Endoscope with bendable camera shaft
An endoscope with a handle and an insertion shaft. The insertion shaft has solid state illumination and imaging circuitry at or near a tip designed to provide illumination and imaging of a body cavity for a surgeon during surgery. At least a portion of the insertion shaft is flexible or articulated. Controls on the handle permit control of flex or articulation of the insertion shaft to permit direction of illumination and field of view of the imaging circuitry. Control force transfer elements permit a surgeon to direct a direction of the imaging circuitry by transfer of mechanical force directed by a surgeon to the bendable distal portion to cause the bendable portion to bend under the surgeon's control.
1 . A replaceable endoscope tip for an endoscope, comprising:
an insertion shaft having a rigid proximal portion and a bendable distal portion, the bendable distal portion being bendable to direct a field of view of imaging circuitry in a desired direction, the bendable distal portion including a series of articulated rigid segments joined by rotatable joints to permit bending of the bendable distal portion, the segments of the bendable distal portion being incompressible in compression in a longitudinal dimension;
an illumination emitter and solid state imaging circuitry at or near a distal tip of the bendable distal portion, the illumination emitter being designed to illuminate, and the imaging circuitry being designed to capture imaging of, an interior of a body cavity for a surgeon during surgery;
a coupling for a separation joint between a proximal portion of a handle and the replaceable endoscope tip, the separation joint designed to separably connect the insertion shaft to the proximal handle portion, the coupling having:
a mechanical connector designed:
to permit separation and removal of the replaceable endoscope tip for disposal and replacement with another replaceable endoscope tip; and
to permit connection, the separation joint designed when connected to provide mechanical force transfer applied by a surgeon's hand to the replaceable endoscope tip, the separation joint having features to transfer roll torques, the separation joint having locking features and force-transmittal surfaces at its periphery to transmit insertion and withdrawal forces across the separation joint, the separation joint's locking features and peripheral force-transmittal surfaces designed to provide stiffness in bending across the separation joint to transfer pitch and yaw torques across the separation joint,
an electrical connector designed to provide separable electrical connectivity between electronics in the handle and the illumination emitter and imaging sensor, the handle electronics designed for drive of the illumination emitter and to receive an imaging signal from the imaging circuitry, the handle being designed to permit sterilization between uses; and
control force transfer elements designed to permit the surgeon to direct a direction of the imaging circuitry by transfer of mechanical force directed by the surgeon to the bendable distal portion to cause the bendable distal portion to bend under the surgeon's control, the control force transfer elements designed to transmit force from a handle of the endoscope to a terminal segment of the bendable distal portion;
the imaging circuitry being mounted within at or near a distal tip of the bendable distal portion via a pannable mounting;
a core within the insertion shaft, the core having two parallel elongated segments, a transverse segment, and two hinges connecting the transverse segment between the two elongated segments, the elongated segments being designed to carry both tension and compression for longitudinal motion of one of the elongated segments relative to the other, the transverse segment lying within the sheath at or near the distal end of the sheath;
the solid state imaging circuit being mounted on the transverse segment and having an imaging surface arranged in a viewing direction of the endoscope, the transverse segment being hinged between the elongated segments such that longitudinal motion of the one elongated segment relative to the other changes the angle of the imaging circuit relative to the longitudinal axis of the insertion shaft.
2 . The replaceable endoscope tip of claim 1 , further comprising:
a handle to be held by the surgeon's hand, the handle having a directional control with a finger engagement surface, the finger engagement surface designed to accept manipulation by the surgeon's hand to permit the surgeon to direct a direction of the imaging circuitry, the finger engagement surface being at a radius from the central longitudinal axis of the endoscope, and having a lever moment, larger than a radius of the handle, the directional control being generally an arc of a circle.
3 . The replaceable endoscope tip of claim 1 , further comprising:
a solid and rigid sheath surrounding the bendable distal portion, the bendable distal portion being extendable from and retractable into the solid sheath under control of the surgeon via a control at the handle.
4 . The replaceable endoscope tip of claim 1 , wherein:
the illumination emitter is a means for emitting illumination; and
the control force transfer elements are means for permitting the surgeon to direct a direction of the imaging circuitry by transfer of mechanical force directed by a surgeon to the bendable distal portion to cause the bendable distal portion to bend under the surgeon's control.
5 . An endoscope, comprising:
an insertion shaft having a rigid proximal portion and a bendable distal portion, the bendable distal portion being bendable to direct a field of view of imaging circuitry in a desired direction, the bendable distal portion including a series of articulated rigid segments joined by rotatable joints to permit bending of the bendable distal portion, the segments of the bendable distal portion being incompressible in compression in a longitudinal dimension;
a core within the insertion shaft, the core having two parallel elongated segments, a transverse segment, and two hinges connecting the transverse segment between the two elongated segments, the elongated segments being designed to carry both tension and
compression for longitudinal motion of one of the elongated segments relative to the other, the transverse segment lying within the sheath at or near the distal end of the sheath;
an illumination emitter and solid-state imaging circuitry at or near a distal tip of the bendable distal portion, the illumination emitter being designed to illuminate, and the imaging circuitry being designed to capture imaging of, an interior of a body cavity for a surgeon during surgery, wherein the imaging circuitry is mounted on the transverse segment within at or near a distal tip of the bendable distal portion via a pannable mounting, the imaging circuitry having an imaging surface arranged in a viewing direction of the endoscope, the transverse segment being hinged between the elongated segments such that longitudinal motion of the one elongated segment relative to the other changes the angle of the imaging circuitry relative to the central longitudinal axis of the insertion shaft;
a handle to be held by a surgeon's hand, the handle having a directional control with a finger engagement surface, the finger engagement surface designed to accept manipulation by a surgeon's hand to permit a surgeon to direct a direction of the imaging circuitry, the finger engagement surface being at a radius from a longitudinal axis of the endoscope, and having a lever moment, larger than a radius of the handle, the directional control being generally an arc of a circle; and
control force transfer elements designed to permit a surgeon to direct a direction of the imaging circuitry by transfer of mechanical force directed by a surgeon to the bendable distal portion to cause the bendable distal portion to bend under the surgeon's control, the force transfer elements designed to transmit force from a handle of the endoscope to a terminal segment of the bendable distal portion.
6 . The endoscope of claim 5 , further comprising:
a coupling for a separation joint between a proximal portion of the handle and the replaceable endoscope tip, the separation joint designed to separably connect the insertion shaft to the proximal handle portion, the coupling having:
a mechanical connector designed:
to permit separation and removal of the replaceable endoscope tip for disposal and replacement with another replaceable endoscope tip; an
to permit connection, the separation joint designed when connected to provide mechanical force transfer applied by a surgeon's hand to the replaceable endoscope tip, the separation joint having features to transfer roll torques, the separation joint having locking features and force-transmittal surfaces at its periphery to transmit insertion and withdrawal forces across the separation joint, the separation joint's locking features and peripheral force-transmittal surfaces designed to provide stiffness in bending across the separation joint to transfer pitch and yaw torques across the separation joint, and
an electrical connector designed to provide separable electrical connectivity between electronics in the handle and the illumination emitter and imaging sensor, the handle electronics designed for drive of the illumination emitter and to receive an imaging signal from the imaging circuitry, the handle being designed to permit sterilization between uses.
7 . The endoscope of claim 5 , further comprising:
a solid and rigid sheath surrounding the bendable distal portion, the bendable distal portion being extendable from and retractable into the solid sheath under control of the surgeon via a control at the handle.
8 . The replaceable endoscope tip of claim 7 , wherein: the finger engagement surface is circular.
9 . The replaceable endoscope tip of claim 5 , wherein: the bendable distal portion is bendable in two orthogonal dimensions.
10 . The replaceable endoscope tip of claim 5 , wherein: the series includes at least four segments.
11 . The replaceable endoscope tip of claim 5 , further comprising:
a flexible sheath or cover over the articulated rigid segments designed to reduce intrusion or pinching.
12 . An endoscope, comprising:
an insertion shaft having a rigid proximal portion and a bendable distal portion, the bendable distal portion being bendable to direct a field of view of imaging circuitry in a desired direction, the bendable distal portion including a series of articulated rigid segments joined by rotatable joints to permit bending of the bendable distal portion, the segments of the bendable distal portion being incompressible in compression in a longitudinal dimension;
a core within the insertion shaft, the core having two parallel elongated segments, a transverse segment, and two hinges connecting the transverse segment between the two elongated segments, the elongated segments being designed to carry both tension and compression for longitudinal motion of one of the elongated segments relative to the other, the transverse segment lying within the sheath at or near the distal end of the sheath;
an illumination emitter and solid state imaging circuitry at or near a distal tip of the bendable distal portion, the illumination emitter being designed to illuminate, and the imaging circuitry being designed to capture imaging of, an interior of a body cavity for a surgeon during surgery; the solid state imaging circuitry being mounted on the transverse segment and having an imaging surface arranged in a viewing direction of the endoscope, the transverse segment being hinged between the elongated segments such that longitudinal motion of the one elongated segment relative to the other changes the angle of the imaging circuitry relative to the central longitudinal axis of the insertion shaft;
a handle to be held by a surgeon's hand, the handle having a directional control with a finger engagement surface, the finger engagement surface designed to accept manipulation by the surgeon's hand to permit the surgeon to direct a direction of the imaging circuitry, the finger engagement surface being at a radius about the central longitudinal axis of the endoscope, and having a lever moment larger than a radius of the handle, the finger engagement surface being generally an arc of a circle at a radius about the central longitudinal axis, the directional control further designed to transfer mechanical force from the finger engagement surface to the bendable distal portion to cause the bendable distal portion to bend under the surgeon's control.
13 . The endoscope of claim 12 , further comprising:
a rigid, solid sheath surrounding the bendable distal portion, the bendable distal portion being extendable from and retractable into the solid sheath.
14 . The endoscope of claim 12 , wherein: the bendable distal portion is bendable in one dimension.
15 . The endoscope of claim 12 , wherein: the bendable distal portion is bendable in two orthogonal dimensions.
16 . The replaceable endoscope tip of claim 15 , further comprising:
a handle to be held by the surgeon's hand, the handle having a directional control with a finger engagement surface, the finger engagement surface designed to accept manipulation by the surgeon's hand to permit the surgeon to direct a direction of the imaging circuitry, the finger engagement surface being circular and having a radius from the central longitudinal axis of the endoscope larger than a radius of the handle.
17 . The endoscope of claim 12 , further comprising:
a plurality of the replaceable endoscope tips of claim 12 ; and
a handle with electronics designed for drive of the illumination emitter and to receive an imaging signal from the imaging circuitry; packaged for integrated shipment and sale.
18 . The endoscope of claim 12 , wherein:
the illumination emitter is an emission end of a fiber optic light path driven by an illumination source distal of the bendable distal portion.
19 . The endoscope of claim 12 , wherein:
the series includes at least four segments.
20 . The endoscope of claim 12 , further comprising:
a flexible sheath or cover over the articulated rigid segments designed to reduce intrusion or pinching.
21 . The endoscope of claim 12 , the rigid segments further enclosing passages for passage of irrigation fluid to improve view from a lens or window over the imaging circuitry.
22 . The endoscope of claim 12 , the rigid segments further enclosing passages for passage of inflation fluid to enlarge a cavity for surgery.
23 . The endoscope of claim 12 , further comprising:
a coupling for a separation joint between a proximal portion of the handle and the replaceable endoscope tip, the separation joint designed to separably connect the insertion shaft to the proximal handle portion, the coupling having:
a mechanical connector designed:
to permit separation and removal of the replaceable endoscope tip for disposal and replacement with another replaceable endoscope tip; and
to permit connection, the separation joint designed when connected to provide mechanical force transfer applied by the surgeon's hand to the replaceable endoscope tip, the separation joint having features to transfer roll torques, the separation joint having locking features and force-transmittal surfaces at its periphery to transmit insertion and withdrawal forces across the separation joint, the separation joint's locking features and peripheral force-transmittal surfaces designed to provide stiffness in bending across the separation joint to transfer pitch and yaw torques across the separation joint, and
an electrical connector designed to provide separable electrical connectivity between electronics in the handle and the illumination emitter and imaging sensor, the handle electronics designed for drive of the illumination emitter and to receive an imaging signal from the imaging circuitry, the handle being designed to permit sterilization between uses.
24 . The endoscope of claim 12 , further comprising a solid and rigid sheath surrounding the bendable distal portion, the bendable distal portion being extendable from and retractable into the solid sheath under control of the surgeon via a control at the handle.
25 . The endoscope of claim 12 , wherein: the imaging circuitry is mounted within at or near a distal tip of the bendable distal portion via a pannable mounting.
26 . The endoscope of claim 12 , wherein: the plurality includes at least four segments.
27 . The endoscope of claim 12 , further comprising:
a flexible sheath or cover over the articulated rigid segments designed to reduce intrusion or pinching.
28 . The endoscope of claim 12 , wherein:
the finger engagement surface lies at a periphery of a unilateral lobe of a lever arranged to transfer push and pull forces from the surgeon's hand to direct the direction of the imaging circuitry.
29 . The endoscope of claim 12 , wherein:
the finger engagement surface lies at opposite portions of a periphery of a two-lobed lever arranged to transfer forces from the surgeon's hand to direct the direction of the imaging circuitry.
30 . The endoscope of claim 12 , wherein the finger engagement surface lies on a circular lever arranged to transfer forces from the surgeon's hand to direct two dimensions of direction of the imaging circuitry.