US6610007B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Steerable segmented endoscope and method of insertion
Assignee: Intuitive Surgical Operations Inc
•
Filing: 2001-10-02
•
Granted: 2003-08-26
•
Expires: 2021-10-02
Abstract
Abstract A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.
Inventors
- 👤 Amir Belson
- 👤 Paul DeWitt Frey
- 👤 Christine Wei Hsien Mcelhaney
- 👤 James Craig Milroy
- 👤 Robert Matthew Ohline
- 👤 Joseph M. Tartaglia
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 17:22
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/00002; A61B1/00004; A61B1/005; A61B1/0051; A61B1/0052; A61B1/0053; A61B1/00043; A61B1/00055; A61B1/00147; A61B1/0016; A61B1/0055; A61B1/008; A61B1/012; A61B1/015; A61B1/018; A61B1/04; A61B1/05; A61B1/31; A61B5/00; A61B5/06; A61B5/065; A61B34/00; A61B34/30; A61B2034/301; A61B34/70; A61B34/74; A61B2034/741; A61B2034/742
Claims Analysis
Total Claims: 52
Claim 1
Independent Claim
99 words
An apparatus for insertion into a body cavity, comprising: an elongate body having a proximal end and a selectively steerable distal end and defining at least one lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; and at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable, wherein when the distal end assumes a selected curve, the plurality of segments are configured to propagate the selected curve along the elongate body by each motor selectively actuating the adjacent segment.
Claim 2
Independent Claim
99 words
An apparatus for insertion into a body cavity, comprising: an elongate body having a proximal end and a selectively steerable distal end and defining at least one lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; and at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable, wherein when the distal end assumes a selected curve, the plurality of segments are configured to propagate the selected curve along the elongate body by each motor selectively actuating the adjacent segment.
Claim 3
Dependent Claim
39 words
The apparatus of claim 1 wherein each of the segments further comprise a backbone segment defining at least one lumen therethrough, the backbone segment being configured to pivotally attach at a first or second end to the adjacent segment.
Claim 4
Dependent Claim
17 words
The apparatus of claim 1 wherein each of the joints are configured to pivotally interconnect the segments.
Claim 5
Dependent Claim
29 words
The apparatus of claim 3 wherein the joints are selected from the group consisting of universal joints, flexible tubes, a plurality of single degree-of-freedom joints, and any combinations thereof.
Claim 6
Dependent Claim
18 words
The apparatus of claim 1 wherein each of the joints are configured to have at least 2 degrees-of-freedom.
Claim 7
Dependent Claim
26 words
The apparatus of claim 1 wherein the motor comprises a type of motor selected from the group consisting of pneumatic motors, hydraulic motors, and electromechanical motors.
Claim 8
Dependent Claim
52 words
The apparatus of claim 1 wherein the motor further comprises: an electromechanical motor having a rotatable output shaft for actuating the adjacent segment; a gear reduction stage attached to the electromechanical motor; and a position encoder in electrical communication with the electromechanical motor for sensing an angular motion of the output shaft.
Claim 9
Dependent Claim
81 words
The apparatus of claim 7 further comprising a plurality of cables, each cable having a first end and a second end, the first end being attached to the output shaft and the second end being attached to the adjacent segment such that rotating the output shaft in a first direction actuates the adjacent segment via the cable in a first direction and rotating the output shaft in a second direction actuates the adjacent segment via the cable in a second direction.
Claim 10
Dependent Claim
21 words
The apparatus of claim 8 wherein the cable is selected from the group consisting of filaments, strands, wires, chains, and braids.
Claim 11
Dependent Claim
26 words
The apparatus of claim 8 wherein the cable is comprised of a biocompatible material selected from the group consisting of stainless steel, polymers, plastics, and Nylon.
Claim 12
Dependent Claim
30 words
The apparatus of claim 1 further comprising a microcontroller disposable in each of the segments for sensing the relative position of the adjacent segment and for selectively controlling the motor.
Claim 13
Dependent Claim
21 words
The apparatus of claim 11 wherein the microcontroller is in communication with a master controller located away from the elongate body.
Claim 14
Dependent Claim
16 words
The apparatus of claim 12 wherein the microcontroller is in electrical communication with the master controller.
Claim 15
Dependent Claim
16 words
The apparatus of claim 12 wherein the microcontroller is in optical communication with the master controller.
Claim 16
Independent Claim
128 words
A system for inserting an apparatus into a body cavity, comprising: an elongate body having a proximal end and a selectively steerable distal end and defining a lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable, and wherein when the distal end assumes a selected curve, the selected curve is propagatable along the elongate body by each motor selectively actuating the adjacent segment; and a master controller in communication with each of the segments for selectively controlling each motor to alter the relative position of the adjacent segments when the selected curve is propagated along the elongate body.
Claim 17
Independent Claim
128 words
A system for inserting an apparatus into a body cavity, comprising: an elongate body having a proximal end and a selectively steerable distal end and defining a lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable, and wherein when the distal end assumes a selected curve, the selected curve is propagatable along the elongate body by each motor selectively actuating the adjacent segment; and a master controller in communication with each of the segments for selectively controlling each motor to alter the relative position of the adjacent segments when the selected curve is propagated along the elongate body.
Claim 18
Dependent Claim
29 words
The system of claim 15 further comprising a depth referencing device having a sensor for measuring a distance the elongate body is advanced or withdrawn from the body cavity.
Claim 19
Dependent Claim
17 words
The system of claim 16 wherein the sensor measures the distance via non-contact methods or contact methods.
Claim 20
Dependent Claim
25 words
The system of claim 17 wherein the sensor comprises a non-contact sensor selected from the group consisting of optical sensors, infra-red sensors, and electromagnetic sensors.
Claim 21
Dependent Claim
25 words
The system of claim 17 wherein the sensor comprises a contact sensor selected from the group consisting of axial motion transducers, rollers, and friction wheels.
Claim 22
Dependent Claim
22 words
The system of claim 15 further comprising a steering controller in communication with the steerable distal end for choosing the selected curve.
Claim 23
Dependent Claim
22 words
The system of claim 20 wherein the steering controller comprises a controller selected from the group consisting of joysticks and control wheels.
Claim 24
Dependent Claim
26 words
The system of claim 15 further comprising an imaging system for transmitting an image from the distal end to the proximal end of the elongated body.
Claim 25
Dependent Claim
27 words
The system of claim 22 wherein the imaging system comprises a fiberoptic imaging bundle extending from the distal end to the proximal end of the elongate body.
Claim 26
Dependent Claim
15 words
The system of claim 22 wherein the imaging system comprises a CCD or CMOS camera.
Claim 27
Dependent Claim
22 words
The system of claim 15 further comprising at least one illumination source on the elongate body for providing a source of light.
Claim 28
Dependent Claim
28 words
The system of claim 25 wherein the illumination source comprises at least one illumination fiber extending from the distal end to the proximal end of the elongate body.
Claim 29
Dependent Claim
27 words
The system of claim 15 further comprising a recording device in communication with the elongate body for recording images from the distal end of the elongate body.
Claim 30
Dependent Claim
20 words
The system of claim 15 wherein the elongate body is configured as an endoscope for insertion into a patient's body.
Claim 31
Dependent Claim
20 words
The system of claim 15 wherein the elongate body is configured as a colonoscope for insertion into a patient's colon.
Claim 32
Independent Claim
102 words
A method of advancing an apparatus along a selected path, comprising: providing an elongate body having a proximal end and a selectively steerable distal end, the elongate body comprising a plurality of segments interconnected via joints and at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable; selectively steering the distal end to assume a first selected curve along a desired path; and advancing the elongate body distally while controlling the proximal end of the instrument to assume the first selected curve of the distal end.
Claim 33
Independent Claim
102 words
A method of advancing an apparatus along a selected path, comprising: providing an elongate body having a proximal end and a selectively steerable distal end, the elongate body comprising a plurality of segments interconnected via joints and at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable; selectively steering the distal end to assume a first selected curve along a desired path; and advancing the elongate body distally while controlling the proximal end of the instrument to assume the first selected curve of the distal end.
Claim 34
Dependent Claim
20 words
The method of claim 30 further comprising measuring a depth change of the elongate body while advancing the instrument distally.
Claim 35
Dependent Claim
15 words
The method of claim 31 further comprising incrementing a current depth by the depth change.
Claim 36
Dependent Claim
23 words
The method of claim 32 further comprising communicating to each segment to adjust a position of each segment while advancing the elongate body.
Claim 37
Dependent Claim
30 words
The method of claim 30 further comprising advancing the elongate body proximally while controlling the proximal end of the instrument to assume the first selected curve of the distal end.
Claim 38
Dependent Claim
20 words
The method of claim 34 further comprising measuring a depth change of the elongate body while advancing the instrument proximally.
Claim 39
Dependent Claim
15 words
The method of claim 35 further comprising decrementing a current depth by the depth change.
Claim 40
Dependent Claim
23 words
The method of claim 36 further comprising communicating to each segment to adjust a position of each segment while advancing the elongate body.
Claim 41
Dependent Claim
28 words
The method of claim 30 further comprising activating at least a first motor on a first segment to actuate the first segment while advancing the elongate body distally.
Claim 42
Dependent Claim
28 words
The method of claim 38 further comprising activating at least a second motor on a second segment to actuate the second segment while advancing the elongate body distally.
Claim 43
Dependent Claim
33 words
The method of claim 30 further comprising measuring an angle between each of the segments and comparing the measured angle to a predetermined range of angles prior to selectively steering the distal end.
Claim 44
Dependent Claim
26 words
The method of claim 40 further comprising indicating to a user upon an indication of the measured angle not being within the predetermined range of angles.
Claim 45
Dependent Claim
35 words
The method of claim 40 further comprising placing each of the segments into a neutral position relative to one another upon an indication of the measured angle not being within the predetermined range of angles.
Claim 46
Independent Claim
113 words
A system for determining a location of an apparatus within a body cavity, comprising: an elongate body having a proximal end and a selectively steerable distal end and defining a lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable, and wherein when the distal end assumes a selected curve, the selected curve is propagatable along the elongate body by each motor selectively actuating the adjacent segment; and at least one transponder disposed along the body which is detectable by an external navigational detector.
Claim 47
Independent Claim
113 words
A system for determining a location of an apparatus within a body cavity, comprising: an elongate body having a proximal end and a selectively steerable distal end and defining a lumen therebetween, the elongate body comprising a plurality of segments interconnected via joints; at least one motor attached to each of at least a majority of segments for actuating an adjacent segment and wherein each motor is independently controllable, and wherein when the distal end assumes a selected curve, the selected curve is propagatable along the elongate body by each motor selectively actuating the adjacent segment; and at least one transponder disposed along the body which is detectable by an external navigational detector.
Claim 48
Dependent Claim
16 words
The system of claim 43 wherein the transponder comprises a coil having a predetermined resonant frequency.
Claim 49
Dependent Claim
11 words
The system of claim 43 wherein the transponder comprises a magnet.
Claim 50
Dependent Claim
18 words
The system of claim 43 wherein the transponder is disposed at the distal end of the elongate body.
Claim 51
Dependent Claim
20 words
The system of claim 43 further comprising a plurality of additional transponders disposed along the elongate body at predetermined positions.
Claim 52
Dependent Claim
25 words
The system of claim 43 wherein the external navigational detector comprises a global positioning device for remotely determining the sensor location within the body cavity.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2006-08-25 | 2007-02-24 | 2007-08-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2010-08-25 | 2011-02-24 | 2011-08-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2014-08-25 | 2015-02-24 | 2015-08-26 | $7700.00 | Window Closed / Lapsed |