Enhanced control of flexible endoscopes through human-machine interface

Abstract

An electromechanical drive system with drop-in capability allows manipulation of the majority of existing endoscopes. The invention does not require retrofitting of existing endoscopes and maintains the current clinical workflow. The drive system can be controlled through a human/machine interface, which could consist of a variety of different input devices, including a joystick, keyboard, or game controller.

We claim: 
     
         1 . A motorized system for improving manipulation of an endoscope, comprising:
 a mechanical device for holding and driving the endoscope;   a motion control system for controlling the mechanical device; and   a human/machine interface for allowing a user to control the mechanical device through the motion control system;   wherein the mechanical device comprises:   a base;   a linear platform for causing linear movement of the endoscope, the linear platform being mounted on the base to be linearly movable relative to the base;   a rotation mechanism for causing rotation of the endoscope, the rotation mechanism being mounted on the linear platform to be movable with the linear platform; and   a tip-flexion mechanism for causing bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the linear platform to be movable with the linear platform.   
     
     
         2 . The motorized system of  claim 1 , wherein the human/machine interface comprises a six-degree-of-freedom (6-DOF) controller. 
     
     
         3 . The motorized system of  claim 2 , wherein the 6-DOF controller comprises a mouse. 
     
     
         4 . The motorized system of  claim 1 , wherein the linear platform comprises:
 a moving part mounted on the base to be linearly movable relative to the base; and   at least one support rod, extending from the moving part, on which the rotation mechanism and the tip-flexion mechanism are mounted.   
     
     
         5 . The motorized system of  claim 1 , wherein the linear platform further comprises at least one member for removably holding a body of the endoscope. 
     
     
         6 . The motorized system of  claim 5 , comprising at least one said member for removably holding the body of the endoscope, and wherein said at least one member for removably holding the body of the endoscope comprises:
 a docking frame for holding the handle of the endoscope; and   a cover panel removably attachable to the docking frame for retaining the body of the endoscope.   
     
     
         7 . The motorized system of  claim 6 , wherein the tip-flexion mechanism is attached to the fixed frame. 
     
     
         8 . The motorized system of  claim 6 , wherein the rotation mechanism comprises:
 a rotation shaft for engaging with the handle of the endoscope;   a motor;   a drive wheel coaxial with the motor; and   a loop for conveying rotational movement from the drive wheel to the rotation shaft.   
     
     
         9 . The motorized system of  claim 1 , wherein the tip-flexion mechanism is adapted to engage with a lever on a handle of the endoscope to actuate the lever to bend the tip of the endoscope. 
     
     
         10 . The motorized system of  claim 9 , wherein the tip-flexion mechanism comprises:
 a motor;   an engaging element for engaging with the lever; and   a mechanical linkage for conveying movement from the motor to the engaging element.   
     
     
         11 . The motorized system of  claim 10 , wherein the mechanical linkage comprises:
 a first belt pulley connected coaxially to the motor;   a belt;   a second belt pulley connected to the first belt pulley by the belt; and   a shaft connected coaxially to the second pulley; and   wherein the engaging element is on the shaft.   
     
     
         12 . The motorized system of  claim 10 , wherein the engaging element comprises a pole. 
     
     
         13 . The motorized system of  claim 1 , wherein the motion control system comprises a computer programmed to provide automatic or semi-automatic control of the mechanical device. 
     
     
         14 . A method for using and manipulating an endoscope, the method comprising:
 (a) providing a motorized system for improving manipulation of an endoscope, the motorized system comprising:   a mechanical device for holding and driving the endoscope;   a motion control system for controlling the mechanical device; and   a human/machine interface for allowing a user to control the mechanical device through the motion control system;   wherein the mechanical device comprises:   a base;   a linear platform for causing linear movement of the endoscope, the linear platform being mounted on the base to be linearly movable relative to the base;   a rotation mechanism for causing rotation of the endoscope, the rotation mechanism being mounted on the linear platform to be movable with the linear platform; and   a tip-flexion mechanism for causing bending of the tip of the endoscope, the tip-flexion mechanism being mounted on the linear platform to be movable with the linear platform;   (b) providing the endoscope in the device;   (c) inserting the endoscope into a patient; and   (d) using the motorized system to manipulate the endoscope within the patient.   
     
     
         15 . The method of  claim 14 , wherein the human/machine interface comprises a six-degree-of-freedom (6-DOF) controller. 
     
     
         16 . The method of  claim 15 , wherein the 6-DOF controller comprises a mouse. 
     
     
         17 . The method of  claim 14 , wherein the linear platform comprises:
 a moving part mounted on the base to be linearly movable relative to the base; and   at least one support rod, extending from the moving part, on which the rotation mechanism and the tip-flexion mechanism are mounted.   
     
     
         18 . The method of  claim 14 , wherein the linear platform further comprises at least one member for removably holding a body of the endoscope, and wherein step (b) comprises inserting the endoscope into the at least one member. 
     
     
         19 . The method of  claim 18 , wherein the at least one member for removably holding the body of the endoscope comprises:
 a docking frame for holding the body of the endoscope; and   a cover panel removably attachable to the body frame for retaining the body of the endoscope.   
     
     
         20 . The method of  claim 19 , wherein the tip-flexion mechanism is attached to the fixed frame.