Systems and methods for modular endoscope
An articulating flexible endoscope is provided. The endoscope comprises: a distal tip portion that is steerable via a driving mechanism; a bending section connected to the distal tip portion at a first end, and connected to a shaft portion at a transition interface, the bending section is articulated by one or more pull wires; and the shaft portion comprising one or more load transmission tubes for reducing at least a portion of the articulation force applied to the bending section by the one or more pull wires thereby improving stability of the shaft portion, the one or more load transmission tubes are anchored to the transition interface and have a length greater than the length of the shaft portion.
1 . An articulating flexible endoscope comprising:
a distal tip portion that is steerable via a driving mechanism;
a bending section connected to the distal tip portion at a distal end of the bending section, and connected to a shaft portion at a transition interface which comprises a ring structure, wherein the bending section is articulated by a plurality of pull wires; and
the shaft portion comprising a wall forming a central tubular bore housing a plurality of load transmission tubes for accommodating the plurality of pull wires, wherein a distal end of the plurality of load transmission tubes is anchored to the ring structure of the transition interface thereby forming a modular component for easy assembly to the bending section and the shaft portion, wherein a proximal end of the plurality of transmission tubes is fixed to a proximal end of the shaft portion such that only the distal end and proximal end of the plurality of load transmission tubes are connected to the shaft portion thereby transmitting load directly from the distal end to the proximal end without compressing the wall of the shaft portion, and wherein a length of each load transmission tube is greater than a length of the shaft portion between the transition interface and the proximal end of the shaft portion by a predetermined percentage, and wherein the predetermined percentage allows for a movement of each load transmission tube within the central tubular bore of the shaft portion to adapt to geometry changes to the length of the shaft portion.
2 . The articulating flexible endoscope of claim 1 , wherein the distal tip portion comprises a structure to integrate an imaging device, a position sensor, and an illumination device.
3 . The articulating flexible endoscope of claim 1 , wherein each of the plurality of pull wires is placed inside of a lumen of a respective load transmission tube from the plurality of load transmission tubes.
4 . The articulating flexible endoscope of claim 1 , wherein the bending section is bent by the plurality of pull wires in two or more directions.
5 . The articulating flexible endoscope of claim 1 , wherein the shaft portion includes a tube with an integrally formed structure to vary a stiffness of the shaft portion.
6 . The articulating flexible endoscope of claim 1 , further comprising a deformable working channel.
7 . The articulating flexible endoscope of claim 1 , further comprising a handle portion, wherein the handle portion includes one or more components configured to process image data, provide power to one or more electronic components located at the distal tip portion, or establish communication with an external device.
8 . The articulating flexible endoscope of claim 7 , wherein the handle portion comprises an interface configured to couple the handle portion to an instrument driving mechanism, and wherein the interface comprises an electrical interface and a mechanical interface.
9 . The articulating flexible endoscope of claim 1 , wherein the predetermined percentage is determined to ensure that the length of a particular load transmission tube is greater than the length of the shaft portion when the particular load transmission tube is under axial compression.
10 . The articulating flexible endoscope of claim 1 , wherein the distal end of the plurality of load transmission tubes is anchored to the ring structure of the transition interface to reduce an abrupt stiffness change between the shaft portion and the bending section.
11 . A disposable endoscope comprising:
a distal tip portion including an imaging device, a position sensor and an illumination device;
a bending section connected to the distal tip portion at a distal end of the bending section, and connected to a shaft portion at a proximal end of the bending section, wherein the bending section is articulated by a plurality of pull wires; and
the shaft portion comprising a wall forming a central tubular bore housing a plurality of load transmission tubes for accommodating the plurality of pull wires, wherein a distal end of the plurality of load transmission tubes is anchored to a junction interface between the bending section and the shaft portion thereby forming a modular component for easy assembly to the bending section and the central tubular bore, wherein a proximal end of the plurality of transmission tubes is fixed to a proximal end of the shaft portion such that only the distal end and proximal end of the plurality of load transmission tubes are connected to the shaft portion thereby transmitting load directly from the distal end to the proximal end without compressing the wall of the shaft portion, and wherein a length of each load transmission tube is greater than a length of the shaft portion between the junction interface and the proximal end of the shaft portion by a predetermined percentage to reduce an axial compression force applied to the shaft portion thereby improving stability of the shaft portion, and wherein the predetermined percentage allows for a movement of each load transmission tube within the central tubular bore of the shaft portion to adapt to geometry changes to the length of the shaft portion.
12 . The disposable endoscope of claim 11 , wherein the distal tip portion comprises a structure to receive the imaging device, the position sensor, and the illumination device.
13 . The disposable endoscope of claim 11 , wherein the imaging device, the position sensor, and the illumination device are arranged into a compact configuration.
14 . The disposable endoscope of claim 11 , wherein each of the plurality of pull wires is placed inside of a lumen of a respective load transmission tube from the plurality of load transmission tubes.
15 . The disposable endoscope of claim 11 , wherein the plurality of pull wires are movable relative to the plurality of load transmission tubes.
16 . The disposable endoscope of claim 11 , wherein the bending section is bent by the plurality of pull wires in two or more directions.
17 . The disposable endoscope of claim 11 , wherein the predetermined percentage is determined to ensure that the length of a particular load transmission tube is greater than the length of the shaft portion when the particular load transmission tube is under axial compression.
18 . The disposable endoscope of claim 11 , wherein the distal end of the plurality of load transmission tubes is anchored to the junction interface via a cutout feature on the shaft portion.