Endoscopic positioning system

1. An endoscope positioning system ( 300 ) for maneuvering, orienting and positioning an endoscope ( 500 ) relative to an organ upon which an operation is being performed, said organ located within a patient's body;

said endoscope positioning system comprising:

a. a four freedom degree mechanism ( 100 ); said four freedom degree mechanism actuates the distal portion of said endoscope by maneuvering the proximal portion of said endoscope; said four freedom degree mechanism comprises at least a first, second, third and fourth means for providing said four degrees of freedom:

i. said means of first degree of freedom is a rotation sub-mechanism ( 310 ) adapted to rotate said endoscope around the longitudinal axis of said endoscope;

ii. said means of second degree of freedom is a tilting sub-mechanism ( 320 ), comprising:

a. at least one transmission ( 115 ) in mechanical communication with an arc ( 150 ); said arc ( 150 ) is in mechanical communication with said endoscope; and,

b. at least one motor ( 157 b ) in reversible mechanical communication with said transmission ( 115 );

said transmission ( 115 ) is adapted to transmit rotational motion from said motor ( 157 b ) to said arc ( 150 ) such that said arc ( 150 ) is titled at an angle of interest;

iii. said means of third degree of freedom is an arc sub-mechanism ( 330 ), comprising:

a. at least one nut ( 151 ) adapted to linearly move along at least one screw ( 155 );

b. a chain comprising a plurality of links, said chain is characterized by having a distal end and a proximal end; each of said links is in mechanical communication with at least one of its neighboring links; said chain is at least partially located in a semicircular guide ( 154 );

said at least one nut ( 151 ) is in mechanical communication with at least one first link ( 152 a ) in said proximal end of said chain;

a gimbal ( 170 ) through which said endoscope passes, said gimbal in mechanical communication with at least one link located at said distal end of said chain;

whereby said linear movement of said nut ( 151 ) along said screw causes said first link ( 152 a ) in said chain to move along said semicircular guide such that the remaining links in said chain are forced to move along said semicircular guide ( 154 ) so as to move said gimbal ( 170 ) and said endoscope ( 500 ) along said semicircular guide ( 154 );

iv. said means of fourth degree of freedom is a zoom mechanism ( 340 );

each of said first, second, third and fourth degrees of freedom is characterized by an independent movement;

b. at least one body adapter gripper ( 201 ) adapted to reversibly and firmly attach said endoscope positioning system to said patient's body;

wherein said endoscope positioning system conforms to movements of said organ by means of said gripper ( 201 ) such that the orientation of said endoscope is adjustable in conjunction with said movements of said organ;

wherein said zoom mechanism ( 340 ) comprises:

a. at least one worm gear ( 181 );

b. at least one drum ( 182 ) mechanically connected to said worm gear ( 181 ); said drum ( 182 ) is characterized by a main longitudinal axis; said drum ( 182 ) is adapted to rotate a wire ( 183 ) around said main axis, such that the distance between said drum ( 183 ) and said gimbal ( 170 ) is shortened and a zoom motion is obtained.

2. An endoscope positioning system ( 300 ) for maneuvering, orienting and positioning an endoscope ( 500 ) relative to an organ upon which an operation is being performed, said organ located within a patient's body;

said endoscope positioning system comprising:

a. a four freedom degree mechanism ( 100 ); said four freedom degree mechanism actuates the distal portion of said endoscope by maneuvering the proximal portion of said endoscope; said four freedom degree mechanism comprises at least a first, second, third and fourth means for providing said four degrees of freedom:

i. said means of first degree of freedom is a rotation sub-mechanism ( 310 ) adapted to rotate said endoscope around the longitudinal axis of said endoscope;

ii. said means of second degree of freedom is a tilting sub-mechanism ( 320 ), comprising:

a. at least one transmission ( 115 ) in mechanical communication with an arc ( 150 ); said arc ( 150 ) is in mechanical communication with said endoscope; and,

b. at least one motor ( 157 b ) in reversible mechanical communication with said transmission ( 115 );

said transmission ( 115 ) is adapted to transmit rotational motion from said motor ( 157 b ) to said arc ( 150 ) such that said arc ( 150 ) is titled at an angle of interest;

iii. said means of third degree of freedom is an arc sub-mechanism ( 330 ), comprising:

a. at least one nut ( 151 ) adapted to linearly move along at least one screw ( 155 );

b. a chain comprising a plurality of links, said chain is characterized by having a distal end and a proximal end; each of said links is in mechanical communication with at least one of its neighboring links; said chain is at least partially located in a semicircular guide ( 154 );

said at least one nut ( 151 ) is in mechanical communication with at least one first link ( 152 a ) in said proximal end of said chain;

a gimbal ( 170 ) through which said endoscope passes, said gimbal in mechanical communication with at least one link located at said distal end of said chain;

whereby said linear movement of said nut ( 151 ) along said screw causes said first link ( 152 a ) in said chain to move along said semicircular guide such that the remaining links in said chain are forced to move along said semicircular guide ( 154 ) so as to move said gimbal ( 170 ) and said endoscope ( 500 ) along said arc semicircular guide ( 154 );

iv. said means of fourth degree of freedom is a zoom mechanism ( 340 );

each of said first, second, third and fourth degrees of freedom is characterized by an independent movement;

b. at least one body adapter gripper ( 201 ) adapted to reversibly and firmly attach said endoscope positioning system to said patient's body;

c. a quick fixing sub-mechanism ( 370 ) adapted to reversibly connect said endoscope ( 500 ) from semicircular guides ( 154 ); said quick fixing sub-mechanism ( 370 ) comprising:

i. the gimbal ( 170 ) through which said endoscopes passes through;

ii. at least one screw ( 161 );

iii. a cylinder ( 162 ) adapted to partially and reversibly accommodate said screw ( 161 );

iv. at least one clamping means ( 163 ) reversibly housed within said cylinder ( 162 ); said clamping means ( 163 ) being in mechanical communication with said screw ( 161 ); said clamping means ( 163 ) are adapted to reversibly apply pressure on said cylinder such that said gimbal ( 170 ) is reversibly housed within said cylinder ( 162 );

wherein said endoscope positioning system conforms to movements of said organ by means of said gripper ( 201 ) such that the orientation of said endoscope is adjustable in conjunction with said movements of said organ.

3. An endoscope positioning system ( 300 ) for maneuvering, orienting and positioning an endoscope ( 500 ) relative to an organ upon which an operation is being performed, said organ located within a patient's body;

said endoscope positioning system comprising:

a. a four freedom degree mechanism ( 100 ); said four freedom degree mechanism actuates the distal portion of said endoscope by maneuvering the proximal portion of said endoscope; said four freedom degree mechanism comprises at least a first, second, third and fourth means for providing said four degrees of freedom:

i. said means of first degree of freedom is a rotation sub-mechanism ( 310 ) adapted to rotate said endoscope around the longitudinal axis of said endoscope;

ii. said means of second degree of freedom is a tilting sub-mechanism ( 320 ), comprising:

a. at least one transmission ( 115 ) in mechanical communication with an arc ( 150 ); said arc ( 150 ) is in mechanical communication with said endoscope; and,

b. at least one motor ( 157 b ) in reversible mechanical communication with said transmission ( 115 );

said transmission ( 115 ) is adapted to transmit rotational motion from said motor ( 157 b ) to said arc ( 150 ) such that said arc ( 150 ) is titled at an angle of interest;

iii. said means of third degree of freedom is an arc sub-mechanism ( 330 ), comprising:

a. at least one nut ( 151 ) adapted to linearly move along at least one screw ( 155 );

b. a chain comprising a plurality of links, said chain is characterized by having a distal end and a proximal end; each of said links is in mechanical communication with at least one of its neighboring links; said chain is at least partially located in a semicircular guide ( 154 );

said at least one nut ( 151 ) is in mechanical communication with at least one first link ( 152 a ) in said proximal end of said chain;

a gimbal ( 170 ) through which said endoscope passes, said gimbal in mechanical communication with at least one link located at said distal end of said chain;

whereby said linear movement of said nut ( 151 ) along said screw causes said first link ( 152 a ) in said chain to move along said semicircular guide such that the remaining links in said chain are forced to move along said semicircular guide ( 154 ) so as to move said gimbal ( 170 ) and said endoscope ( 500 ) along said arc semicircular guide ( 154 );

iv. said means of fourth degree of freedom is a zoom mechanism ( 340 );

each of said first, second, third and fourth degrees of freedom is characterized by an independent movement;

b. at least one body adapter gripper ( 201 ) adapted to reversibly and firmly attach said endoscope positioning system to said patient's body;

wherein said endoscope positioning system conforms to movements of said organ by means of said gripper ( 201 ) such that the orientation of said endoscope is adjustable in conjunction with said movements of said organ;

wherein said organ is constantly moved during said operation;

further wherein said endoscope positioning system ( 300 ) additionally comprising a quick fixing sub-mechanism ( 370 ) adapted to reversibly connect said endoscope ( 500 ) from semicircular guides ( 154 ); said quick fixing sub-mechanism ( 370 ) comprising:

i. the gimbal ( 170 ) through which said endoscopes passes through;

ii. at least one screw ( 161 );

iii. a cylinder ( 162 ) adapted to partially and reversibly accommodate said screw ( 161 );

iv. at least one clamping means ( 163 ) reversibly housed within said cylinder ( 162 ); said clamping means ( 163 ) being in mechanical communication with said screw ( 161 ); said clamping means ( 163 ) are adapted to reversibly apply pressure on said cylinder such that said gimbal ( 170 ) is reversibly housed within said cylinder ( 162 ).

4. The endoscope positioning system according to claim 1 , wherein said endoscope positioning system is adapted to maintain a constant orientation of said endoscope relative to said organ by means of said gripper ( 201 ), such that alteration in said orientation as a result of said movements of said organ is prevented.

5. The endoscope positioning system according to claim 2 , wherein said endoscope positioning system is adapted to maintain a constant orientation of said endoscope relative to said organ by means of said gripper ( 201 ), such that alteration in said orientation as a result of said movements of said organ is prevented.

6. The endoscope positioning system according to claim 3 , wherein said endoscope positioning system is adapted to maintain a constant orientation of said endoscope relative to said organ by means of said gripper ( 201 ), such that alteration in said orientation as a result of said movements of said organ is prevented.

7. The endoscope positioning system according to claim 1 , wherein said gripper is selected from the group consisting of strips, magnets, screws, hooks, zips, fasteners, clips, flaps, claspers, springs, grips, hook-and-loop fasteners, hooks, hooks and eyes, straps, strings, wires, cables, tabs, links, poppers, nails, buttons, brackets, buckles and any combination thereof.

8. The endoscope positioning system according to claim 2 , wherein said gripper is selected from the group consisting of strips, magnets, screws, hooks, zips, fasteners, clips, flaps, claspers, springs, grips, hook-and-loop fasteners, hooks, hooks and eyes, straps, strings, wires, cables, tabs, links, poppers, nails, buttons, brackets, buckles and any combination thereof.

9. The endoscope positioning system according to claim 3 , wherein said gripper is selected from the group consisting of strips, magnets, screws, hooks, zips, fasteners, clips, flaps, claspers, springs, grips, hook-and-loop fasteners, hooks, hooks and eyes, straps, strings, wires, cables, tabs, links, poppers, nails, buttons, brackets, buckles and any combination thereof.

10. The endoscope positioning system according to claim 1 , wherein said tilting sub-mechanism ( 320 ) is characterized in that the reciprocal movement of said gimbal ( 170 ) along arc ( 150 ), and tilting of arc ( 150 ) are completely independent movements.

11. The endoscope positioning system according to claim 2 , wherein said tilting sub-mechanism ( 320 ) is characterized in that the reciprocal movement of said gimbal ( 170 ) along arc ( 150 ), and tilting of arc ( 150 ) are completely independent movements.

12. The endoscope positioning system according to claim 3 , wherein said tilting sub-mechanism ( 320 ) is characterized in that the reciprocal movement of said gimbal ( 170 ) along arc ( 150 ), and tilting of arc ( 150 ) are completely independent movements.

13. The endoscope positioning system according to claim 2 , wherein said zoom mechanism ( 340 ) comprises:

a. at least one worm gear ( 181 );

b. at least one drum ( 182 ) mechanically connected to said worm gear ( 181 ); said drum ( 182 ) is characterized by a main longitudinal axis; said drum ( 182 ) is adapted to rotate a wire ( 183 ) around said main axis, such that the distance between said drum ( 183 ) and said gimbal ( 170 ) is shortened and a zoom motion is obtained.

14. The endoscope positioning system according to claim 3 , wherein said zoom mechanism ( 340 ) comprises:

a. at least one worm gear ( 181 );

b. at least one drum ( 182 ) mechanically connected to said worm gear ( 181 ); said drum ( 182 ) is characterized by a main longitudinal axis; said drum ( 182 ) is adapted to rotate a wire ( 183 ) around said main axis, such that the distance between said drum ( 183 ) and said gimbal ( 170 ) is shortened and a zoom motion is obtained.

15. The endoscope positioning system according to claim 2 , additionally comprising a quick locking sub-mechanism ( 350 ), adapted to enable or disenable said arc sub-mechanism ( 330 ).

16. The endoscope positioning system according to claim 3 , additionally comprising a quick locking sub-mechanism ( 350 ), adapted to enable or disenable said arc sub-mechanism ( 330 ).

17. The endoscope positioning system according to claim 1 , wherein said operation is an orthopedic operation.

18. The endoscope positioning system according to claim 17 , wherein said organ is moved continuously throughout said operation.

19. The endoscope positioning system according to claim 2 , wherein said operation is an orthopedic operation.

20. The endoscope positioning system according to claim 19 , wherein said organ is moved continuously throughout said operation.

21. The endoscope positioning system according to claim 1 , additionally comprising a quick locking sub-mechanism ( 350 ), adapted to enable or disenable said arc sub-mechanism ( 330 ).