Steerable segmented endoscope and method of insertion
A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.
1 . A system for determining the shape of an instrument during or after insertion of the instrument into a body cavity, comprising:
an instrument having an elongate body comprising a selectively steerable distal tip, and a plurality of automatically controlled segments proximal to said selectively steerable distal tip;
a segment controller associated with each of said plurality of automatically controlled segments, wherein each segment controller provides angular position data for the segment with which it is associated;
a controller in communication with each segment controller using a communication channel; and
an axial motion transducer that provides axial position data of said elongate body to said controller;
wherein said controller generates a three dimensional model of the shape of said instrument within said body cavity.
2 . The system according to claim 1 , wherein said controller commands each segment controller to control the geometry of the segment with which it is associated.
3 . The system according to claim 1 further comprising:
a display for displaying said three dimensional model.
4 . The system according to claim 1 , wherein said communication channel comprises an electrically conductive material.
5 . The system according to claim 1 , wherein said communication channel is an optical fiber.
6 . The system according to claim 1 , wherein said communication channel comprises wireless transmission.
7 . The system according to claim 1 further comprising:
an actuator within each segment adapted to modify the shape of the segment.
8 . The system according to claim 7 , wherein the actuator is a plastic actuator.
9 . The system according to claim 1 , wherein an image of said three dimensional model of the shape of said instrument is combined with a three dimensional image of said body cavity to form a combined three dimensional image, thereby facilitating guidance of said instrument within said body cavity.
10 . The system according to claim 1 , wherein said three dimensional model of the shape of said instrument approximately defines a three dimensional shape of said body cavity.
11 . The system according to claim 7 , wherein the combined three dimensional image shows corresponding movement of said instrument within said body cavity.
12 . A method for determining the three dimensional shape of an instrument during or after insertion of said instrument into a body cavity, wherein said instrument comprises an elongate body comprising a selectively steerable distal tip, and a plurality of automatically controlled segments proximal to said selectively steerable distal tip, said method comprising the steps of:
advancing said instrument into said body cavity;
providing axial position data to a controller, wherein said axial position data is relative to a datum;
providing angular position data to said controller from a segment controller associated with each of said plurality of automatically controlled segments; and
generating in electronic memory of said controller a three-dimensional shape of said instrument using the provided axial position data and the angular position data.
13 . The method for determining the three dimensional shape of an instrument according to claim 12 , wherein the step of providing angular position data further comprises:
providing angular position data to said controller from each segment controller using an optical fiber communications channel between said controller and each segment controller.
14 . The method for determining the three dimensional shape of an instrument according to claim 12 , wherein the step of providing angular position data further comprises:
providing angular position data to said controller from each segment controller using an electrically conductive communication channel between said controller and each segment controller.
15 . The method for determining the three dimensional shape of an instrument according to claim 12 , wherein the step of providing angular position data further comprises:
wirelessly providing angular position data to said controller from each segment.