Endoscopic systems, devices, and methods for performing in vivo procedures

Abstract

Example embodiments relate to endoscopic systems. The system includes first and second main bodies. First main body includes first end section, which includes a first anchor assembly and first proximal portion. First anchor assembly includes first and second expandable members and first negative pressure opening. First and second expandable members are each configured to transition between a non-expanded configuration and an expanded configuration. First negative pressure opening is configured to apply negative pressure. First proximal portion is secured to the first anchor assembly. First proximal portion includes a bendable portion configured to selectively move the first anchor assembly in a plurality of directions. Second main body includes first and second end sections and main cavity. First end section of second main body includes a second anchor assembly, which includes third and fourth expandable members and second negative pressure opening. Second negative pressure opening is configured to apply a negative pressure.

What is claimed is: 
     
         1 . An endoscopic system comprising:
 a first main body, the first main body having a first end section and a second end section, the first end section of the first main body including:
 a first anchor assembly, the first anchor assembly including:
 a first expandable member, the first expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the first expandable member is a configuration in which the first expandable member is expanded radially outwards away from a central axis of the first expandable member; 
 a second expandable member, the second expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the second expandable member is a configuration in which the second expandable member is expanded radially outwards away from a central axis of the second expandable member, the second expandable member being a separate and independently controllable expandable member from the first expandable member; and 
 a first negative pressure opening formed between the first expandable member and the second expandable member, the first negative pressure opening configured to apply a negative pressure; and 
 
 a first proximal portion, the first proximal portion being an elongated body secured to a proximal end of the first anchor assembly, the first proximal portion configured to retract inwardly into and extend outwardly away from a main cavity of a second main body, the first proximal portion including a bendable portion configured to bend in a plurality of directions, the first proximal portion configured to selectively move the first anchor assembly in a plurality of directions relative to the bendable portion of the first proximal portion by bending the bendable portion of the first proximal portion in a plurality of directions; and 
   the second main body, the second main body having a first end section, a second end section, and the main cavity, the main cavity of the second main body formed through the second main body from the first end section of the second main body to the second end section of the second main body, the first end section of the second main body including:
 a second anchor assembly, the second anchor assembly having:
 a third expandable member, the third expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the third expandable member is a configuration in which the third expandable member is expanded radially outwards away from a central axis of the third expandable member; 
 a fourth expandable member, the fourth expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the fourth expandable member is a configuration in which the fourth expandable member is expanded radially outwards away from a central axis of the fourth expandable member; and 
 a second negative pressure opening formed between the third expandable member and the fourth expandable member, the second negative pressure opening configured to apply a negative pressure. 
 
   
     
     
         2 . The endoscopic system of  claim 1 , wherein at least one of the following apply:
 the bendable portion of the first proximal portion that bends in the plurality of directions is a distal portion of the first proximal portion that is adjacent to the first expandable member;   the second end section of the first main body is connected to a controller, the controller configured to control one or more elements and functionalities of the endoscopic system; and   the second end section of the second main body is connected to the controller, the controller configured to control one or more elements and functionalities of the endoscopic system.   
     
     
         3 . The endoscopic system of  claim 1 ,
 wherein the first anchor assembly includes a bendable portion configured to bend in a plurality of directions; and   wherein the first anchor assembly is configured to selectively move the second expandable member in a plurality of directions relative to the first expandable member by bending the bendable portion of the first anchor assembly in a plurality of directions.   
     
     
         4 . The endoscopic system of  claim 3 ,
 wherein the bendable portion of the first anchor assembly that bends in the plurality of directions is a first central portion of the first anchor assembly, the first central portion of the first anchor assembly being a portion of the first anchor assembly formed between the first expandable member and the second expandable member.   
     
     
         5 . The endoscopic system of  claim 3 ,
 wherein the first main body includes a plurality of first movement control cavities formed through the first main body from the first end section of the first main body to the second end section of the first main body; and   wherein at least one of the following apply:
 the bending of the bendable portion of the first anchor assembly in the plurality of directions is achieved by selectively controlling one or more of the plurality of first movement control cavities; 
 the bending of the bendable portion of the first proximal portion in the plurality of directions is achieved by selectively controlling one or more of the plurality of first movement control cavities. 
   
     
     
         6 . The endoscopic system of  claim 1 ,
 wherein the first end section of the second main body includes a second proximal portion, the second proximal portion being an elongated body secured to a proximal end of the second anchor assembly;   wherein the second proximal portion includes a bendable portion configured to bend in a plurality of directions;   wherein the second proximal portion is configured to selectively move the second anchor assembly in a plurality of directions relative to the bendable portion of the second proximal portion by bending the bendable portion of the second proximal portion in a plurality of directions.   
     
     
         7 . The endoscopic system of  claim 6 ,
 wherein the second anchor assembly includes a bendable portion configured to bend in a plurality of directions; and   wherein the second anchor assembly is configured to selectively move the fourth expandable member in a plurality of directions relative to the third expandable member by bending the bendable portion of the second anchor assembly in a plurality of directions.   
     
     
         8 . The endoscopic system of  claim 7 ,
 wherein the bendable portion of the second anchor assembly that bends in the plurality of directions is a second central portion of the second anchor assembly, the second central portion of the second anchor assembly being a portion of the second anchor assembly formed between the third expandable member and the fourth expandable member.   
     
     
         9 . The endoscopic system of  claim 7 ,
 wherein the second main body includes a plurality of second movement control cavities formed through the second main body from the first end section of the second main body to the second end section of the second main body; and   wherein at least one of the following apply:
 the bending of the bendable portion of the second anchor assembly in the plurality of directions is achieved by selectively controlling one or more of the plurality of second movement control cavities; 
 the bending of the bendable portion of the second proximal portion in the plurality of directions is achieved by selectively controlling one or more of the plurality of second movement control cavities. 
   
     
     
         10 . The endoscopic system of  claim 1 , further comprising a pressure control subsystem configurable to provide a negative pressure;
 wherein at least one of the following apply:
 the first anchor assembly is configured to anchor the first main body with respect to an interior wall forming a cavity of a patient by:
 expanding the first expandable member to contact the interior wall forming the cavity of the patient; 
 expanding the second expandable member to contact the interior wall forming the cavity of the patient; and 
 applying, by the pressure control subsystem via the first negative pressure opening, the negative pressure to a region between the first expandable member, the second expandable member, the interior wall forming the cavity of the patient, and a portion of the first main body between the first expandable member and the second expandable member; and 
 
 the second anchor assembly is configured to secure the second main body with respect to an interior wall forming a cavity of a patient by:
 expanding the third expandable member to contact the interior wall forming the cavity of the patient; 
 expanding the fourth expandable member to contact the interior wall forming the cavity of the patient; and 
 applying, by the pressure control subsystem via the second negative pressure opening, the negative pressure to a region between the third expandable member, the fourth expandable member, the interior wall forming the cavity of the patient, and a portion of the second main body between the third expandable member and the fourth expandable member. 
 
   
     
     
         11 . The endoscopic system of  claim 1 , further comprising a controller, the controller configured to perform at least one of the following:
 control the bendable portion of the first proximal portion to bend in one of a plurality of directions;   control the transition of the first expandable member between the non-expanded configuration and the expanded configuration;   control the transition of the second expandable member between the non-expanded configuration and the expanded configuration;   control the transition of the third expandable member between the non-expanded configuration and the expanded configuration;   control the transition of the fourth expandable member between the non-expanded configuration and the expanded configuration;   control the negative pressure applied by the first negative pressure opening; and   control the negative pressure applied by the second negative pressure opening.   
     
     
         12 . The endoscopic system of  claim 10 ,
 wherein the anchoring of the first main body to the internal wall forming the cavity of the colon using the first expandable member, second expandable member, and first negative pressure opening provides a sufficient anchoring force to withstand a force of at least about 20 N.   
     
     
         13 . The endoscopic system of  claim 10 ,
 wherein the anchoring of the second main body to the internal wall forming the cavity of the colon using the third expandable member, fourth expandable member, and second negative pressure opening provides a sufficient anchoring force to withstand a force of at least about 20 N.   
     
     
         14 . An endoscopic system comprising:
 a first main body, the first main body having a first end section and a second end section, the first end section of the first main body including:
 a first anchor assembly, the first anchor assembly including:
 a first expandable member, the first expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the first expandable member is a configuration in which the first expandable member is expanded radially outwards away from a central axis of the first expandable member; 
 a second expandable member, the second expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the second expandable member is a configuration in which the second expandable member is expanded radially outwards away from a central axis of the second expandable member, the second expandable member being a separate and independently controllable expandable member from the first expandable member; 
 a first negative pressure opening formed between the first expandable member and the second expandable member, the first negative pressure opening configured to apply a negative pressure; and 
 a bendable portion configured to bend in a plurality of directions; 
 wherein the first anchor assembly is configured to selectively move the second expandable member in a plurality of directions relative to the first expandable member by bending the bendable portion of the first anchor assembly in a plurality of directions; and 
 
   a second main body, the second main body having a first end section, a second end section, and a main cavity, the main cavity of the second main body formed through the second main body from the first end section of the second main body to the second end section of the second main body, the first end section of the second main body including:
 a second anchor assembly, the second anchor assembly having:
 a third expandable member, the third expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the third expandable member is a configuration in which the third expandable member is expanded radially outwards away from a central axis of the third expandable member; 
 a fourth expandable member, the fourth expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the fourth expandable member is a configuration in which the fourth expandable member is expanded radially outwards away from a central axis of the fourth expandable member; and 
 a second negative pressure opening formed between the third expandable member and the fourth expandable member, the second negative pressure opening configured to apply a negative pressure. 
 
   
     
     
         15 . The endoscopic system of  claim 14 ,
 wherein the first end section of the first main body further includes a first proximal portion, the first proximal portion being an elongated body secured to a proximal end of the first anchor assembly, the first proximal portion configured to retract inwardly into and extend outwardly away from the main cavity of the second main body;   wherein the first proximal portion includes a bendable portion, the bendable portion of the first proximal portion configured to bend in a plurality of directions; and   wherein the first proximal portion is configured to selectively move the first anchor assembly in a plurality of directions relative to the bendable portion of the first proximal portion by bending the bendable portion of the first proximal portion in a plurality of directions.   
     
     
         16 . The endoscopic system of  claim 15 ,
 wherein the bendable portion of the first proximal portion that bends in the plurality of directions is a distal portion of the first proximal portion that is adjacent to the first expandable member.   
     
     
         17 . The endoscopic system of  claim 14 ,
 wherein the bendable portion of the first anchor assembly that bends in the plurality of directions is a first central portion of the first anchor assembly, the first central portion of the first anchor assembly being a portion of the first anchor assembly formed between the first expandable member and the second expandable member.   
     
     
         18 . The endoscopic system of  claim 15 ,
 wherein the first main body includes a plurality of first movement control cavities formed through the first main body from the first end section of the first main body to the second end section of the first main body; and   wherein at least one of the following apply:
 the bending of the bendable portion of the first anchor assembly in the plurality of directions is achieved by selectively controlling one or more of the plurality of first movement control cavities; 
 the bending of the bendable portion of the first proximal portion in the plurality of directions is achieved by selectively controlling one or more of the plurality of first movement control cavities. 
   
     
     
         19 . The endoscopic system of  claim 14 ,
 wherein the first end section of the second main body includes a second proximal portion, the second proximal portion being an elongated body secured to a proximal end of the second anchor assembly;   wherein the second proximal portion includes a bendable portion configured to bend in a plurality of directions;   wherein the second proximal portion is configured to selectively move the second anchor assembly in a plurality of directions relative to the bendable portion of the second proximal portion by bending the bendable portion of the second proximal portion in a plurality of directions.   
     
     
         20 . The endoscopic system of  claim 19 ,
 wherein the second anchor assembly is configured to selectively move the fourth expandable member in a plurality of directions relative to the third expandable member by bending a bendable portion of the second anchor assembly in a plurality of directions.   
     
     
         21 . The endoscopic system of  claim 20 ,
 wherein the bendable portion of the second anchor assembly that bends in the plurality of directions is a second central portion of the second anchor assembly, the second central portion of the second anchor assembly being a portion of the second anchor assembly formed between the third expandable member and the fourth expandable member.   
     
     
         22 . The endoscopic system of  claim 20 ,
 wherein the second main body includes a plurality of second movement control cavities formed through the second main body from the first end section of the second main body to the second end section of the second main body; and   wherein at least one of the following apply:
 the bending of the bendable portion of the second anchor assembly in the plurality of directions is achieved by selectively controlling one or more of the plurality of second movement control cavities; 
 the bending of the bendable portion of the second proximal portion in the plurality of directions is achieved by selectively controlling one or more of the plurality of second movement control cavities. 
   
     
     
         23 . The endoscopic system of  claim 14 , further comprising a pressure control subsystem configurable to provide a negative pressure;
 wherein at least one of the following apply:
 the first anchor assembly is configured to anchor the first main body with respect to an interior wall forming a cavity of a patient by:
 expanding the first expandable member to contact the interior wall forming the cavity of the patient; 
 expanding the second expandable member to contact the interior wall forming the cavity of the patient; and 
 applying, by the pressure control subsystem via the first negative pressure opening, the negative pressure to a region between the first expandable member, the second expandable member, the interior wall forming the cavity of the patient, and a portion of the first main body between the first expandable member and the second expandable member; and 
 
 the second anchor assembly is configured to secure the second main body with respect to an interior wall forming a cavity of a patient by:
 expanding the third expandable member to contact the interior wall forming the cavity of the patient; 
 expanding the fourth expandable member to contact the interior wall forming the cavity of the patient; and 
 applying, by the pressure control subsystem via the second negative pressure opening, the negative pressure to a region between the third expandable member, the fourth expandable member, the interior wall forming the cavity of the patient, and a portion of the second main body between the third expandable member and the fourth expandable member. 
 
   
     
     
         24 . The endoscopic system of  claim 14 , further comprising a controller, the controller configured to perform at least one of the following:
 control the bendable portion of the first anchor assembly to bend in one of a plurality of directions;   control the transition of the first expandable member between the non-expanded configuration and the expanded configuration;   control the transition of the second expandable member between the non-expanded configuration and the expanded configuration;   control the transition of the third expandable member between the non-expanded configuration and the expanded configuration;   control the transition of the fourth expandable member between the non-expanded configuration and the expanded configuration;   control the negative pressure applied by the first negative pressure opening; and   control the negative pressure applied by the second negative pressure opening.   
     
     
         25 . The endoscopic system of  claim 23 ,
 wherein the anchoring of the first main body to the internal wall forming the cavity of the colon using the first expandable member, second expandable member, and first negative pressure opening provides a sufficient anchoring force to withstand a force of at least about 20 N.   
     
     
         26 . The endoscopic system of  claim 23 ,
 wherein the anchoring of the second main body to the internal wall forming the cavity of the colon using the third expandable member, fourth expandable member, and second negative pressure opening provides a sufficient anchoring force to withstand a force of at least about 20 N.   
     
     
         27 . The endoscopic system of  claim 14 , wherein at least one of the following apply:
 the second end section of the first main body is connected to a controller; and   the second end section of the second main body is connected to the controller.   
     
     
         28 . An endoscopic system comprising:
 a first main body, the first main body having a first end section and a second end section, the first end section of the first main body including:
 a first anchor assembly, the first anchor assembly including:
 a first expandable member, the first expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the first expandable member is a configuration in which the first expandable member is expanded radially outwards away from a central axis of the first expandable member; 
 a second expandable member, the second expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the second expandable member is a configuration in which the second expandable member is expanded radially outwards away from a central axis of the second expandable member, the second expandable member being a separate and independently controllable expandable member from the first expandable member; 
 a first negative pressure opening formed between the first expandable member and the second expandable member, the first negative pressure opening configured to apply a negative pressure; and 
 a first anchor assembly bendable portion, the first anchor assembly bendable portion configured to bend in a plurality of directions, wherein the first anchor assembly is configured to selectively move the second expandable member in a plurality of directions relative to the first expandable member by bending the first anchor assembly bendable portion in a plurality of directions; and 
 
 a first proximal portion, the first proximal portion being an elongated body secured to a proximal end of the first anchor assembly, the first proximal portion configured to retract inwardly into and extend outwardly away from a main cavity of a second main body, the first proximal portion including:
 a first proximal portion bendable portion configured to bend in a plurality of directions, wherein the first proximal portion is configured to selectively move the first anchor assembly in a plurality of directions relative to the first proximal portion bendable portion by bending the first proximal portion bendable portion in a plurality of directions; and 
 
   the second main body, the second main body having a first end section, a second end section, and the main cavity, the main cavity of the second main body formed through the second main body from the first end section of the second main body to the second end section of the second main body, the first end section of the second main body including:
 a second anchor assembly, the second anchor assembly having:
 a third expandable member, the third expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the third expandable member is a configuration in which the third expandable member is expanded radially outwards away from a central axis of the third expandable member; 
 a fourth expandable member, the fourth expandable member configured to transition between a non-expanded configuration and an expanded configuration, wherein the expanded configuration of the fourth expandable member is a configuration in which the fourth expandable member is expanded radially outwards away from a central axis of the fourth expandable member; and 
 a second negative pressure opening formed between the third expandable member and the fourth expandable member, the second negative pressure opening configured to apply a negative pressure; and 
 
 a second proximal portion, the second proximal portion being an elongated body secured to a proximal end of the second anchor assembly, the second proximal portion including:
 a second proximal portion bendable portion configured to bend in a plurality of directions, wherein the second proximal portion is configured to selectively move the second anchor assembly in a plurality of directions relative to the second proximal portion bendable portion by bending the second proximal portion bendable portion in a plurality of directions.