Endoscope Instrumentation Drive System

Abstract

An instrument drive system for advancing, controlling, and removing an instrument from an endoscope assembly. The instrument drive system comprises two drive wheels, a working channel, a body, and a drive gap. The two drive wheels comprise a first drive wheel, and a second drive wheel. The instrument drive system is configured to receive a portion of the instrument in the working channel, direct a portion of the instrument between the first drive wheel and the second drive wheel, drive the instrument through an instrument channel of the endoscope assembly, and selectively slow or reverse turning of the two drive wheels.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

Not applicable.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT (IF APPLICABLE)

Not applicable.

REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM LISTING COMPACT DISC APPENDIX (IF APPLICABLE)

Not applicable.

BACKGROUND OF THE INVENTION

Prior art known to the Applicant includes US20080146875A1 and US20060161043A1.

A typical endoscopic procedure frequently requires multiple deployments of an instrument such as a catheter/device. Currently this is performed manually and has been the situation for decades and has not evolved since the origination of the modern fiber optic endoscope. Each complete insertion can take 7 or more movements.

There is only a rudimentary system for letting the operator know when the catheter tip is getting ready to exit the scope on deployment (contrast markings). This is mostly done by feel/experience and many operators slow the catheter advance speed dramatically as they sense it getting ready to exit the scope. Compounded over many procedures per day and many deployments per case, this represents (1) a considerable lost of time, (2) an increased risk for repetitive use injuries (a phenomenon that is gaining more attention as we seek to improve ergonomics, (3) during the considerable time it takes to deploy the catheter, polyps or other legions of interest are often “lost” due to the shifting effluent or peristaltic waves and must be relocated adding further time; and (4) to add to “a” unnecessary extended anesthesia time that may pose patient safety issues.

BRIEF SUMMARY OF THE INVENTION

An instrument drive system for advancing, controlling, and removing an instrument from an endoscope assembly. Said instrument drive system comprises two drive wheels, a working channel, a body, and a drive gap. Said two drive wheels comprise a first drive wheel, and a second drive wheel. Said instrument drive system is configured to receive a portion of said instrument in said working channel, direct a portion of said instrument between said first drive wheel and said second drive wheel, drive said instrument through an instrument channel of said endoscope assembly, and selectively slow or reverse turning of said two drive wheels.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

FIG. 1 illustrates a perspective view of an endoscope assembly 104 with an instrument drive system 102 and an instrument 106.

FIG. 2 illustrates a cutaway perspective view of said instrument drive system 102.

FIGS. 3A, 3B, and 3C illustrate perspective views and a block diagram of said instrument drive system 102.

FIG. 4 illustrates a perspective overview of said instrument 106 with a plurality of optical signatures 402.

FIG. 5 illustrates a perspective overview of said endoscope assembly 104, said instrument drive system 102 and said instrument 106.

DETAILED DESCRIPTION OF THE INVENTION

The following description is presented to enable any person skilled in the art to make and use the invention as claimed and is provided in the context of the particular examples discussed below, variations of which will be readily apparent to those skilled in the art. In the interest of clarity, not all features of an actual implementation are described in this specification. It will be appreciated that in the development of any such actual implementation (as in any development project), design decisions must be made to achieve the designers' specific goals (e.g., compliance with system- and business-related constraints), and that these goals will vary from one implementation to another. It will also be appreciated that such development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the field of the appropriate art having the benefit of this disclosure. Accordingly, the claims appended hereto are not intended to be limited by the disclosed embodiments, but are to be accorded their widest scope consistent with the principles and features disclosed herein.

FIG. 1 illustrates a perspective view of an endoscope assembly 104 with an instrument drive system 102 and an instrument 106.

In one embodiment, said instrument drive system 102 can be adapted for feeding said instrument 106 into an instrument channel 108.

As is known in the art, said endoscope assembly 104 can comprise an inputs-line 110 with an inputs-controls 112 which can provide gasses, fluids such as water, optical fiber and/or suction, according to the needs at hand. Said endoscope assembly 104 can comprise a deflection control 114, a flexible shaft 116 having a distal end 118, and an optical system 120.

In one embodiment, said instrument 106 can comprise cameras, catheters, snare, forceps, or similar instruments as used in the medical industry, as is known in the art. For discussion purposes, it is noted that said instrument drive system 102 can be adapted to drive one or more different instruments.

Said optical system 120 can comprise a digital output to a monitor or an optical eye piece.

Said instrument channel 108 can comprise a channel for inserting said instrument 106 into and through said flexible shaft 116.

FIG. 2 illustrates a cutaway perspective view of said instrument drive system 102.

Said instrument 106 can comprise a first instrument 202 having a distal instrument 204, and a shaft 206.

Said instrument drive system 102 can comprise two drive wheels 208 (which comprise a first drive wheel 208a, and a second drive wheel 208b), a working channel 210, an optical sensor 221, a body 212, and a drive gap 214.

In one embodiment, said working channel 210 can receive and release a portion of said instrument 106.

In one embodiment, said instrument drive system 102 can comprise a female locking coupling 216 for mounting to a male locking coupling 218 of said instrument channel 108.

In one embodiment, said female locking coupling 216 can comprise a port gasket 219 that can form a hermetic seal between said female locking coupling 216 and said male locking coupling 218 of said instrument channel 108.

In one embodiment, said female locking coupling 216 can comprise a shaft gasket 220 that can form a hermetic seal between said female locking coupling 216 and said shaft 206.

FIGS. 3A, 3B, and 3C illustrate perspective views and a block diagram of said instrument drive system 102.

Said instrument drive system 102 can comprise a drive wheels assembly 314. In one embodiment, said drive wheels assembly 314 can be removeable, rechargeable and adjustable, as discussed herein. In one embodiment, said drive wheels assembly 314 can be located inside of said body 212 and under a cover 326. In one embodiment, said cover 326 can be clear to monitor the status of said shaft 206, said two drive wheels 208, said working channel 210, and said drive gap 214. In one embodiment, said cover 326 can be removeable to address any issues within said body 212.

In one embodiment, said drive wheels assembly 314 can comprise said two drive wheels 208, an adjustable tensioner 302 to allow for fine tuning of instrumentation feed speed, and a clutch-brake assembly 304 which can allow for decoupling of a motor drive 306 and/or a brake 308. Said instrument drive system 102 can further comprise a battery 312 for operating said two drive wheels 208, one or more direction buttons 316 (which can comprise a forward direction button 316a and a reverse direction button 316b). said one or more direction buttons 316 can be used to switch the polarity of said motor drive 306 for insertion/removal of said instrument 106.

In one embodiment, said instrument drive system 102 can comprise a control knob 329 rotatably mounted to said body 212. Said control knob 329 can be used to switch the polarity of said motor drive 306 for insertion/removal of said instrument 106 by rotating said control knob 329 clockwise and counterclockwise with respect to a control axis 331. Said control knob 329 can further control the desired speed of insertion/removal of said instrument 106. In one embodiment, the speed of insertion/removal can be linearly or non-linearly related to the angle of rotation of said control knob 329.

In one embodiment, said drive gap 214 can be adjustable to one or more widths 310 to accommodate different diameters for said instrument 106.

Said instrument drive system 102 can further comprise a battery level monitor 318 and a display/indicator light 320. Thus, said instrument drive system 102 can be configured to monitor the status of said battery 312, and indicate a healthy battery with a first signal (such as a green light, a flashing light, or not light at all on said display/indicator light 320) or an unhealthy battery with a second signal (such as a red or yellow light on said display/indicator light 320). Furthermore, said instrument drive system 102 can configure said display/indicator light 320 to display characters, symbols and animations representative of the various alarms and modes of operation of said instrument drive system 102.

Said instrument drive system 102 can further comprise an optical sensor 322 and a controller 324. Said optical sensor 322 can be mounted within said body 212 and possibly in said working channel 210 and said controller 324 can monitor a signal from said optical sensor 322, as discussed below.

In one embodiment, said instrument drive system 102 can comprise a sealed unit that can be co-processed with said endoscope assembly 104 for sterilization.

In one embodiment, said instrument drive system 102 can comprise a rotary position sensor 325. Said controller 324 can monitor a signal from said rotary position sensor 325 indicating rotational speed of said two drive wheels 208.

In one embodiment, said instrument drive system 102 can comprise a charging and communication port 328. Wherein, said charging and communication port 328 can receive a power plug for charging/quick charging said battery 312 from an external power supply/charging cradle, as is known in the art. In one embodiment, said instrument drive system 102 may not include said battery 312 or said battery level monitor 318; wherein, said charging and communication port 328 can be more correctly known as a power input port in that case. In one embodiment, said drive wheels assembly 314 can comprise a sealed system which can be rechargeable and/or able to be draw corded power from the tower, as is known in the art.

In one embodiment, said charging and communication port 328 can connect to external appliance, such as a mobile phone, a charging cradle, a computer, etc., allowing to data stored on said controller 324.

In one embodiment, said instrument drive system 102 can comprise a plurality of user inputs 330, such as said one or more direction buttons 316, said control knob 329 and further such as a variable speed input for adjusting a catheter feed speed, a PID, an RPM selector, a gear selector for adjusting gearing and torque settings of said drive wheels assembly 314.

In one embodiment, said instrument drive system 102 can be set up to insert a 48 inch catheter in approximately 2 seconds; wherein said drive wheels assembly 314 might be set up to advance 20 revolutions (assuming 0.75 inch diameter for the wheels, 0 slippage). Targeting 2 seconds for the advance, a 600 RPM setting might be required for said motor drive 306, in this hypothetical.

Said motor drive 306 can require adequate power, speed and forward/reverse torque to accomplish the task according to the needs at hand. One design objective is a light weight, small relative unit size that will not upset ergonomics and balance of said endoscope assembly 104.

FIG. 4 illustrates a perspective overview of said instrument 106 with a plurality of optical signatures 402.

In one embodiment, said plurality of optical signatures 402 can comprise a first optical signature 402a at said distal end 118 of said instrument 106 and a second optical signature 402b at a proximal end 404 of said instrument 106. Said plurality of optical signatures 402 can comprise a foil band or other optically unique signature at both ends of said instrument 106. Alternatively, one or more can be affixed to said instrument 106 to determine a location along said instrument 106. In one embodiment, said plurality of optical signatures 402 can be at pre-determined distances from one another.

In one embodiment, said plurality of optical signatures 402 can be sensed by said optical sensor 322, and said controller 324. Said controller 324 can be programmed to alter a speed, direction or other setting of said drive wheels assembly 314 upon receiving a signal related to said plurality of optical signatures 402. For example when said instrument 106 has been substantially fed into said instrument drive system 102 such that said second optical signature 402b at said proximal end 404 has reached said two drive wheels 208 and said optical sensor 322, it can be known that said distal end 118 is reaching the end of said flexible shaft 116 and should be slowed down so as to not damage or injure a patient due to a puncture. In one embodiment, said controller 324 can cause said two drive wheels 208 to disengage or decouple or otherwise engage said clutch-brake assembly 304 and/or said brake 308 in order to slow/stop movement of said instrument 106. In one embodiment, said controller 324 can cause the system to reverse movement of said instrument 106 for safety. In one embodiment, said instrument drive system 102 on method of using said instrument drive system 102 can be to allow the system to stop or slow movement and then allow manual manipulation of said instrument 106 once said distal end 118 is near the objective.

In one embodiment, said first optical signature 402a and said second optical signature 402b can further contain groups of optical bands of varying lengths and spacings that can encode information about said instrument 106. For example, such information can include the length of said instrument 106 and the outer diameter of said shaft 206.

In one embodiment, said controller 324 can contain memory that can store data associated with the use of said instrument drive system 102. Such data can include temperature, number of co-processing cycles, number of charging cycles of said battery 312, number of manipulations of said instrument 106, alarms and other data, as is known in the art.

FIG. 5 illustrates a perspective overview of said endoscope assembly 104, said instrument drive system 102 and said instrument 106.

Various changes in the details of the illustrated operational methods are possible without departing from the scope of the following claims. Some embodiments may combine the activities described herein as being separate steps. Similarly, one or more of the described steps may be omitted, depending upon the specific operational environment the method is being implemented in. It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments may be used in combination with each other. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.”

Claims

1. instrument drive system for advancing, controlling, and removing an instrument from an endoscope assembly, wherein:

said instrument drive system comprises two drive wheels, a working channel, a body, and a drive gap;

said two drive wheels comprise a first drive wheel, and a second drive wheel;

said instrument drive system is configured to receive a portion of said instrument in said working channel, direct a portion of said instrument between said first drive wheel and said second drive wheel, drive said instrument through an instrument channel of said endoscope assembly, and selectively slow or reverse turning of said two drive wheels.

2. The instrument drive system of claim 1, wherein:

said instrument comprises cameras, catheters, snare, forceps, or similar instruments as used in the medical industry.

3. The instrument drive system of claim 2, wherein:

said instrument channel comprises a channel for inserting said instrument into and through a flexible shaft.

4. The instrument drive system of claim 3, wherein:

said working channel is configured to receive and release a portion of said instrument.

5. The instrument drive system of claim 4, wherein:

said instrument drive system comprises a female locking coupling for mounting to a male locking coupling of said instrument channel.

6. The instrument drive system of claim 5, wherein:

said female locking coupling comprises A port gasket that is configured to form a hermetic seal between said female locking coupling and said male locking coupling of said instrument channel.

7. The instrument drive system of claim 5, wherein:

said female locking coupling comprises A shaft gasket that is configured to form a hermetic seal between said female locking coupling and a shaft.

8. The instrument drive system of claim 5, wherein:

said female locking coupling comprises said port gasket that is configured to form a hermetic seal between said female locking coupling and said male locking coupling of said instrument channel; and

said female locking coupling comprises said shaft gasket that is configured to form a hermetic seal between said female locking coupling and said shaft.

9. The instrument drive system of claim 1, wherein:

said instrument drive system comprises a drive wheels assembly; and

said drive wheels assembly is removeable, rechargeable and adjustable.

10. The instrument drive system of claim 9, wherein:

said drive wheels assembly is located inside of said body and under A cover; and

said cover is clear and removeable to monitor the status of said shaft, said two drive wheels, said working channel, and said drive gap.

11. The instrument drive system of claim 1, wherein:

said drive wheels assembly further comprises An adjustable tensioner;

said adjustable tensioner is configured to allow for fine tuning of instrumentation feed speed;

said drive wheels assembly further comprises and a clutch-brake assembly;

said clutch-brake assembly is configured to allow for decoupling of a motor drive and/or a brake;

said drive wheels assembly further comprises a battery for operating said two drive wheels;

said drive wheels assembly further comprises one or more direction buttons; and

said one or more direction buttons comprise a forward direction button and a reverse direction button, and are used to switch the polarity of said motor drive for insertion/removal of said instrument.

12. The instrument drive system of claim 1, wherein:

said drive wheels assembly further comprises said adjustable tensioner; and

said adjustable tensioner is configured to allow for fine tuning of instrumentation feed speed.

13. The instrument drive system of claim 1, wherein:

said drive wheels assembly further comprises and said clutch-brake assembly; and

said clutch-brake assembly is configured to allow for decoupling of said motor drive and/or said brake.

14. The instrument drive system of claim 1, wherein:

said instrument drive system comprises A control knob rotatably mounted to said body;

said control knob is used to switch the polarity of said motor drive for insertion/removal of said instrument;

said control knob is configured to rotate clockwise and counterclockwise with respect to a control axis to switch the polarity;

said control knob is configured to further control the desired speed of insertion/removal of said instrument; and

the speed of insertion/removal is linearly or non-linearly related to the angle of rotation of said control knob.

15. The instrument drive system of claim 1, wherein:

said drive gap is adjustable to One or more widths to accommodate different diameters for said instrument.

16. The instrument drive system of claim 1, wherein:

said instrument drive system is configured to further comprise a battery level monitor and a display/indicator light;

said instrument drive system is configured to monitor the status of said battery, and indicate

a healthy battery with a first signal on said display/indicator light or

an unhealthy battery with a second signal said display/indicator light); and

Said instrument drive system is configured to display characters, symbols and animations representative of the various alarms and modes of operation of said instrument drive system on said display/indicator light.

17. The instrument drive system of claim 16, wherein:

said instrument drive system comprises A rotary position sensor; and

a controller is configured to monitor a signal from said rotary position sensor indicating rotational speed of said two drive wheels.

18. The instrument drive system of claim 1, wherein:

said instrument drive system further comprises A plurality of optical signatures;

said plurality of optical signatures comprises a first optical signature at a distal end of said instrument and a second optical signature at a proximal end of said instrument; and

said plurality of optical signatures comprises optically unique signature at both ends of said instrument.

19. The instrument drive system of claim 1, wherein:

said instrument drive system further comprises said plurality of optical signatures;

said plurality of optical signatures are arranged along a length of said instrument at pre-determined distances from one another;

Said controller is configured to read said plurality of optical signatures and determine a current location between said distal end and said proximal end;

said plurality of optical signatures are sensed by an optical sensor, and said controller;

said controller is programmed to alter a speed, direction or other setting of said drive wheels assembly upon receiving a signal related to said plurality of optical signatures;

said controller is configured to cause said two drive wheels to disengage or decouple or otherwise engage said clutch-brake assembly and/or said brake in order to slow/stop movement of said instrument; and

said controller is configured to cause the system to reverse movement of said instrument for safety.

20. The instrument drive system of claim 19, wherein:

said plurality of optical signatures are configured to further contain groups of optical bands of varying lengths and spacings that is configured to encode information about said instrument such as the length of said instrument and the outer diameter of said shaft.

21. The instrument drive system of claim 1, wherein:

said instrument drive system further comprises said first optical signature at either said proximal end or said distal end of said instrument.

22. The instrument drive system of claim 1, wherein:

said controller is configured to contain memory that is configured to store data associated with the use of said instrument drive system; and

Such data is configured to include temperature, number of co-processing cycles, number of charging cycles of said battery, number of manipulations of said instrument, alarms and other data, as is known in the art.