannula 6322 with a distal end 325 and a proximal end 6326. A cutting window or opening 6328 is formed along the radial wall toward the distal end 6325. The outer surface of the outer cannula includes one or more key structures 6330 configured to engage opposing structures formed in the portion of the endoscope into which the surgical cutting assembly 6320 is inserted. Can do. The outer cannula further includes an inner wall 6324 that forms part of the irrigation channel or path 6338.

  Surgical cutting assembly 6320 further includes an inner cannula 6322 configured to be disposed within outer cannula 6332. The inner cannula includes a cutting tip at the distal end of the inner cannula. The inner cannula 6332 is disposed within the outer cannula 6322, the cutting tip of the inner cannula 6332 is adjacent to the cutting window 6328 of the outer cannula, and when the inner cannula rotates relative to the outer cannula, the material entering the cutting window 6328 is It is excised or cut by the cutting tip of the inner cannula 6332.

  Surgical cutting assembly 6320 also includes a coupling member 6350. The coupling member 6350 includes an outer wall on which at least one key structure 6352 is formed. Key structure 6352 can be aligned with key structure 6330 formed in outer cannula 6322. The coupling member 6350 can also include an inner wall 6356. The coupling member can further include one or more fluid pathways 6354a and 6354b formed between the outer and inner walls of the coupling member 6350. Surgical cutting assembly 6320 is configured to engage corresponding components of the endoscope into which surgical cutting assembly 6320 is inserted. The coupling member 6350 is configured to rotate when the corresponding component of the endoscope rotates. The coupling member 6350 can be coupled to the inner cannula 6332, and the inner cannula 6332 can also rotate relative to the outer cannula 6322 as the coupling member 6350 rotates. In some implementations, the coupling member 6350 can be coupled to the inner cannula by press fitting, welding, a coupler, or any other means of coupling the coupling member 6350 to the inner cannula 6332. An endoscope configured to rotate the outer cannula relative to the inner cannula 6332 and the coupling member 6350 to prevent the outer cannula from rotating as the coupling member 6350 and inner cannula 6332 rotate. The movable coupling assembly can be configured to engage. Details of the movable coupling assembly are described above with respect to FIGS. 58A and 58B.

  Surgical cutting assembly 6320 can further include a first coupler 6340 configured to couple coupling member 6350 to outer cannula 6330. The first combiner 6340 can include a corresponding key structure 6342 that can be aligned with the key structures 6330 and 6352. The first coupler 6340 allows the irrigation fluid flowing in the irrigation channels 6354a and 6354b to reach the area formed by the inner wall 6324 of the outer cannula 6322 and the outer wall of the inner cannula 6332 while the irrigation fluid is in the surgical cutting assembly. It can be configured not to leak outside the 6320. In some implementations, the first coupler 6340 couples the inner cannula 6332 to the coupling member 6350 and further to an inhalation channel partially formed by the inner wall 6334 of the inner cannula 6332 and the inner wall 6356 of the coupling member 6350. The inflowing material can be configured not to leak or flow out. In some implementations, the inner wall of the first coupler 6340 can include a plurality of ridges configured to frictionally engage the inner cannula. The groove between the ridges of the first coupler 6340 can act as a fluid path that allows cleaning fluid to flow from the coupling member 6350 to the region between the outer cannula 6322 and the inner cannula 6332.

  Surgical cutting assembly 6320 can further include an outer tubing 6370 configured to couple to coupling member 6350. Outer tubing 6370 may be similar to the outer tubing described above with respect to FIGS. The cleaning fluid passing through the cleaning paths 6354a and 6354b can be supplied via the outer tubing. In some implementations, the inner wall of the outer tubing and the outer wall of the inhalation tubing 6380 extend from the proximal end of the surgical cutting assembly remaining outside the endoscope to the cutting window 6328 of the surgical cutting assembly 6320. A part of 6338 can be formed.

  The suction tubing 6380 can be coupled to the inner wall of the coupling member 6350. In some implementations, the inhalation tubing is fluidly coupled to the inner wall of the coupling member 6350 and material that enters the surgical cutting assembly through the cutting window 6328 can flow into a portion of the inhalation channel formed by the inhalation tubing 6380.

  Surgical cutting assembly 6320 can include a second coupler 6360 configured to couple outer tubing 6370 and inhalation tubing 6380 to coupling member 6350. Second coupler 6360 is configured such that coupling member 6350 can rotate relative to outer tubing 6370 and suction tubing 6380. The second coupler 6360 can include one or more openings 6364a and 6364b that extend along the length of the second coupler 6360. Openings 6364a and 6364b allow cleaning fluid flowing between outer tubing 6370 and inhalation tubing 6380 to flow to the region between outer cannula 6322 and inner cannula 6332 via fluid paths 6354a and 6354b of coupling member 6350. Can be dimensioned and configured.

  The second coupler 6360 is configured to engage the first portion 6465 configured to engage the coupling member 6350, the second portion 6466 configured to engage the outer tubing 6470, and the suction tubing 6480. 3rd portion 6467. The inner wall of the third portion 6467 can form part of the suction channel.

  FIG. 63G shows a perspective view of the surgical cutting assembly 6320 including the coupling member in the first position. FIG. 63H shows a perspective view of the surgical cutting assembly 6320 including the coupling member in the second position. The surgical cutting assembly can be positioned such that the key structures 6330, 6342, and 6352 are all aligned with each other when the surgical cutting assembly is inserted into the instrument channel of the endoscope. In this way, the key structures can engage with corresponding grooves or locking structures that are configured to engage with these key structures. In some implementations, the instrument channel is a groove or locking structure that extends from the proximal end of the instrument channel toward the distal end of the instrument channel and engages the key structures 6330, 6342, and 6352. A groove or a locking structure configured to be included.

  When the endoscope is activated to cause the surgical cutting assembly to begin cutting, the endoscope coupling configuration rotates the coupling member 6350 of the surgical cutting assembly 6320, which in turn turns the inner cannula 6332 into the outer cannula. Rotate relative to 6322. First coupler 6340 and second coupler 6360 allow coupling member 6350 to rotate relative to both outer cannula 6322 and outer tubing 6370. In some implementations, the outer cannula 6322 can remain stationary, but it can engage the movable coupling assembly of the endoscope in which the key structure 6330 of the outer cannula 6322 is disposed, This is because when the component engages the coupling member 6350 of the surgical cutting assembly 6320, it is adjacent to the outer cannula.

  64A is a cross-sectional perspective view of an endoscope assembly including an endoscope and the surgical cutting assembly shown in FIG. 63A according to an embodiment of the present disclosure. FIG. 64B is a perspective view of the distal portion of the endoscope shown in FIG. 64A. FIG. 64C is a perspective view of the endoscope assembly shown in FIG. 64A. Referring now to FIGS. 64A-64C, the endoscope assembly 6400 includes an endoscope 6400 similar to the other endoscopes described above with respect to FIGS. 51A-61. The endoscope 6400 can include a coupling component 6422 configured to couple to a coupling member 6350 of a surgical cutting assembly 6320 disposed within the instrument channel 6410 of the endoscope 6400.

  Endoscope 6400 includes a torque generating element 6412 that is coupled to coupling component 6422 via torque transmitting element 6420. Torque transmitting element 6420 can transmit the torque generated by torque generating element 6412 to coupling component 6422. The coupling component 6422 can be positioned such that a portion of the instrument channel is disposed within the inner wall of the coupling component 6422. When the outer cannula 6322 of the surgical cutting assembly 6320 engages a corresponding structure formed in the endoscope 6400, the portion of the instrument channel that is disposed within the inner wall of the coupling component 6422 It can correspond to the portion of the assembly 6320 where the coupling member 6350 is disposed. The coupling component 6422 and the coupling member 6350 can contact each other via one or more actuation mechanisms. In some implementations, the inner diameter of the coupling component 6422 of the endoscope 6400 can be designed and configured to reduce in size when activated so that the inner wall of the coupling component can engage the coupling member 6350 of the surgical cutting assembly. . In some implementations, the coupling member may include an actuation mechanism through which the coupling member can engage the coupling component 6422. In some implementations, the key structure 6352 of the coupling member can be configured to engage a corresponding engagement component of the coupling component, and when the coupling component rotates, the engagement component of the coupling member 6350 Contact the key structure 6352 and rotate the coupling member. In some implementations, the engagement component may be a rib, fin, groove, or other structure formed in the inner wall of the coupling component. These engaging components can be configured not to engage the outer cannula while the surgical cutting assembly 6320 is inserted into the instrument channel 6410 of the endoscope, but once the surgical cutting assembly 6320 has been inserted. Once the torque generating element 6412 is actuated, it may be possible to engage the coupling component.

  As shown in FIG. 64B, the inner wall 6424 of the coupling component 6422 includes a groove structure 6426 configured to engage the key structure 6352 of the coupling member 6350 of the surgical cutting assembly 6320.

  FIG. 64C is a perspective view of the distal tip of the endoscope shown in FIG. 64A. The distal tip 6402 of the endoscope 6400 includes an opening in the instrument channel 6410. As shown, the endoscope 6400 is externally coupled to movably couple the orientation of the outer cannula cutting window and maintain the outer cannula stationary when the coupling member 6350 rotates upon actuation of the torque generating element 6412. A movable coupling element 6434 including at least one groove structure 6436 configured to engage the key structure 6330 of the cannula 6322 may be included.

  FIG. 65 is a cross-sectional view of a surgical cutting assembly according to an embodiment of the present disclosure. Surgical cutting assembly 6520 includes a distal end 6550 that can be inserted into an endoscope and a proximal end 6560 that remains external to the endoscope after the surgical cutting assembly 6520 is inserted into the endoscope. Surgical cutting assembly 6520 includes a cutting window 6524 formed at the distal tip of surgical cutting assembly 6520 and an inhalation tube 6540 extending from the proximal end of surgical cutting assembly 6520 toward distal end 6550. Including. The remaining portion of the surgical cutting assembly 6520 is substantially similar to the endoscopic instrument 4000 shown in FIG. 42, and the reference numbers shown in FIG. 65 correspond to those described above with respect to FIG. The proximal end of the surgical cutting assembly 6500 may be similar to the surgical cutting assembly described above with respect to FIGS. In contrast to the endoscopic instrument 4000 shown in FIG. 42 that includes a flexible torque coil 4080, the surgical cutting assembly 6500 includes an inspiratory tube. The suction tube may be any type of tubing that allows fluid to be drawn from the distal end of the surgical cutting assembly to the suction port 4902.

Claims (25)

An endoscope assembly comprising:
A flexible endoscopic instrument,
A cutting assembly configured to excise material at a site within a subject, comprising an outer cannula and an inner cannula disposed within the outer cannula, wherein the outer cannula is configured to allow the material to be excised A cutting assembly that forms an opening through which it enters, and
A flexible outer tubing coupled to the outer cannula and configured to rotate the outer cannula relative to the inner cannula, comprising an outer diameter smaller than an instrument channel into which the flexible endoscopic instrument can be inserted. Flexible outer tubing,
An inhalation tube with a portion disposed within the flexible outer tubing, having a distal end coupled to the inner cannula and passing when the material excised by the cutting assembly is removed Form part of the inhalation channel
The inhalation channel is formed in part by an inner wall of the inhalation channel and an inner wall of the inner cannula and extends from an opening formed in the inner cannula to a proximal end of the inhalation tube;
A cleaning channel comprising a first portion formed between an outer wall of the suction tube and an inner wall of the flexible outer tubing, the cleaning channel configured to carry cleaning fluid to the suction channel; A flexible endoscopic instrument,
An endoscope insertable into the flexible endoscopic instrument;
An elongate tubular body having a distal end and a proximal end, the distal end being sized to be inserted into a patient's mammalian cavity and configured to capture an image of the mammalian cavity An elongated tubular body that extends a predetermined length from a distal tip that is less than half the length of the elongated tubular body;
The instrument channel of the endoscope extends between a first opening at the distal end and a second opening at the proximal end so that the instrument channel houses the flexible endoscopic instrument. Dimensioned and configured,
A torque generating element configured to generate torque and disposed within the distal end of the elongate tubular body, wherein the generated torque is coupled in response to actuation of the torque generating element A torque generating element configured to provide to an endoscope comprising:
The coupling component is integral with the distal end of the elongate tubular body and is disposed adjacent to or surrounds the instrument channel, the coupling component being the torque generating element An endoscope assembly that rotates the inner cannula of the cutting assembly of the flexible endoscopic instrument in response to actuation of the endoscope. An endoscope for removing tissue at a surgical site,
An elongate tubular body having a distal end and a proximal end, wherein the distal end is insertable into a mammalian cavity of a patient and the proximal end is configured to remain outside the mammalian cavity of the patient An elongated tubular body,
An instrument channel that extends between the first opening at the distal end and the second opening at the proximal end and is sized and configured to receive a removable surgical cutting assembly including an inhalation channel The inhalation channel is fluidly coupled to a suction source at the proximal end of the surgical cutting assembly for removing material that enters the endoscope through the distal end of the surgical cutting assembly An instrument channel configured as follows:
A torque generating element configured to generate torque and disposed within the distal end of the elongate tubular body;
An endoscope comprising: a torque generating element configured to provide the generated torque to a coupling component in response to actuation of the torque generating element;
The coupling component is integral with the distal end of the elongate tubular body and is disposed adjacent to or surrounds the instrument channel, the coupling component being the torque generating element An endoscope configured to actuate a cutting element of the surgical cutting assembly in response to actuation of the surgical cutting assembly.   The endoscope of claim 2, wherein the length of the coupling component is dimensioned to allow the endoscope to be inserted into a mammalian cavity of the patient.   The coupling component includes a magnetic coupler, the magnetic coupler being magnetically coupled with a magnetic coupling element of the surgical cutting assembly, the magnetic coupler of the surgical cutting assembly being stationary with the surgical cutting assembly. The surgical device having a magnetic force sufficient to rotate relative to the first portion, wherein the magnetic coupling element of the surgical cutting assembly is configured to cut tissue in response to rotation of the magnetic coupling element The endoscope of claim 2, wherein the endoscope is coupled to an inner cannula of the surgical cutting assembly.   The endoscope according to claim 4, wherein an inner diameter of the magnetic coupler is dimensioned to exceed a diameter of the instrument channel.   The endoscope according to claim 4, wherein the outer wall of the magnetic coupler includes a friction element configured to rotatably engage the torque generating element.   7. The endoscope according to claim 6, wherein the torque generating element includes an electric rotary actuator, and the endoscope further includes an electric wire configured to send an electric current to the electric rotary actuator.   The endoscope according to claim 4, wherein the magnetic coupler forms a rotatable portion of the torque generating element. The torque generating element is either a hydraulic drive rotary actuator or a pneumatic drive rotary actuator, and the endoscope is
A fluid delivery channel configured to deliver fluid to the torque generating element;
The endoscope according to claim 8, further comprising a fluid removal channel configured to remove the fluid from the torque generating element.   The endoscope according to claim 2, wherein the torque generating element is configured to rotate an inner cannula of the surgical cutting assembly relative to an outer cannula of the surgical cutting assembly.   The endoscope of claim 2, wherein the torque generating element is configured to couple to a linear motion assembly that converts the torque generated by the torque generating element into linear motion.   The torque generating element rotates in a first direction to move the coupling component from the proximal end of the elongated tubular body to the distal end of the elongated tubular body from a first position to a second position. Moving in a direction and rotating in a second direction to move the coupling component from the second position to the first position, the torque generating element is configured to rotate in the first direction and Alternately rotating in a second direction, the inner cannula of the surgical cutting assembly is positioned at a first predetermined distance from the distal tip of the outer cannula of the surgical cutting assembly. Configured to reciprocate between a spaced first open position and a second closed position in which the distal tip of the inner cannula is spaced less than a second predetermined distance from the distal tip of the outer cannula. And the second predetermined distance is The endoscope according to claim 11, wherein the endoscope is smaller than the first predetermined distance.   The endoscope according to claim 2, wherein the instrument channel is configured to receive the surgical cutting assembly at the proximal end of the instrument channel via the second opening.   The instrument channel is configured to include at least one groove configured to engage a corresponding key of the surgical cutting assembly such that the orientation of the opening of the outer cannula of the surgical cutting assembly is the endoscopic The endoscope according to claim 2, which ensures alignment with the camera of the mirror.   The coupling component is a magnetic coupler that magnetically couples to a coupling member attached to an inner cannula of the surgical cutting assembly, and the coupling component transmits the torque generated by the torque generating element to the inner The endoscope according to claim 2, wherein the endoscope is transmitted to the inner cannula of the surgical cutting assembly via the coupling member attached to the cannula.   The movable coupling assembly configured to engage an outer cannula of the surgical cutting assembly, the movable coupling assembly configured to rotate the outer cannula relative to the inner cannula. Endoscope.   The endoscope according to claim 16, wherein the movable coupling assembly is configured to rotate the outer cannula between a plurality of predetermined positions.   A deployment element configured to be actuated by an actuator, wherein the deployment element can be configured to maintain the surgical cutting assembly disposed within the elongate tubular body in a first undeployed position; The endoscope according to claim 2, configured to deploy the surgical cutting assembly from the first undeployed position to a second deployed position when the deployment element is actuated.   The deployment element moves between a closed state in which the surgical cutting assembly is maintained in the first undeployed position and an open state in which the surgical cutting assembly is deployed to the second deployed position. The endoscope according to claim 18, configured as described above.   When the surgical cutting assembly is in the second deployed position, the outer cannula of the surgical cutting assembly is outward from the distal end of the elongated tubular body along the longitudinal axis of the endoscope. The endoscope according to claim 19, further comprising a cutting window extending and spaced apart from the endoscope camera, the cutting window being displayed in an image captured by the camera. mirror.   The endoscope according to claim 2, further comprising an actuation console including at least one actuator for actuating the torque generating element.   The endoscope according to claim 2, wherein the coupling component comprises an inner wall with a longitudinal axis of the instrument channel extending therein, and an inner wall in which a portion of the instrument channel is disposed.   The torque generating element and the coupling component are disposed in a region of the distal end of the elongated tubular body, the region including the distal tip of the elongated tubular body and the endoscope. The endoscope according to claim 2, wherein a steerable assembly configured to steer extends between a portion of the elongate tubular body disposed therein.   And a cleaning channel extending from the proximal end of the elongate tubular body to an opening formed in a wall of the elongate tubular body forming the instrument channel, the cleaning channel comprising the surgical cutting assembly Configured to fluidly connect to an irrigation path formed therein, wherein the surgical cutting assembly is disposed when the surgical cutting assembly is inserted into the instrument channel of the endoscope. The endoscope according to claim 2, configured to allow cleaning fluid entering a proximal end to flow into the cleaning path formed between an outer cannula and an inner cannula of the surgical cutting assembly. An endoscope for removing tissue at a surgical site,
An elongate tubular body having a distal end and a proximal end, the distal end being sized for insertion into a mammalian cavity of a patient, the distal end being a distal tip of the elongate tubular body An elongated tubular body extending from a portion to a portion of the elongated tubular body within which the steerable assembly is disposed;
An instrument channel that extends between the first opening at the distal end and the second opening at the proximal end and is sized and configured to receive a removable surgical cutting assembly including an inhalation channel The inhalation channel is fluidly coupled to a suction source at the proximal end of the surgical cutting assembly for removing material that enters the endoscope through the distal end of the surgical cutting assembly An instrument channel configured as follows:
A torque generating element configured to generate torque and disposed within the distal end, wherein the torque generating element is configured to provide the generated torque to a coupling component in response to actuation of the torque generating element An endoscope including a torque generating element,
The coupling component is integral with the distal end of the elongate tubular body and is disposed adjacent to or surrounds the instrument channel, the coupling component being the torque generating element An endoscope configured to actuate a cutting element of the surgical cutting assembly in response to actuation of the surgical cutting assembly.