Surgical systems and devices, and methods for configuring surgical systems and performing endoscopic procedures, including ERCP procedures

1. A surgical system for performing an endoscopic retrograde cholangiopancreatography (ERCP) cannulation, the surgical system comprising:

a main assembly, the main assembly including:

a main body for inserting into a cavity of a patient;

an inertial measurement unit (IMU) subsystem housed in the main body, the IMU subsystem configured to provide real-time IMU information, including real-time 3-dimensional position information of the main assembly, wherein the real-time 3-dimensional position information of the main assembly is generated by the IMU subsystem based on real-time orientation information and real-time acceleration information;

an image capturing subsystem housed in the main body, the image capturing subsystem configured to capture real-time images; and

a scope head assembly housed in the main body, the scope head assembly having a proximal end and a distal end, the scope head assembly configured to selectively extend the distal end of the scope head assembly outwardly from the main body, wherein at least a portion of the scope head assembly is configured to selectively bend in a plurality of directions; and

a processor, the processor configured to:

receive the real-time dimensional position information of the main assembly from the IMU subsystem;

receive the real-time images from the image capturing subsystem;

determine whether or not the received images include the distal end of the scope head assembly;

responsive to a determination that the received images include the distal end of the scope head assembly:

identify the distal end of the scope head assembly in the obtained images; and

generate, based on the received real-time 3-dimensional position information of the main assembly, real-time 3-dimensional positions of the distal end of the scope head assembly;

determine whether or not the received images include a cannulation target;

responsive to a determination that the received images include the cannulation target:

identify the cannulation target in the received images; and

generate, based on the real-time 3-dimensional position information of the main assembly and the received images, real-time 3-dimensional positions of the cannulation target;

responsive to a determination that the received images include the distal end of the scope head assembly and the cannulation target:

predict, based on the 3-dimensional position of the distal end of the scope head assembly and the 3-dimensional position of the cannulation target, one or more real-time trajectory paths for the identified distal end of the scope head assembly to cannulate the identified cannulation target.

2. The surgical system of claim 1 ,

wherein the real-time images received from the image capturing subsystem includes real-time video images.

3. The surgical system of claim 1 ,

wherein the main assembly includes a duodenoscope.

4. The surgical system of claim 1 ,

wherein the scope head assembly includes a wire guided device and/or a catheter.

5. The surgical system of claim 1 ,

wherein the processor is further configured to:

generate, based on the real-time 3-dimensional positions of the identified distal end of the scope head assembly and the real-time 3-dimensional positions of the identified cannulation target, real-time depth information between the identified cannulation target and the identified distal end of the scope head assembly.

6. The surgical system of claim 1 , further comprising:

a graphical display in communication with the processor and the main assembly;

wherein the processor is further configured to:

display, on the graphical display, the real-time images captured by the image capturing subsystem;

generate, in the real-time images that are displayed on the graphical display, a visible indicator for the identified cannulation target.

7. The surgical system of claim 6 ,

wherein the processor is further configured to:

generate, in the real-time images that are displayed on the graphical display, a visible indicator for the identified distal end of the scope head assembly.

8. The surgical system of claim 6 , further comprising:

generating, in the real-time images that are displayed on the graphical display, a visible indicator for the one or more predicted real-time trajectory paths between the identified distal end of the scope head assembly and the identified cannulation target.

9. The surgical system of claim 1 ,

wherein the processor is further configured to:

adjust an initial position, orientation, and movement of the distal end of the scope head assembly based on the predicted trajectory paths.