Endoscope having a guide tube

Abstract

An endoscope having a guide tube is described herein. The assembly has an endoscope which is slidably insertable within the lumen of a guide tube. The guide tube is configured to be rigidizable along its entire length from a relaxed configuration. The endoscope has a steerable distal portion to facilitate the steering of the device through tortuous paths. In the relaxed configuration, a portion of the guide tube is able to assume the shape or curve defined by the controllable distal portion of the endoscope. Having assumed the shape or curve of the endoscope, the guide tube may be rigidized by the physician or surgeon to maintain that shape or curve while the endoscope is advanced distally through the tortuous path without having to place any undue pressure against the tissue walls.

1 .- 19 . (canceled)  
     
     
         20 . A method of advancing an instrument along an arbitrary path, comprising: 
 selectively steering a distal portion of the instrument to assume a selected shape along an arbitrary path;    advancing the instrument distally while configuring a controllable portion of the instrument to assume the selected shape of the distal portion, wherein the controllable portion is proximal of the distal portion;    advancing an elongate guide along 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 along 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.    
     
     
         21 . The method of  claim 20  further comprising measuring a depth change of the instrument while advancing the instrument distally.  
     
     
         22 . The method of  claim 21  further comprising incrementing a current depth by the depth change.  
     
     
         23 . The method of  claim 20  further comprising releasing the position of the guide and further advancing the guide along the instrument.  
     
     
         24 . The method of  claim 20  further comprising withdrawing the guide from the instrument.  
     
     
         25 . The method of  claim 20  wherein the elongate guide is advanced along by passing the instrument through a lumen within the elongate guide.  
     
     
         26 . The method of  claim 20  wherein the distal portion of the instrument selectively assumes a second shape when the instrument is advanced along the guide.  
     
     
         27 . The method of  claim 20  wherein maintaining the position of the guide comprises rigidizing the guide such that the guide rigidly assumes a position of the selected shape.  
     
     
         28 . The method of  claim 27  wherein rigidizing the guide comprises applying tension to a tensioning member disposed within the guide such that a plurality of adjacent segments comprising the guide are compressed.  
     
     
         29 . The method of  claim 27  wherein rigidizing the guide comprises applying a compressive force to an exterior of the elongate guide such that a plurality of adjacent segments comprising the guide are compressed.  
     
     
         30 . An apparatus for insertion into a body cavity, comprising: 
 an elongate body having a proximal portion and a selectively steerable distal portion and defining a lumen therebetween, the steerable distal portion being configurable to assume a selected shape along an arbitrary path;    an elongate guide having a proximal section, a distal section, and a length therebetween, the guide being slidably disposed without constraint over the elongate body to selectively support the elongate body,    wherein the guide is configured to conform to and selectively maintain the selected shape assumed by the steerable distal portion, and wherein the proximal portion of the elongate body when advanced distally is configured to conform to the selected curve maintained by the guide.    
     
     
         31 . The apparatus of  claim 30  further comprising a controllable portion located proximally of the distal portion, wherein the controllable portion is configured to propagate the selected shape to the controllable portion.  
     
     
         32 . The apparatus of  claim 31  wherein the selectively steerable distal portion is configurable via a control located externally of the body cavity.  
     
     
         33 . The apparatus of  claim 30  wherein the proximal section comprises a flexible tubular member.  
     
     
         34 . The apparatus of  claim 33  wherein the elongate guide comprises a plurality of pivotally connected segments.  
     
     
         35 . The apparatus of  claim 30  wherein the elongate guide is configured to assume the selected shape when the guide is in a flexible state and wherein the guide is further configured to maintain the selected shape when the guide is in a rigidized state.  
     
     
         36 . The apparatus of  claim 35  wherein the elongate guide is configured to selectively rigidize along the length of the guide to maintain the selected shape in the rigidized state.  
     
     
         37 . The apparatus of  claim 35  wherein the proximal section of the elongate guide is in communication with a guide controller for selectively rigidizing the guide along its length.  
     
     
         38 . The apparatus of  claim 35  wherein the elongate guide comprises a plurality of adjacent segments each defining a channel therethrough such that a common channel is defined through the length of the guide.  
     
     
         39 . The apparatus of  claim 38  further comprising a tensioning member slidably extending through the plurality of adjacent segments such that applying a force to the tensioning member compresses the adjacent segments together.  
     
     
         40 . The apparatus of  claim 38  wherein the elongate guide is configured to maintain a position of adjacent segments relative to each other upon applying a compressive force to an exterior of the plurality of adjacent segments.  
     
     
         41 . The apparatus of  claim 40  further comprising an expandable balloon.  
     
     
         42 . The apparatus of  claim 30  further comprising a tubular covering disposed over at least a majority of the length of the elongate guide.  
     
     
         43 . A method of advancing an instrument along an arbitrary path, comprising: 
 selectively steering a distal portion of the instrument to assume a selected shape along an arbitrary path;    advancing an elongate guide along the instrument such that a portion of the guide conforms to and assumes the selected shape;    maintaining a position of the guide while advancing the instrument along the guide such that a proximal portion of the instrument assumes the selected shape defined by the guide; and    measuring a depth change of the instrument while advancing the instrument distally, wherein the elongate guide is freely slidable along the instrument such that advancing of the instrument along the guide is unconstrained.    
     
     
         44 . The method of  claim 43  wherein, prior to advancing the elongate guide along the instrument, further comprising advancing the instrument distally while configuring a controllable portion of the instrument to assume the selected shape of the distal portion, wherein the controllable portion is proximal of the distal portion.  
     
     
         45 . The method of  claim 43  further comprising incrementing a current depth by the depth change.  
     
     
         46 . The method of  claim 43  further comprising releasing the position of the guide and further advancing the guide along the instrument.  
     
     
         47 . The method of  claim 43  further comprising withdrawing the guide from the instrument.  
     
     
         48 . The method of  claim 43  wherein the elongate guide is advanced along by passing the instrument through a lumen within the elongate guide.  
     
     
         49 . The method of  claim 43  wherein the distal portion of the instrument selectively assumes a second shape when the instrument is advanced along the guide.  
     
     
         50 . The method of  claim 43  wherein maintaining the position of the guide comprises rigidizing the guide such that the guide rigidly assumes a position of the selected shape.  
     
     
         51 . The method of  claim 50  wherein rigidizing the guide comprises applying tension to a tensioning member disposed within the guide such that a plurality of adjacent segments comprising the guide are compressed.  
     
     
         52 . The method of  claim 50  wherein rigidizing the guide comprises applying a compressive force to an exterior of the elongate guide such that a plurality of adjacent segments comprising the guide are compressed.  
     
     
         53 . An apparatus for insertion into a body cavity, comprising: 
 an elongate body having a selectively steerable distal portion, a controllable portion located proximally of the distal portion, and a lumen defined therebetween, the steerable distal portion being configurable to assume a selected shape along an arbitrary path;    an elongate guide having a proximal section, a distal section, and a length therebetween, the guide being slidably disposed without constraint over the elongate body to selectively support the elongate body,    wherein the guide is configured to conform to and selectively maintain the selected shape assumed by the steerable distal portion, and wherein the controllable portion of the elongate body when advanced distally is configured to propogate the selected shape to the contollable portion and conform to the selected curve maintained by the guide.    
     
     
         54 . The apparatus of  claim 53  wherein the selectively steerable distal portion is configurable via a control located externally of the body cavity.  
     
     
         55 . The apparatus of  claim 53  wherein the proximal section comprises a flexible tubular member.  
     
     
         56 . The apparatus of  claim 55  wherein the elongate guide comprises a plurality of pivotally connected segments.  
     
     
         57 . The apparatus of  claim 53  wherein the elongate guide is configured to assume the selected shape when the guide is in a flexible state and wherein the guide is further configured to maintain the selected shape when the guide is in a rigidized state.  
     
     
         58 . The apparatus of  claim 57  wherein the elongate guide is configured to selectively rigidize along the length of the guide to maintain the selected shape in the rigidized state.  
     
     
         59 . The apparatus of  claim 57  wherein the proximal section of the elongate guide is in communication with a guide controller for selectively rigidizing the guide along its length.  
     
     
         60 . The apparatus of  claim 57  wherein the elongate guide comprises a plurality of adjacent segments each defining a channel therethrough such that a common channel is defined through the length of the guide.  
     
     
         61 . The apparatus of  claim 60  further comprising a tensioning member slidably extending through the plurality of adjacent segments such that applying a force to the tensioning member compresses the adjacent segments together.  
     
     
         62 . The apparatus of  claim 60  wherein the elongate guide is configured to maintain a position of adjacent segments relative to each other upon applying a compressive force to an exterior of the plurality of adjacent segments.  
     
     
         63 . The apparatus of  claim 62  further comprising an expandable balloon.  
     
     
         64 . The apparatus of  claim 53  further comprising a tubular covering disposed over at least a majority of the length of the elongate guide.  
     
     
         65 . An apparatus for insertion into a body cavity, comprising: 
 an elongate body having a proximal portion, a selectively steerable distal portion, and a lumen defined therebetween, the steerable distal portion being configurable to assume a selected shape along an arbitrary path;    an elongate guide having a proximal section, a distal section, and a length therebetween, the proximal section comprising a flexible tubular member, the guide comprising a plurality of pivotally connected segments and being slidably disposed without constraint over the elongate body to selectively support the elongate body,    wherein the guide is configured to conform to and selectively maintain the selected shape assumed by the steerable distal portion, and wherein the proximal portion of the elongate body when advanced distally is configured to conform to the selected curve maintained by the guide.    
     
     
         66 . The apparatus of  claim 65  further comprising a controllable portion located proximally of the distal portion, wherein the controllable portion is configured to propagate the selected shape to the controllable portion.  
     
     
         67 . The apparatus of  claim 66  wherein the selectively steerable distal portion is configurable via a control located externally of the body cavity.  
     
     
         68 . The apparatus of  claim 65  wherein the elongate guide is configured to assume the selected shape when the guide is in a flexible state and wherein the guide is further configured to maintain the selected shape when the guide is in a rigidized state.  
     
     
         69 . The apparatus of  claim 68  wherein the elongate guide is configured to selectively rigidize along the length of the guide to maintain the selected shape in the rigidized state.  
     
     
         70 . The apparatus of  claim 68  wherein the proximal section of the elongate guide is in communication with a guide controller for selectively rigidizing the guide along its length.  
     
     
         71 . The apparatus of  claim 68  wherein the plurality of pivotally connected segments of the elongate guide further comprises a plurality of adjacent segments each defining a channel through the guide such that a common channel is defined through the length of the guide.  
     
     
         72 . The apparatus of  claim 71  further comprising a tensioning member slidably extending through the plurality of adjacent segments such that applying a force to the tensioning member compresses the adjacent segments together.  
     
     
         73 . The apparatus of  claim 71  wherein the elongate guide is configured to maintain a position of adjacent segments relative to each other upon applying a compressive force to an exterior of the plurality of adjacent segments.  
     
     
         74 . The apparatus of  claim 73  further comprising an expandable balloon.  
     
     
         75 . The apparatus of  claim 65  further comprising a tubular covering disposed over at least a majority of the length of the elongate guide.  
     
     
         76 . A method of advancing an instrument along an arbitrary path, comprising: 
 selectively steering a distal portion of the instrument to assume a selected shape along an arbitrary path;    advancing an elongate guide along the instrument by passing the instrument through a lumen within the elongate guide, 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 along 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.    
     
     
         77 . The method of  claim 76  wherein, prior to advancing the elongate guide along the instrument, further comprising advancing the instrument distally while configuring a controllable portion of the instrument to assume the selected shape of the distal portion, wherein the controllable portion is proximal of the distal portion.  
     
     
         78 . The method of  claim 76  further comprising measuring a depth change of the instrument while advancing the instrument distally.  
     
     
         79 . The method of  claim 78  further comprising incrementing a current depth by the depth change.  
     
     
         80 . The method of  claim 76  further comprising releasing the position of the guide and further advancing the guide along the instrument.  
     
     
         81 . The method of  claim 76  further comprising withdrawing the guide from the instrument.  
     
     
         82 . The method of  claim 76  wherein the distal portion of the instrument selectively assumes a second shape when the instrument is advanced along the guide.  
     
     
         83 . The method of  claim 76  wherein maintaining the position of the guide comprises rigidizing the guide such that the guide rigidly assumes a position of the selected shape.  
     
     
         84 . The method of  claim 83  wherein rigidizing the guide comprises applying tension to a tensioning member disposed within the guide such that a plurality of adjacent segments comprising the guide are compressed.  
     
     
         85 . The method of  claim 83  wherein rigidizing the guide comprises applying a compressive force to an exterior of the elongate guide such that a plurality of adjacent segments comprising the guide are compressed.