Endoscope with adjacently positioned guiding apparatus

Abstract

An endoscope with guiding apparatus is provided. The endoscope has an elongate body with a steerable distal portion, an automatically controlled portion, a flexible and passively manipulated proximal portion, and an externally controlled and manipulatable guiding apparatus. The guiding apparatus may be positioned within the endoscope or may be positioned adjacent to the endoscope. An interlocking device is provided to slidably interlock the guiding apparatus and the endoscope. When the guide is in a flexible state, it can conform to a curve or path defined by the steerable distal portion and the automatically controlled portion. The guide can then be selectively rigidized to assume that curve or path. Once rigidized, the endoscope can be advanced along the guide in a monorail or “piggy-back” fashion so that the flexible proximal portion follows the curve held by the guide until the endoscope reaches a next point of curvature within a body lumen.

1 . A method of advancing an instrument along an arbitrary path using a guiding apparatus adjacently positioned to the instrument, comprising: 
 selectively steering a distal portion of the instrument to assume a selected shape along an arbitrary path;    advancing an elongate guide adjacent to the instrument such that a portion of the guide conforms to and assumes the selected shape; and    maintaining a position of the guide while advancing the instrument adjacent to the guide such that a proximal portion of the instrument assumes the selected shape defined by the guide, wherein the elongate guide is freely slidable along the instrument such that advancing of the instrument along the guide is unconstrained.    
     
     
         2 - 59 . (canceled)