Endoscopic device with helical lumen design
View Patent ↗An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.
1. An elongated endoscopic instrument, comprising:
a working channel;
a lumen including:
a proximal end and a proximal section having a length extending approximately parallel to a central axis of the working channel along the length of the proximal section of the lumen;
a distal end and a distal section having a length and being spiraled at a plurality of non-zero angles around the working channel and along at least the length of the distal section of the instrument; and
a pull wire slidingly coupled within the lumen and configured to manipulate the elongated endoscope instrument;
wherein the length of the proximal section extending approximately parallel to the central axis of the working channel is greater than a pitch of the spiraled distal section of the lumen.
2. The instrument of claim 1 , wherein the instrument is configured to be manipulated by a robotic arm actuating the pull wire through the lumen.
3. The instrument of claim 1 , wherein the plurality of non-zero angles is pre-determined based on a desired flexibility of the distal end.
4. The instrument of claim 1 , wherein the plurality of non-zero angles gradually decreases along the distal section.
5. The instrument of claim 1 , further comprising:
a plurality of lumens including at least the lumen, each of the lumens including (i) a corresponding proximal section approximately parallel to the central axis of the working channel, (ii) a corresponding distal section spiraled around the working channel, and (iii) a corresponding pull wire slidingly coupled within the lumen.
6. The instrument of claim 5 , wherein the plurality of lumens includes at least three lumens, the corresponding proximal sections spaced at 120 degrees from each other about the central axis, the corresponding pull wires each configured to manipulate the instrument in at least two different degrees of freedom.
7. The instrument of claim 5 , wherein the plurality of lumens includes at least four lumens, the corresponding pull wires each configured to manipulate the instrument in at least two different degrees of freedom.
8. The instrument of claim 5 , wherein along the proximal section, the plurality of lumens are not spaced from each other at uniform angles about a longitudinal axis of the instrument.
9. The instrument of claim 1 , further comprising:
another lumen spiraled at the plurality of non-zero angles around the working channel.
10. The instrument of claim 1 , further comprising an imaging means at a distal end of the instrument.
11. The instrument of claim 10 , wherein the imaging means is a digital camera.
12. The instrument of claim 10 , further comprising an illumination means configured to be used with the imaging means.
13. A system comprising:
elongated endoscopic instrument including:
a working channel;
a lumen including:
a proximal end and a proximal section, the proximal section having a length and extending approximately parallel to a central axis of the working channel along the length of the proximal section;
a distal end and a distal section, the distal section having a length and being spiraled at a plurality of non-zero angles around the working channel and along at least the length of the di s t al section;
wherein the length of the proximal section extending approximately parallel to the central axis of the working channel is greater than a pitch of the spiraled distal section of the lumen;
a pull wire slidingly coupled within the lumen; and
a device manipulator coupled to the elongated endoscopic instrument and configured to manipulate the elongated endoscope instrument by actuating the pull wire.
14. The system of claim 13 , further comprising:
a robotic arm coupled to the device manipulator, wherein the device manipulator uses control signals received from the robotic arm to actuate to the pull wire.
15. The system of claim 13 , wherein the plurality of non-zero angles gradually decreases along the distal section end.
16. The system of claim 13 , further comprising:
a plurality of lumens including at least the lumen, each of the lumens including (i) a corresponding proximal section approximately parallel to the central axis of the working channel, (ii) a corresponding distal section spiraled around the working channel, and (iii) a corresponding pull wire slidingly coupled within the lumen.
17. The system of claim 16 , wherein the plurality of lumens includes at least three lumens, the corresponding proximal sections spaced at 120 degrees from each other about the central axis, the corresponding pull wires each configured to manipulate the instrument in at least two different degrees of freedom.
18. The system of claim 16 , wherein the plurality of lumens includes at least four lumens, the corresponding pull wires each configured to manipulate the instrument in at least two different degrees of freedom.
19. The instrument of claim 5 , wherein along the proximal section, the plurality of lumens are not spaced from each other at uniform angles about a longitudinal axis of the instrument.
20. The instrument of claim 1 , wherein the distal end of the lumen extends approximately parallel to the central axis.
21. The system of claim 13 , wherein the distal end of the lumen extends approximately parallel to the central axis.
22. The instrument of claim 1 , wherein a length of the distal end of the lumen that extends approximately parallel to the central axis is greater than the pitch of the spiraled distal section.
23. The instrument of claim 21 , wherein a length of the distal end of the lumen that extends approximately parallel to the central axis is greater than the pitch of the spiraled distal section.