Steerable endoscope system and method
A steerable endoscope is provided that includes a tubular body with a plurality of wires that, when deflected in a non-axial direction, cause a distal end of the endoscope to change orientation. A controller for the endoscope generates instructions to cause the deflection of one or more of the plurality of wires according to a steering input.
1. A steerable endoscope system, comprising:
an endoscope comprising:
a tubular body;
a plurality of wires disposed within the tubular body, wherein each wire of the plurality of wires is coupled to an endoscope distal end such that, upon deflection of one or more wires of the plurality of wires in a non-axial direction, the endoscope distal end changes orientation;
a controller in communication with the endoscope and comprising:
a display screen responsive to a user command to steer the endoscope; and
a processor that receives the user command and generates instructions to change the orientation of the endoscope distal end; and
at least one clamp having clamp sections, wherein the instructions cause the clamp sections to move closer together such that at least one of the one or more wires follows a contoured surface of one or more of the clamp sections, under a clamping force of the at least one clamp, to cause the change to the orientation of the endoscope distal end.
2. The steerable endoscope system of claim 1 , wherein the at least one clamp, when activated, moves in a non-axial direction relative to the one or more wires to clamp the one or more wires.
3. The steerable endoscope system of claim 1 , wherein the endoscope further comprises a camera at the endoscope distal end.
4. The steerable endoscope system of claim 1 , wherein each wire of the plurality of wires is coupled to a distal support and to a proximal support such that each wire is taut with substantially no load when the clamp is not activated.
5. The steerable endoscope system of claim 1 , wherein the endoscope further comprises a spacer disposed within a central passage of the tubular body, wherein the plurality of wires extend through the spacer with first spacing relative to one another and are coupled to the endoscope distal end with a second spacing relative to one another, wherein the first spacing is smaller than the second spacing.
6. The steerable endoscope system of claim 5 , wherein the second spacing comprises a circumferential spacing about a circumference of the tubular body and wherein the first spacing comprises a side-by-side arrangement within the tubular body.
7. The steerable endoscope system of claim 5 , wherein the spacer is disposed closer to the endoscope distal end than an endoscope proximal end.
8. The steerable endoscope system of claim 1 , wherein an interior surface of the endoscope is contoured such that the one or more wires conform to the interior surface when clamped by the at least one clamp.
9. The steerable endoscope system of claim 1 , wherein the at least one clamp is disposed within the controller and, when activated, clamps around a proximal end of the one or more wires that extends from the endoscope.
10. The steerable endoscope system of claim 1 , wherein the contoured surface is sinusoidal.
11. The steerable endoscope system of claim 1 , wherein the endoscope is removable from the controller and disposable, and wherein the controller is reusable.
12. The steerable endoscope system of claim 1 , wherein the clamp sections are part of a first clamp that clamps a first wire of the one or more wires, and the steerable endoscope system further comprises a second clamp that clamps a second wire of the one or more wires.
13. An endoscope system, comprising:
an endoscope comprising:
a tubular body comprising a plurality of wires, wherein each wire of the plurality of wires is coupled to an endoscope distal end and an endoscope proximal end and wherein the endoscope distal end is at a first orientation when the plurality of wires are not deflected; and
a controller in communication with the endoscope that receives a user steering input and that generates instructions to cause clamping of a clamp, between one or more clamp sections having contoured surfaces, such that the one or more clamp sections move closer together to cause at least one wire of the plurality of wires to follow the contoured surface under a clamping force of the clamp, which causes deflection of the endoscope distal end to a second orientation that is different than the first orientation.
14. The endoscope system of claim 13 , wherein the clamp sections are disposed within the controller.
15. The endoscope system of claim 13 , wherein the instructions to cause coordinated deflection further activate a plurality of magnets that magnetically attract one or more of the plurality of wires.
16. The endoscope system of claim 13 , wherein the plurality of wires comprises at least three wires, and wherein the instructions to cause coordinated deflection cause simultaneous deflection of the at least three wires.
17. An endoscope, comprising:
a tubular body comprising a proximal end and a distal end;
a plurality of wires within a central passage of the tubular body and extending from the distal end towards the proximal end; and
a clamp that, when activated, causes clamp sections of the clamp to move closer together such that at least one of the wires of the plurality of wires follows contoured surfaces of the clamp sections, under a clamping force of the clamp, to cause a change in orientation of the distal end.
18. The endoscope of claim 17 , wherein at least one of the clamping sections has a sinusoidal contoured surface.
19. The endoscope of claim 17 , wherein each clamping section has a sinusoidal contoured surface.
20. The endoscope of claim 17 , wherein the clamp is a first clamp that clamps a first wire of the plurality of wires, and the endoscope further comprises a second clamp that clamps a second wire of the plurality of wires.