Manual control system for maneuvering an endoscope
The present invention provides a system for maneuvering an endoscope (SFME) during a medical procedure, comprising a. at least one maneuvering system, adapted to maneuver said endoscope in at least two degrees of freedom (DOF); and, b. at least one joystick unit in communication with said maneuvering system, adapted to operate said maneuvering system; wherein operation of said joystick results in movement of said endoscope by means of said maneuvering system.
1. A system for maneuvering an endoscope (SFME) during a medical procedure, comprising:
at least one maneuvering system, configured to maneuver said endoscope in at least two degrees of freedom (DOF), said maneuvering system comprising:
at least one first pivoting support configured to be pivotally attached to said endoscope; said first pivoting support configured to enable said endoscope to pivot around an axis of rotation; and
at least one second pivoting support in communication with said at least one first pivoting support, said second pivoting support configured to rotate around at least one axis being substantially orthogonal to said axis of rotation independently of said first pivoting support; thereby enabling said endoscope to rotate around an insertion point into a body of a subject in at least two orthogonal axes; and,
at least one joystick in communication with said maneuvering system, configured to operate said maneuvering system;
wherein operation of said joystick results in movement of said endoscope by means of said maneuvering system;
wherein said endoscope is releasably attachable to said maneuvering system;
further wherein magnitude of a velocity of said at least one joystick being above a predetermined value, magnitude of said velocity of said endoscope is no greater than a predetermined value;
wherein said at least one maneuvering system comprises:
a first mechanism, comprising:
at least one first coaxial transmission; the first coaxial transmission defines a first plane and is characterized by a first axis of rotation which is substantially orthogonal to the first plane;
at least one second coaxial transmission; the second coaxial transmission defines a second plane and is characterized by a second axis of rotation; the second axis of rotation is substantially orthogonal to the second plane; additionally, it is rotatably connected to the first coaxial transmission; where the second plane is substantially orthogonal to the first plane; and
at least one first motor configured to rotate the first coaxial transmission around the first axis of rotation;
where the first coaxial transmission transmits rotation to the second coaxial transmission; and,
a second mechanism, comprising:
at least one third coaxial transmission which defines a third plane and is characterized by a third axis of rotation; the third axis of rotation is substantially orthogonal to the third plane;
at least one fourth coaxial transmission which defines a fourth plane and is characterized by a fourth axis of rotation, the fourth axis of rotation is substantially orthogonal to the fourth plane; and is rotatably connected to the third coaxial transmission; where the fourth plane is substantially orthogonal to the third plane;
at least one fifth coaxial transmission which defines a fifth plane and a fifth axis of rotation; the fifth axis of rotation is substantially orthogonal to the fifth plane; fifth coaxial transmission is rotatably connected to the fourth coaxial transmission and is substantially orthogonal to the fourth plane;
at least one second motor configured to rotate the third coaxial transmission around the third axis of rotation;
where the third coaxial transmission transmits rotation to the fourth coaxial transmission; the fourth coaxial transmission transmits rotation to the fifth coaxial transmission;
the first mechanism and the second mechanism are configured to rotate the endoscope around at least one second axis of rotation being substantially orthogonal to the second plane; and around at least one fifth axis of rotation being substantially orthogonal to the fifth plane, such that the second axis of rotation and the fifth axis of rotation are positioned at an angle A relative to each other; said angle A between said second axis of rotation and said fifth axis of rotation is in a range of about 0 degrees to about 180 degrees.
2. The system according to claim 1 , wherein said at least one joystick is wearable by a user of said system.
3. The system according to claim 1 , wherein said at least one joystick is coupled to at least one surgical tool used in said medical procedure.
4. The system according to claim 3 , wherein said at least one surgical tool is said endoscope.
5. The system according to claim 1 , wherein said movement of said joystick is proportional to said movement of said endoscope.
6. The system according to claim 1 , wherein said joystick is a force joystick.
7. The system according to claim 1 , wherein at least one of the following is true
(a) said at least one joystick comprises a base and lever coupled to said base, such that movement of said lever results in movement of said endoscope; further wherein said movement of said lever is proportional to said movement of said endoscope;
(b) said at least one joystick comprises a base and a button jointly connected to said base, such that movement of said button results in movement of said endoscope; further wherein said movement of said button is proportional to said movement of said endoscope;
(c) said at least one joystick comprises a touchscreen, such that a touch and a movement on said touchscreen results in movement of said endoscope; further wherein said touch and movement on said touchscreen is proportional to said movement of said endoscope;
(d) said at least one joystick comprises at least one sound sensor, configured to sense predetermined sound patterns; said joystick configured to operate said maneuvering system based on said predetermined sound patterns; and, any combination thereof.
8. The system according to claim 1 , wherein said at least one joystick additionally comprises n sensors, where n is an integer larger than one; further wherein said sensors are selected from a group consisting of a motion sensor, a heat sensor, an electric sensor, a sound sensor, a pressure sensor, an optical sensor and any combination thereof.
9. The system according to claim 8 , wherein at least one of the following is true
(a) at least one of said n sensors is activated in case of power failure; and,
(b) at least one of said n sensors is activated when said system is connected to power.
10. The system according to claim 1 , wherein said at least one joystick is characterized by an external surface; further wherein said at least one motion sensor detects motion upon said external surface.
11. The system according to claim 8 , wherein, at least one of the following is being held true (a) said at least one heat sensor is configured to sense temperatures in the range of about 35 degrees C. to about 42 degrees C.; said system being configured to enable maneuvering of said endoscope at such times as said at least one heat sensor senses temperatures in a range of about 35 degrees C. to about 42 degrees C. ; (b) said at least one heat sensor is configured to provide thermal image; said at least one heat sensor being coupled to a processing unit configured to provide said system user with said thermal image; said system being configured to enable maneuvering of said endoscope at such times as analysis of said thermal image by said processing unit detects the image of a human hand; said system being configured to prevent maneuvering of said endoscope at such times when said analysis of said thermal image by said processing unit fails to detect an image of a human hand; (c) said at least one electric sensor is configured to sense power failure; (d) said at least one electric sensor is configured to sense electric conductivity of a human body; further wherein said system is configured to enable maneuvering of said endoscope at such times when said sensor senses said electric conductivity of said human body; further wherein said system is adapted to prevent maneuvering of said endoscope at such times as said sensor fails to sense the conductivity of said human body; (e) said at least one sound sensor is configured to sense at least one predetermined sound pattern; further wherein said endoscope is maneuverable according to said at least one predetermined sound pattern sensed by said at least one sound sensor; (f) said at least one pressure sensor is configured to sense pressure applied to said at least one joystick; (g) said at least one optical sensor is configured to sense visual changes according to at least one predetermined visual pattern; further wherein said endoscope is maneuverable according to said at least one predetermined visual pattern; and any combination thereof.
12. The system according to claim 1 , additionally comprising an interface system configured to enable communication between said at least one joystick and said maneuvering system; further wherein said interface system configured to enable communication comprises a member selected from a group consisting of a wired communication, a wireless communication and any combination thereof.
13. The system according to claim 1 , wherein said at least one joystick is adapted to control and to direct said endoscope, via said maneuvering system, at a surgical tool.