U.S. patent application number 17/392166 was filed with the patent office on 2021-11-25 for surgical console, specimen receiver, and insertable endoscopic instrument for tissue removal.
This patent application is currently assigned to Interscope, Inc.. The applicant listed for this patent is Interscope, Inc.. Invention is credited to Evan Costa, Stephen C. Evans, Cosme Furlong, Michael W. Marcoux, William R. Rebh, JR., Richard Stephen Wisdom.
Application Number | 20210361265 17/392166 |
Document ID | / |
Family ID | 1000005753294 |
Filed Date | 2021-11-25 |
United States Patent
Application |
20210361265 |
Kind Code |
A1 |
Furlong; Cosme ; et
al. |
November 25, 2021 |
SURGICAL CONSOLE, SPECIMEN RECEIVER, AND INSERTABLE ENDOSCOPIC
INSTRUMENT FOR TISSUE REMOVAL
Abstract
A surgical console includes a drive assembly, vacuum interface,
fluid transfer device, user interface, and control circuit. The
drive assembly is configured to be coupled to an endoscopic tool
and to be rotated by a motor. The vacuum interface is configured to
apply a vacuum to the endoscopic tool. The fluid transfer device is
configured to flow fluid through the endoscopic tool. The user
interface is configured to receive a user input indicating at least
one of instructions to rotate the endoscopic tool while applying
the vacuum, or to flow fluid through the endoscopic tool. The
control circuit controls at least one of the drive assembly, the
vacuum interface, or the fluid transfer device based on the
instructions, and is configured to cause the drive assembly to
rotate the endoscopic tool while the vacuum interface applies the
vacuum responsive to the user input indicating instructions to
rotate the endoscopic tool.
Inventors: |
Furlong; Cosme; (Worcester,
MA) ; Marcoux; Michael W.; (Jamaica Plain, MA)
; Wisdom; Richard Stephen; (Hyde Park, MA) ; Rebh,
JR.; William R.; (Shrewsbury, MA) ; Costa; Evan;
(Waltham, MA) ; Evans; Stephen C.; (Westford,
MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Interscope, Inc. |
Northbridge |
MA |
US |
|
|
Assignee: |
Interscope, Inc.
Northbridge
MA
|
Family ID: |
1000005753294 |
Appl. No.: |
17/392166 |
Filed: |
August 2, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15459870 |
Mar 15, 2017 |
11076840 |
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17392166 |
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14792369 |
Jul 6, 2015 |
10265055 |
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15459870 |
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14537362 |
Nov 10, 2014 |
9072505 |
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14792369 |
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14280202 |
May 16, 2014 |
8882680 |
|
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14537362 |
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13336491 |
Dec 23, 2011 |
9808146 |
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14280202 |
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62308829 |
Mar 15, 2016 |
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61824760 |
May 17, 2013 |
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61566472 |
Dec 2, 2011 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 2017/00973
20130101; A61B 10/04 20130101; A61B 1/00091 20130101; A61B 1/05
20130101; A61B 2017/320064 20130101; A61B 90/30 20160201; A61B
17/320016 20130101; A61B 2017/0034 20130101; A61B 10/0283 20130101;
A61B 2217/005 20130101 |
International
Class: |
A61B 10/04 20060101
A61B010/04; A61B 10/02 20060101 A61B010/02; A61B 1/00 20060101
A61B001/00; A61B 1/05 20060101 A61B001/05 |
Claims
1. A surgical console, comprising: a drive assembly configured to
be coupled to an endoscopic tool, the drive assembly configured to
rotated by a motor, the motor configured to rotate a drive element
at a speed associated with rotation of the endoscopic tool; a
vacuum interface configured to be coupled to the endoscopic tool to
apply a vacuum to the endoscopic tool; a user interface configured
to receive a user input indicating an instruction to rotate the
endoscopic tool while applying the vacuum to the endoscopic tool;
and a control circuit configured to extract the instruction from
the user input to control at least one of the drive assembly or the
vacuum interface, the control circuit configured to cause the drive
assembly to rotate the endoscopic tool while the vacuum interface
applies the vacuum to the endoscopic tool responsive to the user
input indicating the instruction to rotate the endoscopic tool.
2. The surgical console of claim 1, wherein the vacuum interface
includes a vacuum control device configured to fluidly couple
tubing to a vacuum port of the endoscopic tool and to at least one
of a specimen receiver or a vacuum source.
3. The surgical console of claim 2, wherein the user interface
includes a vacuum control release configured to receive a vacuum
control instruction configured to cause the vacuum control device
to be actuated to one of an open position in which the vacuum
control device is configured to receive the tubing or a closed
position in which the vacuum control device is configured to engage
the tubing.
4. The surgical console of claim 3, wherein the vacuum control
device is configured to be actuated to the open position for a
predetermined amount of time and automatically close after the
predetermined amount of time.
5. The surgical console of claim 1, wherein the user input is a
first user input, wherein the instruction is a first instruction,
and wherein the user interface is configured to receive a second
user input indicating a second instruction to flow fluid through
the endoscopic tool, and further comprising: a fluid transfer
device configured to be coupled to the endoscopic tool to flow
fluid through the endoscopic tool, wherein the control circuit is
further configured to extract the second instruction from the user
input to control the fluid transfer device; and wherein the user
interface includes a primer input configured to cause at least one
of a prime or a flush tubing, the flush tubing coupled to the fluid
transfer device and to an irrigation port of the endoscopic
tool.
6. The surgical console of claim 1, wherein the user interface
includes a speed control configured to receive an indication of a
speed of rotation of the endoscopic tool, and the control circuit
is configured to cause the drive assembly to output a torque
corresponding to the speed of rotation to the endoscopic tool,
wherein the drive assembly includes a drive torque coil configured
to expand or compress to compensate for an expansion force or a
compression force associated with the torque.
7. The surgical console of claim 1, wherein the drive assembly
includes an engagement receiving member configured to engage a
drive shaft of the endoscopic tool.
8. The surgical console of claim 1, further comprising a bracket
assembly configured to removably engage a specimen receiver, the
bracket assembly including a first receiving portion continuous
with and offset from a second receiving portion.
9. The surgical console of claim 1, further comprising an
endoscopic tool interface configured to receive a proximal
connector of the endoscopic tool, the endoscopic tool interface
including an engagement actuator configured to be in a first
position in which the endoscopic tool interface is configured to
engage the proximal connector of the endoscopic tool and a second
position in which the endoscopic tool interface is disengaged from
the proximal connector of the endoscopic tool.
10. The surgical console of claim 1, wherein the user interface is
communicably coupled to a first remote input device associated with
control of the drive assembly and the fluid transfer device, and a
second remote input device associated with control of the vacuum
interface, and the control circuit is configured to control the
vacuum interface based on receiving a second control instruction
from the second remote input device if the second control
instruction is received within a predetermined time after receiving
a first control instruction from the first remote input device.
11. A method for operating a surgical console, comprising:
receiving, at a user interface, a user input indicating an
instruction to rotate an endoscopic tool using a drive assembly
while applying a vacuum to the endoscopic tool using a vacuum
interface, the drive assembly configured to be coupled to the
endoscopic tool, the drive assembly configured to rotated by a
motor, the motor configured to rotate a drive element at a speed
associated with rotation of the endoscopic tool, the vacuum
interface configured to be coupled to the endoscopic tool to apply
the vacuum to the endoscopic tool; extracting, from the user input,
the instruction; and controlling at least one of the drive assembly
or the vacuum interface based on the instruction, wherein
controlling includes causing the drive assembly to rotate the
endoscopic tool while causing the vacuum interface to apply the
vacuum responsive to the user input indicating the instruction to
rotate the endoscopic tool.
12. The method of claim 11, further comprising fluidly coupling a
vacuum control device of the vacuum interface to a vacuum port of
the endoscopic tool and at least one of a specimen receiver or a
vacuum source.
13. The method of claim 12, further comprising receiving, at a
vacuum control release of the user interface, a vacuum control
instruction, and causing the vacuum control device to be actuated
to one of an open position in which the vacuum control device is
configured to receive tubing or a closed position in which the
vacuum control device is configured to engage the tubing.
14. The method of claim 13, wherein actuating the vacuum control
device to the open position includes actuating the vacuum control
device to the open position for a predetermined amount of time and
automatically closing the vacuum control device after the
predetermined amount of time.
15. The method of claim 11, wherein the user input is a first user
input, wherein the instruction is a first instruction, and further
comprising: receiving, at the user interface, a second user input
indicating a second instruction to flow fluid through the
endoscopic tool using a fluid transfer device configured to be
coupled to the endoscopic tool; controlling the fluid transfer
device based on the second instruction, wherein controlling
includes causing the drive assembly to rotate the endoscopic tool
while causing the vacuum interface to apply the vacuum responsive
to the user input indicating the second instruction to rotate the
endoscopic tool; and receiving a primer instruction at a primer
input of the user interface, and causing at least one of a prime or
a flush tubing coupled to the fluid transfer device and to an
irrigation port of the endoscopic tool based on the primer
instruction.
16. The method of claim 11, further comprising: receiving an
indication of a speed of rotation of the endoscopic tool at a speed
control of the user interface; causing the drive assembly to output
a torque to the endoscopic tool based on the speed; and causing a
drive torque coil of the drive assembly to expand or compress to
compensate for an expansion force or a compression force associated
with the torque.
17. The method of claim 11, further comprising engaging a drive
shaft of the endoscopic tool by an engagement receiver member of
the drive assembly.
18. The method of claim 11, further comprising: receiving a
proximal connector of the endoscopic tool at an endoscopic tool
interface; positioning an engagement actuator of the endoscopic
tool interface in a first position to engage the endoscopic tool
interface to the proximal connector of the endoscopic tool; and
positioning the engagement actuator in a second position to
disengage the endoscopic tool interface from the proximal connector
of the endoscopic tool.
19. The method of claim 11, further comprising receiving a first
control instruction from a first remote input device associated
with control of the drive assembly and the fluid transfer device,
receiving a second control instruction from a second remote input
device associated with control of the vacuum interface, and causing
the vacuum interface to apply the vacuum to the endoscopic tool if
the second control instruction is received within a predetermined
time after the first control instruction.
20. A method of operating an endoscopic tool, comprising: engaging
a drive element of the endoscopic tool to a drive assembly of a
surgical console; fluidly coupling a vacuum port of the endoscopic
tool to a first end of a specimen receiver; fluidly coupling a
second end of the specimen receiver to a vacuum interface; fluidly
coupling an irrigation port of the endoscopic tool to a fluid
transfer device; inserting the endoscopic tool in an instrument
channel of an endoscope; identifying a material to be resected at a
site within a subject; resecting the material by rotating the
endoscopic tool while flowing fluid through the endoscopic tool
using the fluid transfer device; and obtaining a sample of the
material in the specimen receiver by applying a vacuum to the
endoscopic tool using the vacuum interface.
Description
RELATED APPLICATIONS
[0001] The present application is a continuation of and claims
priority to U.S. application Ser. No. 15/459,870, entitled
"Surgical Console, Specimen Receiver, and Insertable Endoscopic
Instrument For Tissue Removal," filed on Mar. 15, 2017, which
claims the benefit of and priority to U.S. Provisional Application
62/308,829, entitled "Surgical Console, Specimen Receiver, and
Insertable Endoscopic Instrument for Tissue Removal," filed Mar.
15, 2016. U.S. application Ser. No. 15/459,870 is also a
continuation-in part of and claims priority to U.S. application
Ser. No. 14/792,369, entitled "Insertable Endoscopic Instrument for
Tissue Removal," filed on Jul. 6, 2015, now U.S. Pat. No.
10,265,055, which is a continuation of and claims priority to U.S.
patent application Ser. No. 14/537,362, entitled "Insertable
Endoscopic Instrument for Tissue Removal", filed on Nov. 10, 2014,
now U.S. Pat. No. 9,072,505, which is a continuation of and claims
priority to U.S. patent application Ser. No. 14/280,202, entitled
"Insertable Endoscopic Instrument for Tissue Removal", filed May
16, 2014, now U.S. Pat. No. 8,882,680, which claims the benefit of
and priority to U.S. Provisional Patent Application No. 61/824,760,
entitled "Insertable Endoscopic Instrument for Tissue Removal,"
filed on May 17, 2013. U.S. patent application Ser. No. 14/280,202
is also a continuation-in-part of U.S. patent application Ser. No.
13/336,491, entitled "Endoscopic Tool For Debriding and Removing
Polyps," filed on Dec. 23, 2011, now U.S. Pat. No. 9,808,146, which
claims the benefit of and priority to U.S. Provisional Patent
Application No. 61/566,472, entitled "Endoscopic Tool For Debriding
and Removing Polyps," filed on Dec. 2, 2011. Each of these
applications are hereby incorporated by reference in their entirety
for all purposes.
BACKGROUND
[0002] Colon cancer is the third leading cause of cancer in the
United States but is the second leading cause of cancer-related
deaths. Colon cancer arises from pre-existing colon polyps
(adenomas) that occur in as many as 35% of the US population. Colon
polyps can either be benign, precancerous or cancerous. Colonoscopy
is widely regarded as an excellent screening tool for colon cancer
that is increasing in incidence worldwide. According to the
literature, a 1% increase in colonoscopy screening results in a 3%
decrease in the incidence of colon cancer. The current demand for
colonoscopy exceeds the ability of the medical system to provide
adequate screening. Despite the increase in colon cancer screening
the past few decades, only 55% of the eligible population is
screened, falling far short of the recommended 80%, leaving
millions of patients at risk.
[0003] Due to the lack of adequate resources, operators performing
a colonoscopy typically only sample the largest polyps, exposing
the patient to sample bias by typically leaving behind smaller less
detectable polyps that could advance to colon cancer prior to
future colonoscopy. Because of the sample bias, a negative result
from the sampled polyps does not ensure the patient is truly
cancer-free. Existing polyps removal techniques lack precision are
cumbersome and time consuming.
[0004] At present, colon polyps are removed using a snare that is
introduced into the patient's body via a working channel defined
within an endoscope. The tip of the snare is passed around the
stalk of the polyp to cut the polyp from the colon wall. Once the
cut has been made, the cut polyp lies on the intestinal wall of the
patient until it is retrieved by the operator as a sample. To
retrieve the sample, the snare is first removed from the endoscope
and a biopsy forceps or suction is fed through the same channel of
the endoscope to retrieve the sample.
[0005] Accordingly, there is a need for an improved endoscopic
instrument that increases the precision and speed of polyp removal
for biopsy.
SUMMARY
[0006] An improved endoscopic instrument is provided that can
precisely remove sessile polyps and efficiently obtain samples of
multiple polyps from a patient. In particular, the improved
endoscopic instrument is capable of debriding one or more polyps
and retrieving the debrided polyps without having to alternate
between using a separate cutting tool and a separate sample
retrieving tool. The sampling can be integrated with colonoscopy
inspection. In some implementations, the endoscopic instrument can
cut and remove tissue from within a patient. In some such
implementations, the endoscopic instrument can cut and remove
tissue substantially simultaneously from within a patient accessed
through a flexible endoscope.
[0007] In one aspect, an endoscopic instrument insertable within a
single instrument channel of an endoscope includes a power-driven
instrument head configured to resect material at a site within a
subject having been reached by a flexible endoscope with working
channel. The power-driven instrument head has a first distal end
and a first proximal end. The first distal end of the power-driven
instrument head defines a material entry port through which the
resected material can enter the flexible endoscopic instrument. A
body is coupled to the first proximal end of the power-driven
instrument head and configured to drive the power-driven instrument
head. The body includes a flexible portion that has a second distal
end and a second proximal end. The second proximal end of the
flexible portion defines a material exit port. An aspiration
channel extends from the material entry port of the power-driven
instrument head to the material exit port of the flexible portion.
The second proximal end of the flexible portion is configured to
couple to a vacuum source such that the resected material entering
the aspiration channel via the material entry port is removed from
the aspiration channel at the material exit port while the
endoscopic instrument is disposed within an instrument channel of a
flexible endoscope.
[0008] In some implementations, the body further includes a powered
actuator. The powered actuator is coupled to the first proximal end
of the power-driven instrument head and configured to drive the
power-driven instrument head. In some implementations, the powered
actuator is one of a hydraulically powered actuator, a
pneumatically powered actuator or an electrically powered actuator.
In some implementations, the powered actuator includes at least one
of an electric motor, a tesla rotor, and a vane rotor. In some
implementations, the endoscopic instrument includes an energy
storage component configured to power the powered actuator. In some
implementations, the aspiration channel is defined by the
power-driven instrument head, the powered actuator and the flexible
portion.
[0009] In some implementations, the powered actuator is one of a
hydraulically powered actuator or a pneumatically powered actuator.
In some such implementations, the flexible portion includes a fluid
inlet tubular member configured to supply irrigation to actuate the
power actuator and a fluid outlet tubular member configured to
remove the fluid being supplied to actuate the actuator. In some
implementations, the flexible portion includes an aspiration
tubular member that defines a proximal portion of the aspiration
channel.
[0010] In some implementations, the powered actuator includes a
hollow portion, the hollow portion fluidly coupling the material
entry port of the power-driven instrument head and the material
exit port of the flexible portion.
[0011] In some implementations, the instrument includes an
engagement assembly configured to contact the walls of the
instrument channel of the endoscope when actuated. In some
implementations, the engagement assembly includes a compliant ring
structure configured to be deformed.
[0012] In some implementations, the power-driven instrument head
includes an outer structure and a cutting shaft disposed within the
outer structure, the cutting shaft coupled to the powered actuator
and configured to rotate relative to the outer structure when the
powered actuator is actuated. In some implementations, the cutting
shaft includes a hollow portion and the material entry port.
[0013] In some implementations, the flexible portion includes a
hollow flexible torque cable. The flexible torque cable has a
distal region configured to couple to the first proximal end of the
power-driven instrument head and has a proximal region configured
to couple to a powered actuator. In some implementations, the
flexible torque cable defines a portion of the aspiration channel.
The distal region of the flexible torque cable is fluidly coupled
to the material entry port of the power-driven instrument head and
the proximal region of the flexible torque cable includes the
material exit port.
[0014] In some implementations, the instrument has an outer
diameter that is less than about 5 mm. In some implementations, the
flexible portion is at least 40 times as long as the power-driven
instrument head. In some implementations, the outer diameter of the
powered actuator is less than about 4 mm.
[0015] According to another aspect, an endoscopic instrument
includes a power-driven instrument head configured to resect
material at a site within a subject. The power-driven instrument
head includes a cutting tip and a material entry port configured to
allow material to enter a distal end of the endoscopic instrument.
A body is coupled to the power-driven instrument head. The body
includes an elongated hollow flexible tubular member that includes
a material exit port configured to allow material to exit a
proximal end of the endoscopic instrument. An aspiration channel
extends from the material entry port of the power-driven instrument
head to a material exit port of the elongated hollow flexible
tubular member. The second proximal end of the flexible portion is
configured to fluidly couple to a vacuum source such that the
resected material that enters the aspiration channel via the
material entry port of the power-driven instrument head is removed
from the endoscopic instrument via the material exit port. The
endoscopic instrument is configured to travel through a tortuous
instrument channel of an endoscope. In some implementations, the
instrument has an outer diameter that is less than about 5 mm and
wherein the flexible tubular member is at least 72 inches long.
[0016] In some implementations, the body further comprises a
powered actuator, the powered actuator coupled to the first
proximal end of the power-driven instrument head and configured to
drive the power-driven instrument head. In some implementations,
the powered actuator is an electrically powered actuator and
further comprising an electrically conducting wire configured to
couple to a power source. In some implementations, the aspiration
channel is defined by the power-driven instrument head, the powered
actuator and the flexible portion. In some implementations, the
flexible tubular member defines a proximal portion of the
aspiration channel.
[0017] In some implementations, the powered actuator is one of a
hydraulically powered actuator or a pneumatically powered actuator,
and further includes a fluid inlet tubular member configured to
supply fluid to actuate the power actuator and a fluid outlet
tubular member configured to remove the fluid being supplied to
actuate the actuator.
[0018] In some implementations, the instrument includes an
engagement assembly configured to contact the walls of the
instrument channel of the endoscope when actuated. In some
implementations, the engagement assembly includes a vacuum actuated
structure configured to move into an engaged position in which the
vacuum actuated structure is not in contact with the instrument
channel when the vacuum is actuated and configured to move into a
retracted position in which the vacuum actuated structure is not in
contact with the instrument channel when the vacuum is not
actuated.
[0019] In some implementations, the power-driven instrument head
includes an outer structure and a cutting shaft disposed within the
outer structure, the cutting shaft coupled to the powered actuator
and configured to rotate relative to the outer structure when the
powered actuator is actuated.
[0020] In some implementations, the flexible tubular member
includes a hollow flexible torque cable. The flexible torque cable
has a distal region configured to couple to the first proximal end
of the power-driven instrument head and has a proximal region
configured to couple to a powered actuator located external to the
endoscopic instrument. In some implementations, the flexible torque
cable further defines a portion of the aspiration channel, wherein
the distal region of the flexible torque cable is fluidly coupled
to the material entry port of the power-driven instrument head and
the proximal region of the flexible torque cable includes the
material exit port. In some implementations, the instrument
includes a sheath surrounding the flexible torque cable.
[0021] According to another aspect, a flexible endoscopic biopsy
retrieval tool adapted for use with an endoscope includes a
housing, a debriding component coupled to the housing, and a sample
retrieval conduit disposed within the housing for retrieving
debrided material that is debrided by the debriding component. In
various embodiments, an improved flexible endoscope may be
configured with an integrated endoscopic biopsy retrieval tool that
includes a debriding component and a sample retrieval conduit for
retrieving debrided material that is debrided by the debriding
component.
[0022] According to another aspect, a method of retrieving polyps
from a patient's body includes disposing an endoscopic instrument
within an instrument channel of an endoscope, inserting the
endoscope in a patient's body, actuating a debriding component of
the endoscopic instrument to cut a polyp within the patient's body,
and actuating a sample retrieval component of the endoscopic
instrument to remove the cut polyp from within the patient's
body.
[0023] According to yet another aspect, an endoscope includes a
first end and a second end separated by a flexible housing. An
instrument channel extends from the first end to the second end and
an endoscopic instrument is coupled to the instrument channel at
the first end of the endoscope. The endoscopic instrument includes
a debriding component and a sample retrieval conduit partially
disposed within the instrument channel.
[0024] According to yet another aspect, an endoscopic instrument
insertable within a single instrument channel of an endoscope
includes a cutting assembly that is configured to resect material
at a site within a subject. The cutting assembly includes an outer
cannula and an inner cannula disposed within the outer cannula. The
outer cannula defines an opening through which material to be
resected enters the cutting assembly. The endoscopic instrument
also includes a flexible outer tubing coupled to the outer cannula
and configured to cause the outer cannula to rotate relative to the
inner cannula. The flexible outer tubing can have an outer diameter
that is smaller than the instrument channel in which the endoscopic
instrument is insertable. The endoscopic instrument also includes a
flexible torque coil having a portion disposed within the flexible
outer tubing. The flexible torque coil having a distal end coupled
to the inner cannula. The flexible torque coil is configured to
cause the inner cannula to rotate relative to the outer cannula.
The endoscopic instrument also includes a proximal connector
coupled to a proximal end of the flexible torque coil and
configured to engage with a drive assembly that is configured to
cause the proximal connector, the flexible torque coil and the
inner cannula to rotate upon actuation. The endoscopic instrument
also includes an aspiration channel having an aspiration port
configured to engage with a vacuum source. The aspiration channel
is partially defined by an inner wall of the flexible torque coil
and an inner wall of the inner cannula and extends from an opening
defined in the inner cannula to the aspiration port. The endoscopic
instrument also includes an irrigation channel having a first
portion defined between an outer wall of the flexible torque coil
and an inner wall of the flexible outer tubing and configured to
carry irrigation fluid to the aspiration channel.
[0025] In some implementations, the proximal connector is hollow
and an inner wall of the proximal connector defines a portion of
the aspiration channel. In some implementations, the proximal
connector is a rigid cylindrical structure and is configured to be
positioned within a drive receptacle of the drive assembly. The
proximal connector can include a coupler configured to engage with
the drive assembly and a tensioning spring configured to bias the
inner cannula towards a distal end of the outer cannula. In some
implementations, the tensioning spring is sized and biased such
that the tensioning spring causes a cutting portion of the inner
cannula to be positioned adjacent to the opening of the outer
cannula. In some implementations, the proximal connector is
rotationally and fluidly coupled to the flexible torque coil.
[0026] In some implementations, the endoscopic instrument also
includes a lavage connector including an irrigation entry port and
a tubular member coupled to the lavage connector and the flexible
outer tubing. An inner wall of the tubular member and the outer
wall of the flexible torque coil can define a second portion of the
irrigation channel that is fluidly coupled to the first portion of
the irrigation channel. In some implementations, the endoscopic
instrument also includes a rotational coupler coupling the flexible
outer tubing to the tubular member and configured to cause the
flexible outer tubing to rotate relative to the tubular member and
cause the opening defined in the outer cannula to rotate relative
to the inner cannula. In some implementations, the lavage connector
defines an inner bore within which the flexible torque coil is
disposed.
[0027] In some implementations, the endoscopic instrument also
includes a lining within which the flexible torque coil is
disposed, the outer wall of the lining configured to define a
portion of the irrigation channel. In some implementations, the
inner cannula is configured to rotate axially relative to the outer
cannula and the aspiration channel is configured to provide a
suction force at the opening of the inner cannula.
[0028] In some implementations, the flexible torque coil includes a
plurality of threads. Each of the plurality of threads can be wound
in a direction opposite to a direction in which one or more
adjacent threads of the plurality of threads is wound. In some
implementations, the flexible torque coil includes a plurality of
layers. Each of the plurality of layers can be wound in a direction
opposite to a direction in which one or more adjacent layers of the
plurality of layers is wound. In some implementations, each layer
can include one or more threads.
[0029] In some implementations, the flexible outer tubing has a
length that exceeds the length of the endoscope in which the
endoscopic instrument is insertable. In some implementations, the
flexible outer tubing has a length that is at least 100 times
larger than an outer diameter of the flexible outer tubing. In some
implementations, the flexible portion is at least 40 times as long
as the cutting assembly.
[0030] According to yet another aspect, a specimen receiver
includes a first receiver member, a specimen capture member, and a
second receiver member. The first receiver member includes a first
receiver port configured to receive a fluid flow including a
material, the first receiver member defining a first portion of an
interior of the specimen receiver. The specimen capture member is
in fluid communication with the first portion of the interior. The
specimen capture member is configured to obtain a sample of a
material from the fluid flow. The specimen capture member is
disposed between the first portion of the interior and the second
portion of the interior. The specimen capture member is configured
to filter the fluid flow to obtain the sample of the material. The
second receiver member is configured to be coupled to the first
receiver member. The second receiver member defines a second
portion of the interior of the specimen receiver. The second
portion is downstream of the first portion. The second receiver
member includes a second receiver port configured to be coupled to
a vacuum source.
[0031] According to yet another aspect, a method of obtaining a
sample of material from an endoscopic tool in a specimen receiver
includes positioning a specimen capture member between a first
receiver member and a second receiver member. The method includes
receiving a fluid flow including a material at a first receiver
port of the first receiver member, the first receiver member
defining a first portion of an interior of the specimen receiver in
which the specimen capture member is positioned. The method
includes coupling the second receiver member to the first receiver
member, the second receiver member defining a second portion of the
interior of the specimen receiver. The method includes coupling a
vacuum source to a second receiver port of the second receiver
member to flow the fluid through the specimen receiver. The method
includes obtaining a sample of the material by filtering the fluid
flow using the specimen capture member.
[0032] According to yet another aspect, a surgical console includes
a drive assembly, a vacuum interface, a fluid transfer device, a
user interface, and a control circuit. The drive assembly is
configured to be coupled to an endoscopic tool. The drive assembly
is configured to be rotated by a motor. The motor is configured to
rotate the drive assembly at a speed associated with rotation of
the endoscopic tool. The vacuum interface is configured to be
coupled to the endoscopic tool to apply a vacuum to the endoscopic
tool. The fluid transfer device is configured to be coupled to the
endoscopic tool to flow fluid through the endoscopic tool. The user
interface is configured to receive a user input indicating at least
one of instructions to rotate the endoscopic tool while applying
the vacuum to the endoscopic tool, or instructions to flow fluid
through the endoscopic tool. The control circuit is configured to
extract the instructions from the user input and control operation
of at least one of the drive assembly, the vacuum interface, or the
fluid transfer device based on the instructions. The control
circuit is configured to cause the drive assembly to rotate the
endoscopic tool while the vacuum interface applies the vacuum to
the endoscopic tool responsive to the user input indicating
instructions to rotate the endoscopic tool.
[0033] According to yet another aspect, a method for operating a
surgical console includes receiving, at a user interface, a user
input. The user input indicates at least one of (1) instructions to
rotate an endoscopic tool using a drive assembly while applying a
vacuum to the endoscopic tool using a vacuum interface, the drive
assembly configured to be coupled to an endoscopic tool, the drive
assembly configured to rotated by a motor, the motor configured to
rotate the drive element at a speed associated with rotation of the
endoscopic tool; the vacuum interface configured to be coupled to
the endoscopic tool to apply a vacuum to the endoscopic tool; or
(2) instructions to flow fluid through the endoscopic tool using a
fluid transfer device configured to be coupled to the endoscopic
tool. The method includes extracting, from the user input, the
instructions. The method includes controlling operation of at least
one of the drive assembly, the vacuum interface, or the fluid
transfer device based on the instructions. Controlling operation
includes causing the drive assembly to rotate the endoscopic tool
while causing the vacuum interface to apply the vacuum responsive
to the user input indicating instructions to rotate the endoscopic
tool.
[0034] According to yet another aspect, a method of operating an
endoscopic tool includes engaging a drive element of the endoscopic
tool to a drive assembly of a surgical console. The method includes
fluidly coupling a vacuum port of the endoscopic tool to a first
end of a specimen receiver. The method includes fluidly coupling a
second end of the specimen receiver to a vacuum interface. The
method includes fluidly coupling an irrigation port of the
endoscopic tool to a fluid transfer device. The method includes
inserting the endoscopic tool in an instrument channel of an
endoscope. The method includes identifying material to be resected
at a site within a subject. The method includes resecting the
material by rotating the endoscopic tool while flowing fluid
through the endoscopic tool using the fluid transfer device. The
method includes obtaining a sample of the material in the specimen
receiver by applying a vacuum to the endoscopic tool using the
vacuum interface.
[0035] According to yet another aspect, a connector assembly for an
endoscopic tool includes a first connector end, a second connector
end, a driver transfer assembly, an irrigation channel, and an
aspiration channel. The first connector end defines a first opening
configured to receive a drive assembly. The second connector end is
opposite the first connector end and defines a second opening and a
third opening. The drive transfer assembly extends between the
first connector end and the second connector end. The drive
transfer assembly is configured to be coupled to the drive assembly
via the first opening to be rotated by the drive assembly. The
drive transfer assembly is configured to be coupled to a flexible
torque delivery assembly at the second connector end to rotate the
flexible torque delivery assembly responsive to rotation by the
drive assembly. The irrigation channel includes an irrigation port
and a first channel portion fluidly coupled to the irrigation port
and to the second opening. The irrigation port is configured to
receive fluid and flow the received fluid through the irrigation
channel. The aspiration channel includes a vacuum port and a second
channel portion fluidly coupled to the vacuum port and to the third
opening. The vacuum port is configured to transmit a suction force
applied to the vacuum port to the second channel portion.
[0036] According to yet another aspect, a method of operating an
endoscopic tool includes receiving a drive assembly at a first
opening defined by a first connector end of a connector assembly of
the endoscopic tool. The method includes coupling the drive
assembly to a drive transfer assembly of the connector assembly.
The drive transfer assembly extends between the first connector end
and a second connector end of the connector assembly. The second
connector end defines a second opening and a third opening. The
method includes coupling the drive transfer assembly to a flexible
torque delivery assembly at the second connector end. The method
includes rotating the flexible torque delivery assembly responsive
to rotation by the drive transfer assembly. The method includes
receiving fluid at an irrigation port of the connector assembly.
The method includes flowing the fluid through an irrigation
channel, the irrigation channel including the irrigation port and a
first channel portion fluidly coupled to the irrigation port and to
the second opening. The method includes applying a suction force to
a vacuum port of the connector assembly. The method includes
transmitting the suction force through an aspiration channel
including the vacuum port and a second channel portion fluidly
coupled to the vacuum port and to the third opening to obtain a
sample of a material resected by the endoscopic tool.
[0037] This Summary is provided to introduce a selection of
concepts in a simplified form that are further described below in
the Detailed Description. This Summary is not intended to identify
key features or essential features of the claimed subject matter,
nor is it intended that this Summary be used to limit the scope of
the claimed subject matter. Furthermore, the claimed subject matter
is not limited to implementations that offer any or all advantages
or solve any or all state of the art problems.
BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The present disclosure is illustratively shown and described
in reference to the accompanying drawing in which:
[0039] FIG. 1A illustrates various types of polyps that can form
within a body.
[0040] FIG. 1B illustrates a perspective partial view of an
endoscope according to embodiments of the present disclosure.
[0041] FIG. 1C illustrates a perspective view of an endoscopic
instrument according to embodiments of the present disclosure.
[0042] FIGS. 2A and 2B illustrate side perspective views of an
endoscopic instrument coupled with the endoscope shown in FIG. 1
according to embodiments of the present disclosure.
[0043] FIGS. 3A and 3B illustrate side perspective views of an
example endoscopic instrument coupled with the endoscope shown in
FIG. 1 according to embodiments of the present disclosure.
[0044] FIG. 4A illustrates an exploded view of the endoscopic
instrument that can be coupled with the endoscope according to
embodiments of the present disclosure.
[0045] FIG. 4B illustrates a perspective view diagram of the
endoscopic instrument coupled to the endoscope illustrating the
various conduits associated with the endoscopic instrument.
[0046] FIG. 5 illustrates a side perspective view of another
example endoscopic instrument coupled with the endoscope shown in
FIG. 1 according to embodiments of the present disclosure.
[0047] FIG. 6 illustrates an enlarged view of an example endoscopic
instrument according to embodiments of the present disclosure.
[0048] FIG. 7 illustrates a perspective view of an outer blade of a
cutting tool of the endoscopic instrument shown in FIG. 6 according
to embodiments of the present disclosure.
[0049] FIG. 8 illustrates a perspective view of an inner blade of
the cutting tool of the endoscopic instrument shown in FIG. 6
according to embodiments of the present disclosure.
[0050] FIG. 9 illustrates a perspective view of a rotor of the
endoscopic instrument shown in FIG. 6 according to embodiments of
the present disclosure.
[0051] FIG. 10 illustrates a perspective view of a casing of the
endoscopic instrument shown in FIG. 6 according to embodiments of
the present disclosure.
[0052] FIG. 11 illustrates a perspective view of a cap of the
endoscopic instrument shown in FIG. 6 according to embodiments of
the present disclosure.
[0053] FIG. 12 illustrates a perspective view of a coupling member
of the endoscopic instrument shown in FIG. 6 according to
embodiments of the present disclosure.
[0054] FIG. 13 illustrates a perspective view diagram of the
endoscopic instrument coupled to the endoscope illustrating the
various conduits associated with the endoscopic instrument.
[0055] FIG. 14 illustrates another perspective view diagram of the
endoscopic instrument coupled to the endoscope illustrating the
various conduits associated with the endoscopic instrument.
[0056] FIG. 15 is a conceptual system architecture diagram
illustrating various components for operating the endoscopic
instrument according to embodiments of the present disclosure.
[0057] FIG. 16A illustrates an exploded view of an example
endoscopic instrument according to embodiments of the present
disclosure.
[0058] FIG. 16B illustrates a cross-sectional view of the
endoscopic instrument shown in FIG. 16A according to embodiments of
the present disclosure.
[0059] FIG. 16C illustrates a schematic view of an example
engagement assembly of an example endoscopic instrument according
to embodiments of the present disclosure.
[0060] FIG. 16D shows a cut-open view of the engagement assembly
shown in FIG. 16C when the engagement assembly is disengaged
according to embodiments of the present disclosure.
[0061] FIG. 16E shows a cut-open view of the engagement assembly
shown in FIG. 16A when the engagement assembly is configured to
engage with an instrument channel of an endoscope according to
embodiments of the present disclosure.
[0062] FIG. 17A illustrates an exploded view of an example
endoscopic instrument according to embodiments of the present
disclosure.
[0063] FIG. 17B illustrates a cross-sectional view of the
endoscopic instrument shown in FIG. 17A according to embodiments of
the present disclosure.
[0064] FIG. 18A illustrates an exploded view of an example
endoscopic instrument utilizing a tesla rotor according to
embodiments of the present disclosure.
[0065] FIG. 18B illustrates a cross-sectional view of the
endoscopic instrument shown in FIG. 18A according to embodiments of
the present disclosure.
[0066] FIG. 19A illustrates an example endoscopic instrument that
is coupled to a powered actuation and vacuum system according to
embodiments of the present disclosure.
[0067] FIG. 19B illustrates a cross-section view of the powered
actuation and vacuum system shown in FIG. 19A according to
embodiments of the present disclosure.
[0068] FIG. 19C illustrates an exploded view of an example head
portion of the endoscopic instrument shown in FIG. 19A according to
embodiments of the present disclosure.
[0069] FIG. 19D illustrates a cut-open view of a portion of the
endoscopic instrument having an engagement assembly according to
embodiments of the present disclosure
[0070] FIG. 19E shows a cut-open view of the engagement assembly
shown in FIG. 19D in a disengaged position according to embodiments
of the present disclosure.
[0071] FIG. 19F shows a cut-open view of the engagement assembly
shown in FIG. 19D in an engaged position according to embodiments
of the present disclosure.
[0072] FIG. 20 is a conceptual system architecture diagram
illustrating various components for operating the endoscopic
instrument according to embodiments of the present disclosure.
[0073] FIGS. 21AA-21F illustrate aspects of an endoscopic assembly
according to embodiments of the present disclosure.
[0074] FIGS. 22A-22H show various implementations of example
flexible cables according to embodiments of the present
disclosure.
[0075] FIGS. 23AA-23BB show an example implementation of a cutting
tool according to embodiments of the present disclosure.
[0076] FIGS. 24A-24C illustrate various aspects of the drive shaft
of the coupling component according to embodiments of the present
disclosure.
[0077] FIG. 25 illustrates an example housing component according
to embodiments of the present disclosure.
[0078] FIGS. 26A-26E show an example sleeve bearing according to
embodiments of the present disclosure.
[0079] FIGS. 27A-27C show an example base plate that forms a
portion of the casing according to embodiments of the present
disclosure.
[0080] FIGS. 28A-28D show an example side plate that forms a
portion of the casing according to embodiments of the present
disclosure.
[0081] FIGS. 29AA-29EE show various aspects of ferrules according
to embodiments of the present disclosure
[0082] FIGS. 30AA-30C illustrate aspects of an endoscopic assembly
in which the tip is press-fit according to embodiments of the
present disclosure.
[0083] FIGS. 31AA-31AB and 31B-31C illustrate aspects of an
endoscopic assembly in which the tip is press-fit according to
embodiments of the present disclosure.
[0084] FIG. 32 shows a top view of an example flexible portion of
an endoscopic tool according to embodiments of the present
disclosure.
[0085] FIG. 33 is a cross-sectional view of an example cutting
assembly of an endoscopic tool using a torque rope according to
embodiments of the present disclosure.
[0086] FIGS. 34A-34C are cross-sectional views of different
configurations of the flexible portion region of one implementation
of an endoscopic tool described herein.
[0087] FIGS. 35A-35C show various views of portions of an
endoscopic tool according to embodiments of the present
disclosure.
[0088] FIG. 36 shows a cross-sectional view of the flexible portion
region of one implementation of an endoscopic tool according to
embodiments of the present disclosure.
[0089] FIG. 37 shows a cross-section view of one implementation of
the endoscopic tool according to embodiments of the present
disclosure.
[0090] FIGS. 38A and 38B show various views of a distal portion of
one implementation of an endoscopic tool according to embodiments
of the present disclosure.
[0091] FIGS. 39A and 39B show cross-sectional views of the distal
portion of the endoscopic tool shown in FIGS. 38A and 38B along the
sections B-B and sections C-C according to embodiments of the
present disclosure.
[0092] FIGS. 40A-40B show a perspective view of an endoscopic tool
and a portion of a drive assembly configured to drive the
endoscopic tool according to embodiments of the present
disclosure.
[0093] FIG. 40B shows a perspective view of the endoscopic tool and
the portion of the drive assembly configured to drive the
endoscopic tool shown in FIG. 40A according to embodiments of the
present disclosure.
[0094] FIG. 41 shows a top view of the endoscopic tool and a top
exposed view of the portion of the drive assembly shown in FIGS.
40A-40B according to embodiments of the present disclosure.
[0095] FIG. 42 shows a cross-sectional view of the endoscopic tool
and the portion of the drive assembly across the section A-A shown
in FIGS. 40A-40B according to embodiments of the present
disclosure.
[0096] FIG. 43 shows an enlarged view of the drive connector of the
endoscope and the portion of the drive assembly shown in FIGS.
40A-40B according to embodiments of the present disclosure.
[0097] FIG. 44 shows a perspective view of the endoscopic tool and
a portion of the drive assembly shown in FIGS. 40A-40B according to
embodiments of the present disclosure.
[0098] FIG. 45 shows a cross-sectional view of the endoscopic tool
and the portion of the drive assembly across the section B-B
according to embodiments of the present disclosure.
[0099] FIG. 46 shows an enlarged cross-sectional view of the
rotational coupler section of the endoscopic tool according to
embodiments of the present disclosure.
[0100] FIG. 47A and FIG. 47B show a top view and a cross-sectional
view of the rotational coupler of the endoscopic tool according to
embodiments of the present disclosure.
[0101] FIG. 48 is a perspective view of a portion of the endoscopic
tool inserted for operation within a drive assembly according to
embodiments of the present disclosure.
[0102] FIG. 49 illustrates another implementation of the endoscopic
tool and a drive assembly configured to drive the endoscopic tool
according to embodiments of the present disclosure.
[0103] FIG. 50A is a side view of the endoscopic tool and drive
assembly shown in FIG. 49 according to embodiments of the present
disclosure.
[0104] FIG. 50B is a cross-sectional view of the endoscopic tool
and drive assembly shown in FIG. 49 taken along the section A-A
according to embodiments of the present disclosure.
[0105] FIG. 51A is an exploded perspective view of an improved
endoscopic tool according to embodiments of the present
disclosure.
[0106] FIG. 51B is an end view of the improved endoscopic tool
shown in FIG. 51A according to embodiments of the present
disclosure.
[0107] FIG. 51C is a cross-sectional view of the improved
endoscopic tool shown in FIG. 51B taken along the section A-A
according to embodiments of the present disclosure.
[0108] FIGS. 52A-52F illustrate aspects of a console configured for
operation with an endoscopic tool according to embodiments of the
present disclosure.
[0109] FIG. 53A is a rear perspective view of components of a
console configured for operation with an endoscopic tool according
to embodiments of the present disclosure.
[0110] FIG. 53B is an exploded perspective view of the components
of the console shown in FIG. 53A according to embodiments of the
present disclosure.
[0111] FIG. 54A is a perspective view of components of a console
configured for operation with an endoscopic tool according to
embodiments of the present disclosure.
[0112] FIG. 54B is an exploded perspective view of the components
of the console shown in FIG. 54A according to embodiments of the
present disclosure.
[0113] FIG. 54C is a detail view of an interface of the console
shown in FIG. 54A according to embodiments of the present
disclosure.
[0114] FIG. 55A is a perspective view of components of a console
configured for operation with an endoscopic tool according to
embodiments of the present disclosure.
[0115] FIG. 55B is an exploded perspective view of the components
of the console shown in FIG. 55A according to embodiments of the
present disclosure.
[0116] FIG. 55C is a side view of the components of the console
shown in FIG. 55A according to embodiments of the present
disclosure.
[0117] FIG. 55D is a top view of the components of the console
shown in FIG. 55A according to embodiments of the present
disclosure.
[0118] FIG. 56A is an exploded perspective view of an interface of
a console configured for operation with an endoscopic tool
according to embodiments of the present disclosure.
[0119] FIG. 56B is an end view of the interface shown in FIG. 56A
according to embodiments of the present disclosure.
[0120] FIG. 56C is a cross-sectional view taken along section A-A
of the interface shown in FIGS. 56A-56B according to embodiments of
the present disclosure.
[0121] FIG. 57A is a perspective view of a console drive assembly
for a console configured for operation with an endoscopic tool
according to embodiments of the present disclosure.
[0122] FIG. 57B is an exploded perspective view of the console
drive assembly shown in FIG. 57A according to embodiments of the
present disclosure.
[0123] FIG. 57C is a side view of the console drive assembly shown
in FIG. 57A according to embodiments of the present disclosure.
[0124] FIG. 58A is a perspective view of the torque coil of the
console drive assembly shown in FIG. 57A according to embodiments
of the present disclosure.
[0125] FIG. 58B is an exploded perspective view of the torque coil
of the console drive assembly shown in FIG. 57A according to
embodiments of the present disclosure.
[0126] FIG. 58C is a section view along line B-B of FIG. 58A
according to embodiments of the present disclosure.
[0127] FIGS. 59A-59C illustrate aspects of a bracket assembly for
holding a specimen receiver for a console configured for operation
with an endoscopic tool according to embodiments of the present
disclosure.
[0128] FIGS. 60A-60B illustrate aspects of engagement of an
endoscopic tool to a console according to embodiments of the
present disclosure.
[0129] FIG. 61 illustrates aspects of coupling tubing to an inlet
of a specimen receiver according to embodiments of the present
disclosure.
[0130] FIG. 62 illustrates aspects of coupling tubing to an outlet
of a specimen receiver according to embodiments of the present
disclosure.
[0131] FIGS. 63A-63B illustrate aspects of coupling a fluid
transfer device to an endoscopic tool according to embodiments of
the present disclosure.
[0132] FIG. 64 is an exploded view of a specimen receiver
configured for operation with a console and an endoscopic tool
according to embodiments of the present disclosure.
[0133] FIG. 65 illustrates a flow diagram of a method of operating
an endoscopic tool with a console according to embodiments of the
present disclosure.
DETAILED DESCRIPTION
[0134] Technologies provided herein are directed towards an
improved flexible endoscopic instrument that can precisely and
efficiently obtain samples of single and multiple polyps and
neoplasms from a patient. In particular, the improved endoscopic
instrument is capable of debriding samples from one or more polyps
and retrieving the debrided samples without having to remove the
endoscopic instrument from the treatment site within the patient's
body.
[0135] FIG. 1A illustrates various types of polyps that can form
within a body. Most polyps may be removed by snare polypectomy,
though especially large polyps and/or sessile or flat polyps must
be removed piecemeal with biopsy forceps or en bloc using
endoscopic mucosal resection (EMR). A recent study has concluded
that depressed sessile polyps had the highest rate for harboring a
malignancy at 33%. The same study has also found that non-polypoid
neoplastic lesions (sessile polyps) accounted for 22% of the
patients with polyps or 10% of all patients undergoing colonoscopy.
There are multiple roadblocks to resecting colon polyps, namely the
difficulties in removing sessile polyps, the time involved in
removing multiple polyps and the lack of reimbursement differential
for resecting more than one polyp. Since resecting less accessible
sessile polyps presents challenges and multiple polyps take more
time per patient, most polyps are removed piece meal with tissue
left behind as polyps increase in size, contributing to a sampling
bias where the pathology of remaining tissue is unknown, leading to
an increase in the false negative rate.
[0136] Colonoscopy is not a perfect screening tool. With current
colonoscopy practices the endoscopist exposes the patient to sample
bias through removal of the largest polyps (stalked polyps),
leaving behind less detectable and accessible sessile/flat polyps.
Sessile polyps are extremely difficult or impossible to remove
endoscopically with current techniques and often are left alone. An
estimated 28% of stalked polyps and 60% of sessile (flat) polyps
are not detected, biopsied or removed under current practice, which
contributes to sample bias and a 6% false-negative rate for
colonoscopy screening. Current colonoscopy instruments for polyp
resection are limited by their inability to adequately remove
sessile polyps and inefficiency to completely remove multiple
polyps. According to the clinical literature, sessile polyps
greater than 10 mm have a greater risk of malignancy. Sessile polyp
fragments that are left behind after incomplete resection will grow
into new polyps and carry risks for malignancy.
[0137] In the recent past, endoscopic mucosal resection (EMR) has
been adopted to remove sessile polyps. EMR involves the use of an
injection to elevate surrounding mucosa followed by opening of a
snare to cut the polyp and lastly use of biopsy forceps or a
retrieval device to remove the polyp. The introduction and removal
of the injection needle and snare through the length of the
colonoscope, which is approximately 5.2 feet, must be repeated for
the forceps.
[0138] The present disclosure relates to an endoscopic tool that is
capable of delivering an innovative alternative to existing polyp
removal tools, including snares, hot biopsy and EMR, by introducing
a flexible powered instrument that that works with the current
generation colonoscopes and can cut and remove any polyp. The
endoscopic tool described herein can be designed to enable
physicians to better address sessile or large polyps as well as
remove multiple polyps in significantly less time. Through the
adoption of the endoscopic tool described herein, physicians can
become more efficient at early diagnosis of colorectal cancer.
[0139] The present disclosure will be more completely understood
through the following description, which should be read in
conjunction with the drawings. In this description, like numbers
refer to similar elements within various embodiments of the present
disclosure. Within this description, the claims will be explained
with respect to embodiments. The skilled artisan will readily
appreciate that the methods, apparatus and systems described herein
are merely exemplary and that variations can be made without
departing from the spirit and scope of the disclosure.
[0140] Referring back to the drawings, FIG. 1B illustrates a
perspective partial view of an endoscope according to embodiments
of the present disclosure. Although the present disclosure is
directed towards endoscopic instruments adapted for use with any
type of endoscope, for sake of convenience, the teachings of the
present disclosure are directed towards endoscopic instruments used
with a lower GI scope, such as a colonoscope. It should, however,
be appreciated that the scope of the present disclosure is not
limited to endoscopic instruments for use with GI scopes, but
extends to any type of flexible endoscope, including but not
limited to bronchoscopes, gastroscopes and laryngoscopes, or other
medical devices that may be used to treat patients.
[0141] According to various embodiments, a typical lower GI scope
100 includes a substantially flexible member that extends from a
first end or head portion 102 to a second end or handle portion.
The head portion 102 may be configured to swivel so as to orient a
tip 104 of the head portion 102 in any direction within a
hemispherical space. The handle portion has controls that allows
the operator of the endoscope 100 to steer the colonoscope towards
an area of interest within the colon and turn the corners between
colon segments with two steering wheels.
[0142] A series of instruments reside on the face 106 of the
scope's tip 104, including but not limited to, one or more water
channels 108A-108N, generally referred to as water channels 108,
for irrigating the area with water, one or more light sources
110A-110N, generally referred to as light sources 110, a camera
lens 112, and an instrument channel 120 through which an endoscopic
instrument can be passed through to conduct a number of operations.
The instrument channel 120 can vary in size based on the type of
endoscope 100 being used. In various embodiments, the diameter of
the instrument channel 120 can range from about 2 mm to 6 mm, or
more specifically, from about 3.2 mm to 4.3 mm. Some larger scopes
may have two instrument channels 120 so that two tools can be
passed into the patient simultaneously. However, larger scopes may
cause discomfort to the patient and may be too large to enter the
patient's body through some of the smaller cavities.
[0143] FIG. 1C illustrates a perspective view of an endoscopic
instrument 150 according to embodiments of the present disclosure.
The endoscopic instrument 150 is configured to be fed through the
instrument channel 120 of the endoscope 100 depicted in FIG. 1B.
The endoscopic instrument 150 is configured to be inserted within
an instrument channel of an endoscope, such as the instrument
channel 120 of the endoscope 100 depicted in FIG. 1B. In some
implementations, the portion of the endoscopic instrument 150 that
is configured to be inserted within the instrument channel 120 may
be sized to have an outer diameter that is smaller than the inner
diameter of the instrument channel 120 of the endoscope. In some
such implementations, the endoscopic instrument 150 can be sized to
have an outer diameter that is sufficiently small to be slidably
inserted within the instrument channel while the endoscope is
coiled or bent. When the endoscope is coiled or bent, the
instrument channel can form a tortuous path that includes one or
more curves and bends. In one example implementations, an endoscope
includes an instrument channel that has an inner diameter of about
4.3 mm when the endoscope is straightened. However, when the
endoscope is coiled or bent, portions of the endoscope near the
bends can have clearances that are smaller than the inner diameter
of about 4.3 mm. In some implementations, the endoscope can have
clearances that may be about 3.8 mm instead of the 4.3 mm achieved
when the endoscope is straightened. In some implementations, the
endoscope can have clearances that may be about 3.2 mm. As such, in
some implementations, the endoscopic instrument 150 may be sized
such that it can be slidably inserted within the instrument channel
of the endoscope with which it is to be used even when the
endoscope is coiled or bent.
[0144] In some implementations, the endoscopic instrument 150
includes a power-driven instrument head 160 configured to resect
material at a site within a subject. The power-driven instrument
head 160 has a distal end 162 and a proximal end 161. The distal
end 162 of the power-driven instrument head 160 defines a material
entry port 170 through which the resected material can enter the
endoscopic instrument 150. The power-driven instrument head 160 can
include a cutting section at the distal end 162 that is configured
to cut tissue and other material. As used herein, a port can
include any opening, aperture, or gap through which material can
either enter or exit. In some implementations, the material entry
port can be an opening through which resected material can enter
the endoscopic instrument 150. In some implementations, material to
be resected can be suctioned into the material entry port where the
instrument head can then resect the material.
[0145] A body 152 includes a head portion 155 and a flexible
portion 165. A distal end 156 of the head portion 155 of the body
152 is coupled to the proximal end 161 of the power-driven
instrument head 160. In some implementations, the head portion 155
of the body 152 is configured to drive the power-driven instrument
head 160. A proximal end 158 of the head portion 155 can be coupled
to a distal end 166 of the flexible portion 165. A proximal end 176
of the flexible portion 165 defines a material exit port 175. The
flexible portion 165 can include a hollow flexible tubular
member.
[0146] The endoscopic instrument also includes an aspiration
channel that extends from the material entry port 170 of the
power-driven instrument head 160 to the material exit port 175 of
the flexible portion 165. In some implementations, the aspiration
channel is defined by the power-driven instrument head 160, the
head portion 155 of the body 152 and the flexible portion 165 of
the body. The proximal end 176 of the flexible portion 165 is
configured to couple to a vacuum source such that the resected
material entering the aspiration channel via the material entry
port 170 is removed from the aspiration channel at the material
exit port 175 while the endoscopic instrument 150 is disposed
within an instrument channel of an endoscope.
[0147] The head portion 155 includes a housing that has an outer
diameter that is configured such that the endoscopic instrument 150
can be slidably inserted into an instrument channel of an
endoscope. In some implementations, the head portion 155 can
include a powered actuator that is configured to drive the
power-driven instrument head 160. In some implementations, the
powered actuator is disposed within the head portion 155. In some
implementations, the powered actuator is located external to the
portion of the endoscopic instrument 150 that can be inserted into
an instrument channel of an endoscope. In some implementations, the
powered actuator is capable of driving the power-driven instrument
head via a shaft that can translate motion generated by the power
actuator to the power-driven instrument head. In some
implementations, the powered actuator is not a part of the
endoscopic instrument 150, but instead, is coupled to the
power-driven instrument head 160. In some implementations, the
shaft may be a flexible shaft. In some such implementations, the
flexible shaft can be a flexible torque coil, additional details of
which are provided below with respect to FIGS. 19A-19C.
[0148] The endoscopic instrument 150 can be sized to be insertable
within an instrument channel of an endoscope. In some
implementations, the endoscopic instrument 150 may be sized such
that the endoscopic instrument can be inserted within the
instrument channel of the endoscope while the endoscope is inserted
within a subject. In some such implementations, the endoscope, for
example, a colonoscope, may be curved or bent thereby requiring the
endoscopic instrument 150 to be sized such that it can be inserted
into a curved or bent endoscope.
[0149] In some implementations, the head portion 155 and the
power-driven instrument head 160 of the endoscopic instrument 150
may be substantially stiff or rigid, while the flexible portion 165
may be relatively flexible or compliant. The head portion 155 and
the power-driven instrument head 160 can be substantially rigid. As
such, in some such implementations, the head portion 155 and the
power-driven instrument head 160 may be sized, at least in
thickness and in length, such that endoscopic instrument 150 can
maneuver through sharp bends and curves during insertion of the
endoscopic instrument 150 within the instrument channel of the
endoscope. In some implementations, the length of the power-driven
instrument head 160 may be between about 0.2''-2'', about 0.2'' and
1'' or in some implementations, between 0.4'' and 0.8''. In some
implementations, the outer diameter of the power-driven instrument
head 160 may be between about 0.4''-1.5'', 0.6'' and 1.2'' and
0.8'' and 1''. In some implementations, the length of the head
portion 155 of the body may be between about 0.5''-3'', about 0.8''
and 2'' and 1'' and 1.5''.
[0150] The length of the flexible portion 165 may be substantially
and/or relatively longer than the length of the head portion and
the power-driven instrument head 160. In some implementations, the
flexible portion 165 can be sufficiently long such that the
combined length of the endoscopic instrument exceeds the length of
instrument channel of an endoscope in which the instrument can be
inserted. As such, the length of the flexible portion 165 may have
a length that exceeds about 36'', about 45'' or about 60''. For
endoscopic instruments configured for use with other types of
endoscopes, the length of the flexible portion may be shorter than
36'', but still sufficiently long to allow for the body of the
endoscopic instrument to be approximately the same length or
greater than the length of the endoscope with which the instrument
is being used.
[0151] The outer diameter of the flexible portion 165 can also be
configured such that the endoscopic instrument can be inserted into
the instrument channel of the endoscope. In some implementations,
the outer diameter of the flexible portion 165 can be sized smaller
than a corresponding inner diameter of the instrument channel of
the endoscope. In some such implementations, the endoscopic
instrument can be sized to have an outer diameter that is
sufficiently small to be slidably disposed within the endoscope
while the endoscope is coiled or bent. For example, an endoscope
can include an instrument channel that has an inner diameter of
about 4.3 mm when the endoscope is straightened. However, when the
endoscope is coiled or bent, portions of the endoscope near the
bends can have clearances that are smaller than the inner diameter
of about 4.3 mm. In some implementations, the endoscope can have
clearances that may be as low as 3.2 mm. As such, in some
implementations, the endoscopic instrument may be sized such that
the endoscopic instrument can be slidably inserted within the
instrument channel of the endoscope even when the endoscope is
coiled or bent.
[0152] FIGS. 2A and 2B and 3A and 3B illustrate side perspective
views of an endoscopic instrument coupled with the endoscope shown
in FIG. 1B according to embodiments of the present disclosure. The
endoscopic instrument 220 is configured to be fed through the
instrument channel 120 of the endoscope 100. As shown in FIGS. 2A
and 2B, the endoscopic instrument 220 is capable of extending
outside the tip 104 of the endoscope 100, while FIGS. 3A and 3B
show that the endoscope tool 220 can be retracted within the
endoscope such that no part of the endoscopic instrument 220 is
extending beyond the tip 104 of the endoscope 100. As will be
described in further detail with respect to FIG. 4, the endoscopic
instrument 220 is capable of cutting or debriding a polyp as well
as obtaining the debrided polyp from the treatment site without
having to remove the endoscopic instrument 220 from the endoscope
100.
[0153] FIG. 4A illustrates an exploded view of the endoscopic
instrument 220 adapted for use with the endoscope 100 according to
embodiments of the present disclosure. The endoscopic instrument
220 includes a debriding component for debriding polyps grown in
the patient's body, and a sample retrieval component for retrieving
the debrided polyps from the surgical site. The endoscopic
instrument 220 includes a tubing 410 coupled to a cap 420. In
various embodiments, the cap 420 may be sealingly engaged with the
tubing 410. The cap can be aligned with a spindle 430 at a first
portion of the spindle 430. In various embodiments, the spindle 430
may be substantially hollow. The spindle 430 can be coupled to a
rotor 440, which is configured to rotate the spindle 430. A second
portion of the spindle 430 includes an inner blade 450 that may be
configured to interact with an outer blade 460. In some
implementations, the outer blade 460 can be separated from the
inner blade by a gap that forms an irrigation channel (not shown).
A casing 470 is configured to encompass the cap 420 and the rotor
440, as shown above with respect to FIGS. 2A and 3A. It should be
appreciated that other components, such as washers, bearings,
seals, and the like, may be included in the endoscopic instrument
220.
[0154] FIG. 4B is a schematic diagram of an endoscopic instrument
partially inserted within an instrument channel of an endoscope
endoscopic instrument. In various embodiments, the cap, connector,
rotor and casing may be made from injection molded plastic. The
spindle and the cannula may be made from surgical grade steel, and
the tubing may be made from silicone. However, it should be
appreciated that these materials are merely examples of materials
that can be used. Those skilled in the art will appreciate that
other materials may be used instead of the ones described
above.
[0155] The tubing 410 in FIG. 4A may be sized to pass through the
instrument channel 120 of the endoscope 100 in FIGS. 4A and 4B. The
tubing 410 may include one or more pneumatic fluid entry conduits
412, one or more pneumatic fluid exit conduits 414, one or more
irrigation conduits 416, and one or more suction conduits 418. The
pneumatic fluid entry conduits 412 arc configured to supply
pressurized air to pneumatically drive the rotor 440, while the
pneumatic fluid exit conduits 414 remove the air supplied by the
pneumatic fluid entry conduits 412 to prevent a large amount of air
from entering the patient's body.
[0156] The irrigation conduits 416 supply an irrigation fluid, such
as water, between the inner blade 450 and the outer blade 460 to
help lubricate the area between the inner blade 450 and the outer
blade 460. In addition, the irrigation fluid then flows from the
outside of the inner blade 450 to the inside portion of the inner
blade 450. It should be appreciated that the inside portion of the
inner blade 450 may be aligned with the suction conduit 418 of the
tubing 410 via the cap 420 such that any fluid that enters the
inner blade 450 can pass through the inner blade 450 into the
suction conduit 418 of the tubing 410. The irrigation fluid that
flows through the inside portion of the inner blade 450 and the
suction conduit 418 helps lubricate the suction conduit 418,
through which the debrided polyps and other waste from the
patient's body are removed. As described above, the tubing 410 is
coupled to the cap 420 at a first end, but is coupled to one or
more components at a second end (not shown). For instance, at the
second end, the pneumatic air entry conduits 412 may be coupled to
a compressed air source, while the irrigation fluid conduit 416 may
be coupled to a water supply source. In addition, the pneumatic
fluid exit conduits 414 may be coupled to the compressed air source
or simply left exposed outside the patient's body for venting.
[0157] In various embodiments, the suction conduit 418 may be
coupled to a disposable cartridge that is configured to catch the
cut polyps and store them for examination at a later time. In
various embodiments, the disposable cartridge may include multiple
collection bins. The operator may be capable of selecting the
collection bin in which to collect a sample of a particular cut
polyp. Upon selecting the collection bin, the suction conduit 418
supplies the collected material from within the patient's body to
the particular collection bin. As such, the operator may be able to
collect samples for each polyp in individual collection bins. In
this way, the cancerous nature of individual polyps can be
determined.
[0158] The cap 420 may be sized to fit within the first end of the
tubing 410. In various embodiments, the first end of the tubing 410
may include a connector that is configured to couple with the cap
420. In various embodiments, the cap 420 may be press fitted into
the connector of the tubing 410. As such, the cap 420 may include
corresponding conduits that match the conduits of the tubing 410.
Accordingly, compressed air from the compressed air source may be
supplied through the pneumatic air entry conduits 412 of the tubing
410 and corresponding pneumatic air entry conduits of the cap 420
towards the rotor 440. The rotor 440 may include one or more rotor
blades 442 on which the compressed air is impinged thereby causing
the rotor 440 to rotate. The air impinging on the rotor blades 442
may then exit through the corresponding pneumatic air exit conduits
of the cap and the pneumatic air entry conduits 414 of the tubing
410. The speed at which the rotor 440 can rotate depends on the
amount of air and the pressure at which the air is supplied to the
rotor 440. In various embodiments, the speed at which the rotor 440
rotates may be controlled by the operator of the endoscope 100.
Although the present disclosure discloses pneumatic means for
operating the rotor, some embodiments may include hydraulic means
for operating the rotor. In such embodiments, a fluid, such as
water, may be supplied in lieu of compressed air, in the pneumatic
air entry conduit 412.
[0159] As described above, the spindle 430 is coupled to the rotor
440, such that when the rotor 440 rotates, the spindle 430 also
rotates. In various embodiments, the first end of the spindle 430
includes the inner blade 450, which correspondingly, also rotates
along with the rotor 440. The inner blade 450 may be sized to fit
within the diameter of the outer blade 460. In various embodiments,
irrigation fluid supplied from an irrigation fluid source may be
supplied through the irrigation fluid conduit 416 of the tubing 410
and the corresponding conduit of the cap 420, along the space
between the inner blade 450 and the outer blade 460, and into the
suction conduit 418 defined by the inner diameter of the inner
blade 450. It should be appreciated that since the suction conduit
418 is coupled to a vacuum source, fluids and other material may be
suctioned through the suction conduit. In this way, the irrigation
fluid is able to lubricate at least a substantial length of the
suction conduit 418, from the tip 452 of the inner blade 450,
through the spindle 430, cap 420, and tubing 410 into the
disposable cartridge described above.
[0160] The inner blade 450 may rotate relative to the outer blade
460 such that the interaction between the inner blade 450 and the
outer blade 460 causes polyps to he cut upon contact with the inner
blade 450. In various embodiments, other mechanisms for cutting
polyps may be utilized, which may or may not include the use of a
rotor 440, inner blade 450 or outer blade 460.
[0161] The debriding component may generally be configured to
debride a polyp. Debriding can, for example, include any action
involving detaching the polyp or a portion of the polyp from a
surface of the patient's body. Accordingly, actions, including but
not limited to, cutting, snaring, shredding, slicing, shattering,
either entirely or partially, are also examples of debriding.
Accordingly, the debriding component may be a component that is
capable of cutting, snaring, shredding, slicing, shattering, a
polyp from a surface of the patient's body. As such, the debriding
component may be implemented as a forceps, scissor, knife, snare,
shredder, or any other component that can debride a polyp. In some
embodiments, the debriding component may be manually actuated such
that the debriding component may be operated through the
translation of mechanical forces exerted by an operator or
automatically actuated, using a turbine, electrical motor, or any
other force generating component to actuate the debriding
component. For instance, the debriding component may be actuated
hydraulically, pneumatically, or electrically. In various
embodiments, a separate conduit passing through the tubing or a
channel of the endoscope may be configured to carry an electrical
wire to provide power to the electrically powered actuator, such as
an electrical motor.
[0162] According to various embodiments, the debriding component
may include a turbine assembly, which is made up of the rotor 440,
the rotor blades 442, and the spindle 430. The operator may actuate
the debriding component of the endoscopic instrument by supplying
compressed air to the turbine assembly. When the operator is ready
to begin debriding the polyp, the operator actuates the turbine
assembly causing the debriding component to be actuated. In
embodiments, such as the embodiment disclosed in FIG. 4, actuating
the debriding component may constitute causing the inner blade 450
to rotate relative to the outer blade 460. Upon actuation, the
operator may bring the endoscopic instrument 220 towards the polyp
to be debrided causing the inner blade 450 to debride the polyp,
causing portions of the debrided polyp to lie in the vicinity
around the area where the polyp had grown. The operator may then
de-actuate the turbine assembly and actuate suction through the
suction conduit 418. The operator may then bring the inner blade
close to the cut polyp causing the cut polyp to be retrieved
through the suction conduit 418. In various embodiments, the
suction component of the endoscopic instrument may be actuated
while the debriding component is actuated, thereby allowing any
debrided material to be retrieved by the suction component.
[0163] Although the above embodiment houses a debriding component
that utilizes a turbine assembly, the scope of the present
disclosure is not limited to such embodiments. Rather, it should be
appreciated by those skilled in the art that the debriding
component may be manually operated or may utilize any other means
of debriding a polyp such that the debrided polyps are capable of
being retrieved from the surgical site via the suction conduit
described above. Accordingly, examples of debriding components may
include, but are not limited to, snips, blades, saws, or any other
sharp tools that may or may not be driven by a turbine assembly. It
should be appreciated that using a debriding component that is able
to cut a polyp into small enough pieces may be desirable such that
the cut pieces may be retrieved via the suction conduit without
having to remove the endoscopic instrument from the endoscope.
[0164] The geometry and assembly of the turbine assembly for
rotating at least one of the cutting tool blades may be based on
fluid dynamics. Bernoulli's equation can be used to explain the
conversion between fluid pressure and the fluid velocity. According
to this equation, the fluid velocity is related to the initial
fluid pressure by the equation:
V = 2 * P D ##EQU00001##
where V is Velocity, P is Pressure, and D is Mass density.
[0165] In order for the fluid to reach the calculated velocity, the
fluid can be developed at the point of exit such that the channel
through which the fluid is flowing meets an empirically determined
L/D ratio of 2, where `D` is the wetted diameter of the flow and
the 1' is the length of the channel.
[0166] To further understand the interaction of the rotor blades
and the fluid, it is assumed that the rotor blade is made so that
the air jet impinges the rotor blade on a plane. The equation of
linear momentum can be applied to find the forces generated:
F = d dt .times. ( .intg. .intg. .intg. Vp * dVol . ) + ( m .
.times. V ) out - ( m . .times. V ) i .times. n ##EQU00002##
where: {dot over (m)} is the mass flow of the impinging air jet,
and Vis Volume.
[0167] Assuming that the control volume remains constant (volume
between blades), the force created on the blade can be solved
for:
.SIGMA.F={dot over (m)}(V.sub.out-V.sub.in)
[0168] The quantity V.sub.out and V.sub.in are the same in an
impulse turbine, the momentum change being created by the changing
direction of the fluid only. The mass flow m is defined by the pump
that is to be specified. The actual numerical value also needs to
account for the velocity of the rotor. So finally, the force
generated by a single blade-air jet interaction is:
.SIGMA.F={dot over
(m)}(V.sub.jet-V.sub.rotor)-(V.sub.jet-V.sub.rotor)cos .theta.)
.SIGMA.F={dot over (m)}(V.sub.jet-V.sub.rotor)(1-cos .theta.)
where `.theta.` is the difference of the angle between the incoming
air jet to that of the exiting air jet. Thought theoretically, the
maximum amount of torque can be generated by a `.theta.` value of
180.degree., but doing so will actually send the incoming jet onto
the back of the following blade.
[0169] Accordingly, the angle is best given a design value
15.degree. to 20.degree. below 180 to allow a fluid a clean exit.
Finally, the force can be defined into a rotational torque:
.SIGMA.T=({dot over (m)}/r)(V.sub.jet-V.sub.rotor)(1-cos
.theta.)
[0170] A second force that can be considered comes from redirecting
the air jet from the nozzle into the turbine wheel. To power the
turbine, the air jet can be turned 90.degree. into the direction of
the blades from the direction of the air jet. The turning of the
air jet will create a force on the stationary housing that is a
function of the jet velocity, which in turn is proportional to the
applied pressure:
.SIGMA.F={dot over (m)}V.sub.jet
[0171] This force can be reacted by the connection between the
housing and the endoscope, a failure to do so can result in the
ejection of the turbine assembly during operation.
[0172] Computational analyses based on Finite Element Methods (FEM)
reveal that the areas where the greatest stresses are found are
located near the root of the blade where a sharp corner is located.
The design of air input channel can be simplified by the existing
air nozzle channel in endoscope. The air nozzle in existing
endoscopes directs pressurized air across objective lens to remove
moisture and also provides distension of a cavity being examined or
directs pressurized water across objective lens to clear
debris.
[0173] Referring now to FIG. 4B, a perspective view diagram of the
endoscopic instrument coupled to the endoscope illustrating the
various conduits associated with the endoscopic instrument is
shown. In particular, the pneumatic air entry conduit 412 is shown
supplying pressurized air to the rotor assembly, while the
pneumatic air exit conduit 412 (not shown in this view) removes the
air from the rotor assembly to outside the endoscope 100. The
irrigation channel 416 is shown to carry irrigation fluid into the
endoscopic instrument 220, where the irrigation fluid enters into
the suction conduit 418, which carries material from within the
patient's body to a collection component outside the endoscope. As
shown in FIG. 4B, the irrigation fluid may enter the suction
conduit 418 at an irrigation fluid entry opening 419. It should be
appreciated that the placement of the irrigation fluid entry
opening 419 may be placed anywhere along the suction conduit. Due
to the suction force being applied to the suction conduit,
irrigation fluid may be forced into the suction conduit without the
risk of the materials flowing in the suction conduit from flowing
outside the suction conduit through the irrigation fluid entry
opening 419. Moreover, in some embodiments, the irrigation channel
may only supply irrigation fluid to the endoscopic instrument while
suction is being applied to the suction conduit.
[0174] FIG. 5 illustrates a side perspective view of another
endoscopic instrument coupled with the endoscope shown in FIG. 1
according to embodiments of the present disclosure. The add-on
endoscopic instrument 500 is sized to couple with the walls
defining the instrument channel 120 of the tip 104 of the endoscope
100. In various embodiments, the add-on endoscopic instrument 500
may be removably attached to the instrument channel 120 of the
endoscope 100 at the tip 104 of the endoscope 104 by way of an
interference fit or a press fit. In other embodiments, the add-on
endoscopic instrument 500 may be coupled to the endoscope 100 using
other attachment means known to those skilled in the art.
[0175] Referring now to FIG. 6, an enlarged view of the add-on
endoscopic instrument 500 is shown. The add-on endoscopic
instrument includes an outer blade or support member 510, an inner
blade 520 disposed within the outer blade 510, a rotor 530 coupled
to the inner blade 520 and encompassed by a casing 540. The casing
is coupled to a cap 550, which is further coupled to a connector
560. In some embodiments, the connector 560 may be sized to engage
with the inner diameter of the instrument channel 120 of the
endoscope 100. In some embodiments, any other component of the
endoscopic instrument may be configured to engage with the
endoscope 100 in such a manner as to secure the endoscopic
instrument to the instrument channel 120.
[0176] FIGS. 7-12 illustrate perspective views of the individual
components of the add-on endoscopic instrument shown in FIG. 6
according to embodiments of the present disclosure. In contrast to
the endoscopic instrument 220 disclosed with respect to FIGS. 1-4,
the add-on endoscopic instrument 500 may be adapted to fit within a
first end of instrument channel 120 of the endoscope 100.
[0177] In various embodiments, a second end of the instrument
channel 120 may be coupled to a vacuum source, which causes
material to be suctioned through the instrument channel 120. A
suction conduit extends from the vacuum source through the
instrument channel of the endoscope, and further through the
connector 560, the cap 550, and the rotor 530, to a first end of
the inner blade 520, which has an opening defined by the inner
diameter of the inner blade 520. It should be appreciated that the
connector 560, the cap 550, the casing 540, and the rotor 530 have
respective center bores 566, 556, 546 and 536 that are aligned such
that materials are allowed to flow from the opening of the inner
blade 520 to the vacuum source via the second end of the instrument
channel 120.
[0178] In addition, the casing 540 of the add-on endoscopic
instrument 500 includes a pneumatic air entry port 542 and a
pneumatic air exit port 544 as shown in FIG. 10. The pneumatic air
entry port 542 may be adapted to receive compressed air from a
compressed air source through a pneumatic air entry conduit that
passes along the length of the endoscope 100 to outside the
patient's body, while the pneumatic air exit port 544 may be
adapted to vent air that is impinged on the rotor 530 through a
pneumatic air exit conduit that passes along the length of the
endoscope 100 to outside the patient's body. In this way, the rotor
may be actuated by supplying compressed air from the compressed air
source, as described above with respect to FIGS. 1-4. It should be
appreciated that although the rotor and associated components
disclosed herein describe the use of pneumatic air, the rotor may
he driven hydraulically. In such embodiments, the pneumatic air
conduits may be configured to carry a liquid, such as water, to and
from the area around the rotor.
[0179] Referring now also to FIG. 13, it should be appreciated that
the pneumatic air entry and exit conduits may extend from the
add-on endoscopic instrument to a pneumatic air source through the
instrument channel 120 of the endoscope 100. In such embodiments, a
tubing that includes separate conduits for the pneumatic air entry
and exit conduits and the suction conduit may extend from outside
the endoscope to the add-on endoscopic instrument within the
endoscope. The tubing may be capable of being fed through the
instrument channel of the endoscope and coupled to the add-on
endoscopic instrument 500. In such embodiments, the add-on
endoscopic instrument 500 may be configured with an additional
component that has predefined channels that couple the respective
channels of the tubing with the associated with the pneumatic air
entry and exit openings of the add-on endoscopic instrument and the
suction conduit formed within the add-on endoscopic instrument. In
addition, an irrigation fluid channel may also be defined within
the tubing such that irrigation fluid may be supplied to the add-on
endoscopic instrument 500, from where the irrigation fluid is
diverted into the suction conduit.
[0180] In various embodiments, the tip of the outer blade 510 may
be sharp and may cause discomfort to the patient while entering a
cavity of the patient's body. As such, a guard structure (not
shown), such as a gel cap or other similar structure, may be
attached to the outer blade prior to inserting the add-on
endoscopic instrument into the patient's body to prevent injuries
from the outer blade contacting a surface of the patient's body.
Once the endoscopic instrument is inserted in the patient's body,
the guard structure may be released from the outer blade 510. In
various embodiments, the guard structure may dissolve upon entering
the patient's body.
[0181] Referring now to FIG. 14, an improved endoscope having a
built in polyp removal assembly is shown according to embodiments
of the present disclosure. The improved endoscope 1400 may be
similar to conventional endoscopes in many aspects, but may differ
in that the improved endoscope may include a built in polyp removal
assembly 1440 within an instrument channel of the endoscope 1400.
The polyp removal assembly 1440 may include a turbine assembly
having a rotor 1442 with rotor blades sealed in a casing 1444 that
has one or more inlet and outlet ports for allowing either
pneumatic or hydraulic fluid to actuate the rotor 1442. The inlet
ports may be designed such that the fluid may interact with the
rotor blades at a suitable angle to ensure that the rotor can be
driven at desired speeds.
[0182] In addition, the polyp removal assembly 1440 may be coupled
to a connector 1420, which is configured to couple the polyp
removal assembly 1440 to a tubing 1470. The tubing 1470 may include
a pneumatic air entry conduit 1412, a pneumatic air exit conduit
(not shown), an irrigation fluid conduit 1416 and a suction conduit
1418 that passes through the center of the turbine assembly. The
tubing 1440 may be sized such that the tubing 1440 can be securely
coupled to the connector 1420 such that one or more of the conduits
of the tubing 1440 are coupled to corresponding conduits within the
connector 1440. The connector 1420 may be designed to include an
irrigation fluid entry opening 419, which allows irrigation fluid
to pass into the suction conduit 1418 of the tubing 1440 when the
tubing is coupled to the connector.
[0183] The turbine assembly of the endoscope 1400 may be configured
to couple with a removable debriding assembly 1460, which includes
a spindle and a cannula, in a manner that causes the debriding
assembly to be operational when the turbine assembly is
operating.
[0184] In other embodiments of the present disclosure, an endoscope
may be designed to facilitate debriding one or more polyps and
removing the debrided material associated with the polyps in a
single operation. In various embodiments, the endoscope may include
one or more separate channels for removing debrided material,
supplying irrigation fluid, and supplying and removing at least one
of pneumatic or hydraulic fluids. In addition, the endoscope may
include a debriding component that may be fixedly or removably
coupled to one end of the endoscope. In various embodiments, based
on the operation of the debriding component, a separate debriding
component channel may also be designed for the debriding component.
In addition, the endoscope may include a light and a camera. In one
embodiment, the endoscope may utilize existing channels to supply
pneumatic or hydraulic fluids to the actuator of the endoscopic
instrument for actuating the debriding component.
[0185] For instance, in the endoscope shown in FIG. 1, the water
channels 108A-N may be modified to supply fluids to the actuator
pneumatically or hydraulically. In such embodiments, the endoscopic
instrument may include a connector having a first end capable of
being coupled to an opening associated with existing channels 108
of the endoscope, while another end of the connector is exposed to
an opening at the actuator.
[0186] In various embodiments of the present disclosure, the
endoscopic instrument may further be configured to detect the
presence of certain layers of tissue. This may be useful for
physicians to take extra precautions to prevent bowel perforations
while debriding polyps. In some embodiments, the endoscopic
instrument may be equipped with a sensor that can communicate with
a sensor processing component outside the endoscope to determine
the type of tissue. The sensor may gather temperature information
as well as density information and provide signals corresponding to
such information to the sensor processing unit, which can identify
the type of tissue being sensed. In some implementations, the
sensor may be an electrical sensor.
[0187] In addition, the endoscopic instrument may be equipped with
an injectable dye component through which a physician may mark a
particular region within the patient's body. In other embodiments,
the physician may mark a particular region utilizing the debriding
component, without the use of an injectable dye.
[0188] Although the present disclosure discloses various
embodiments of an endoscopic instrument, including but not limited
to a tool that may be attached to the tip of the endoscope, and a
tool that may be fed through the length of the endoscope, the scope
of the present disclosure is not intended to be limited to such
embodiments or to endoscopic instruments in general. Rather, the
scope of the present disclosure extends to any device that may
debride and remove polyps from within a patient's body using a
single tool. As such, the scope of the present disclosure extends
to improved endoscopes that may be built with some or all of the
components of the endoscopic instruments described herein. For
instance, an improved endoscope with an integrated turbine assembly
and configured to be coupled to a debriding component is also
disclosed herein. Furthermore, the endoscope may also include
predefined conduits that extend through the length of the endoscope
such that only the suction conduit may be defined by a disposable
tubing, while the air entry and exit conduits and the irrigation
conduit are permanently defined within the improved endoscope. In
other embodiments, the suction conduit is also predefined but made
such that the suction conduit may be cleaned and purified for use
with multiple patients. Similarly, the debriding component may also
be a part of the endoscope, but also capable of being cleaned and
purified for use with multiple patients. Furthermore, it should be
understood by those skilled in the art that any or all of the
components that constitute the endoscopic instrument may be built
into an existing endoscope or into a newly designed endoscope for
use in debriding and removing polyps from within the patient's
body.
[0189] Referring now to FIG. 15, a conceptual system architecture
diagram illustrating various components for operating the
endoscopic instrument according to embodiments of the present
disclosure is shown. The endoscopic system 1500 includes an
endoscope 100 fitted with an endoscopic instrument 220, and which
may be coupled to an air supply measurement system 1510, an
irrigation system 1530 and a polyp removal system 1540. As
described above, the tubing that extends within the endoscope 100
may include one or more pneumatic air entry conduits 412 and one or
more pneumatic air exit conduits 414. The pneumatic air entry
conduits 412 are coupled to the air supply measurement system 1510,
which includes one or more sensors, gauges, valves, and other
components to control the amount of gas, such as air, being
supplied to the endoscope 100 to drive the rotor 440. In some
embodiments, the amount of air being supplied to the rotor 440 may
be controlled using the air supply measurement system 1510.
Furthermore, delivery of the air to actuate the rotor 440 may be
manually controlled by the physician using the endoscope 100. In
one embodiment, the physician may use a foot pedal or a
hand-actuated lever to supply air to the rotor 440.
[0190] The pneumatic air exit conduit 414, however, may not be
coupled to any component. As a result, air exiting from the rotor
440 may simply exit the endoscope via the pneumatic air exit
conduit 414 into the atmosphere. In some embodiments, the pneumatic
air exit conduit 414 may be coupled to the air supply measurement
system 1510 such that the air exiting the pneumatic air exit
conduit 414 is supplied back to the rotor via the pneumatic air
entry conduit 412. It should be appreciated that a similar setup
may be used for a hydraulically driven turbine system.
[0191] The endoscope 100 may also be coupled to the irrigation
system 1530 via the irrigation fluid conduit 416. The irrigation
system 1530 may include a flow meter 1534 coupled to an irrigation
source 1532 for controlling the amount of fluid flowing from the
irrigation source 1532 to the endoscope 100.
[0192] As described above, the endoscope 100 may also include a
suction conduit 418 for removing polyps from within the patient's
body. The suction conduit 418 may be coupled to the polyp removal
system 1540, which may be configured to store the polyps. In
various embodiments, the physician may be able to collect samples
in one or more cartridges 1542 within the polyp removal system 1540
such that the removed polyps can be tested individually.
[0193] In various embodiments of the present disclosure, an
endoscope, comprises a first end and a second end separated by a
flexible housing, an instrument channel extending from the first
end to the second end, and an endoscopic instrument comprising a
debriding component and a sample retrieval conduit disposed within
the instrument channel. The endoscopic instrument may further
include a flexible tubing in which the sample retrieval conduit is
partially disposed, the flexible tubing extending from the first
end to the second end of the endoscope. The flexible tubing may
also include a pneumatic air entry conduit and a fluid irrigation
conduit. In various embodiments, the debriding component may
include a turbine assembly and a cutting tool. In various
embodiments in which the endoscope is configured to have a built in
endoscopic instrument, the instrument channel may have a diameter
that is larger than the instrument channels of existing endoscopes.
In this way, larger portions of debrided material may be suctioned
from within the patient's body without clogging the suction
conduit.
[0194] In other embodiments, an endoscope may include a first end
and a second end separated by a flexible housing; an instrument
channel extending from the first end to the second end; and an
endoscopic instrument coupled to the instrument channel at the
first end of the endoscope, the endoscopic instrument comprising a
debriding component and a sample retrieval conduit partially
disposed within the instrument channel. In some embodiments, the
endoscopic instrument may be removably attached to the endoscopic
instrument.
[0195] In other embodiments of the present disclosure, an
endoscopic system, includes an endoscope comprising a first end and
a second end separated by a flexible housing and an instrument
channel extending from the first end to the second end and an
endoscopic instrument coupled to the instrument channel at the
first end of the endoscope. The endoscopic instrument may include a
debriding component and a flexible tubing having a length that is
greater than the length of the endoscope. Moreover, the flexible
tubing may include a sample retrieval conduit, an pneumatic air
entry conduit, and a fluid irrigation conduit, a disposable
cartridge configured to couple with the sample retrieval conduit
proximal the second end of the endoscope, a pressurized air source
configured to couple with the pneumatic air entry conduit proximal
the second end of the endoscope, and a fluid irrigation source
configured to couple with the fluid irrigation conduit proximal the
second end of the endoscope. In various embodiments, the endoscope
may also include at least one camera source and at least one light
source. In some embodiments of the present disclosure, the
pneumatic air entry conduit supplies pressurized air to a turbine
assembly of the debriding component proximal the first end of the
endoscope and the fluid irrigation conduit supplies irrigation
fluid to the sample retrieval conduit proximal the first end of the
endoscope.
[0196] FIG. 16A illustrates an exploded partial view of an
endoscopic instrument 1600, which is similar to the endoscopic
instrument 150 depicted in FIG. 1C in that the endoscopic
instrument 1600 is configured to be inserted within an instrument
channel of an endoscope, such as the endoscope 100 depicted in FIG.
1B. FIG. 16B illustrates a cross-sectional partial view of the
endoscopic instrument shown in FIG. 16A. As shown in FIGS. 16A and
16B, a head portion of the endoscopic instrument 1600 can include a
powered actuator 1605, a power-driven instrument head 1680
including a cutting shaft 1610 and an outer structure 1615 and a
feedthrough connector 1620 coupled to a distal end of a flexible
tubular member 1630. The flexible tubular member 1630 forms the
tail portion of the endoscopic instrument 1600. As such, FIGS. 16A
and 16B illustrate the head portion of the endoscopic instrument
1600.
[0197] The endoscopic instrument 1600 is configured to define an
aspiration channel 1660 that extends from a proximal end of the
flexible tubular member 1630 to a distal tip 1614 of the
power-driven instrument head 1680. In some implementations, the
proximal end of the flexible tubular member 1630 may be configured
to fluidly couple to a vacuum source. In this way, upon the
application of a suction force at the proximal end of the flexible
tubular member 1630, material at or around the distal tip 1614 of
the power-driven instrument head 1680 can enter the endoscopic
instrument 1600 at the distal tip and flow through the aspiration
channel 1660 all the way to the proximal end of the flexible
tubular member 1630.
[0198] The powered actuator 1605 can be configured to drive a
power-driven instrument head 1680, which includes the cutting shaft
1610 disposed within the outer structure 1615. In some
implementations, the powered actuator 1605 can include a drive
shaft 1608 that is mechanically coupled to the cutting shaft 1610.
In some implementations, one or more coupling elements may be used
to couple the drive shaft 1608 to a proximal end 1611 of the
cutting shaft 1610 such that the cutting shaft 1610 is driven by
the drive shaft 1608. The powered actuator 1605 can be an
electrically powered actuator. In some implementations, the
electrically powered actuator can include an electrical terminal
1606 configured to receive an electrical conducting wire for
providing electrical current to the electrically powered actuator
1605. In some implementations, the electrically powered actuator
can include an electric motor. In some implementations, the
electric motor can be a micro-sized motor, such that the motor has
an outer diameter of less than a few millimeters. In some
implementations, the powered actuator 1605 has an outer diameter
that is smaller than about 3.8 mm. In addition to having a small
footprint, the powered actuator 1605 may be configured to meet
certain torque and rotation speed parameters. In some
implementations, the powered actuator 1605 can be configured to
generate enough torque and/or rotate at sufficient speeds to be
able to cut tissue from within a subject. Examples of motors that
meet these requirements include micromotors made by Maxon Precision
Motors, Inc., located in Fall River, Mass., USA. Other examples of
electrical motors include any type of electric motors, including AC
motors, DC motors, piezoelectric motors, amongst others.
[0199] The power-driven instrument head 1680 is configured to
couple to the powered actuator 1605 such that the powered actuator
1605 can drive the power-driven instrument head. As described
above, the proximal end 1611 of the cutting shaft 1610 can be
configured to couple to the drive shaft 1608 of the powered
actuator 1605. The distal end 1614 of the cutting shaft 1610
opposite the proximal end 1611 can include a cutting tip 1612. The
cutting tip 1612 can include one or more sharp surfaces capable of
cutting tissue. In some implementations, the cutting shaft 1610 can
be hollow and can define a material entry port 1613 at or around
the cutting tip 1612 through which material that is cut can enter
the endoscopic instrument 1610 via the material entry port 1613. In
some implementations, the proximal end 1611 of the cutting shaft
1610 can include one or more outlet holes 1614 that are sized to
allow material flowing from the material entry port 1613 to exit
from the cutting shaft 1610. As shown in FIGS. 16A and 16B, the
outlet holes 1614 are defined within the walls of the cutting shaft
1610. In some implementations, these outlet holes 1614 can be sized
such that material entering the cutting shaft 1610 via the material
entry port 1613 can flow out of the cutting shaft 1610 via the
outlet holes 1614. In some implementations, the portion of the
cutting shaft 1610 proximal the drive shaft 1608 may be solid such
that all the material that enters the cutting shaft 1610 flows out
of the cutting shaft 1610 via the outlet holes 1614.
[0200] The outer structure 1615 can be hollow and configured such
that the cutting shaft can be disposed within the outer structure
1615. As such, the outer structure 1615 has an inner diameter that
is larger than the outer diameter of the cutting shaft 1610. In
some implementations, the outer structure 1615 is sized such that
the cutting shaft 1610 can rotate freely within the outer structure
1615 without touching the inner walls of the outer structure 1615.
The outer structure 1615 can include an opening 1616 at a distal
end 1617 of the outer structure 1615 such that when the cutting
shaft 1610 is disposed within the outer structure 1615, the cutting
tip 1612 and the material entry port 1613 defined in the cutting
shaft 1610 is exposed. In some implementations, the outer surface
of the cutting shaft 1610 and the inner surface of the outer
structure 1615 can be coated with a heat-resistant coating to help
reduce the generation of heat when the cutting shaft 1610 is
rotating within the outer structure 1615. A proximal end of the
outer structure 1615 is configured to attach to the housing that
houses the powered actuator 1605.
[0201] The feedthrough connector 1620 can be positioned
concentrically around the portion of the cutting shaft 1610 that
defines the outlet holes 1614. In some implementations, the
feedthrough connector 1620 can be hollow and configured to enclose
the area around the outlet holes 1614 of the cutting shaft 1610
such that material leaving the outlet holes 1614 of the cutting
shaft 1610 is contained within the feedthrough connector 1620. The
feedthrough connector 1620 can include an exit port 1622, which can
be configured to receive the distal end of the tubular member 1630.
In this way, any material within the feedthrough connector 1620 can
flow into the distal end of the flexible tubular member 1630. The
feedthrough connector 1620 can serve as a fluid coupler that allows
fluid communication between the cutting shaft 1610 and the tubular
member 1630.
[0202] The tubular member 1630 can be configured to couple to the
exit port 1622 of the feedthrough connector 1620. By way of the
cutting shaft 160, the feedthrough connector 1620 and the flexible
tubular member 1630, the aspiration channel 1660 extends from the
material entry port 1613 of the cutting shaft 1610 to the proximal
end of the tubular member 1630. In some implementations, the
tubular member 1630 can be configured to couple to a vacuum source
at the proximal end of the tubular member 1630. As such, when a
vacuum source applies suction at the proximal end of the tubular
member 1630, material can enter the aspiration channel via the
material entry port 1613 of the cutting shaft 1610 and flow through
the aspiration channel 1660 towards the vacuum source and out of
the endoscopic instrument 1600. In this way, the aspiration channel
1660 extends from one end of the endoscopic instrument to the other
end of the endoscopic instrument 1600. In some implementations, a
vacuum source can be applied to the tubular member 1630 such that
the material at the treatment site can be suctioned from the
treatment site, through the aspiration channel 1660 and withdrawn
from the endoscopic instrument 1600, while the endoscopic
instrument 1600 remains disposed within the instrument channel of
the endoscope and inside the subject being treated. In some
implementations, one or more of the surfaces of the cutting shaft
1610, the feedthrough connector 1620 or the tubular member 1630 can
be treated to improve the flow of fluid. For example, the inner
surfaces of the cutting shaft 1610, the feedthrough connector 1620
or the tubular member 1630 may be coated with a superhydrophobic
material to reduce the risk of material removed from within the
patient from clogging the suction conduit.
[0203] Examples of various types of instrument heads that can be
coupled to the powered actuator 1605 are disclosed in U.S. Pat.
Nos. 4,368,734, 3,618,611, 5,217,479, 5,931,848 and U.S. Pat.
Publication 2011/0087260, amongst others. In some other
implementations, the instrument head can include any type of
cutting tip that is capable of being driven by a powered actuator,
such as the powered actuator 1650, and capable of cutting tissue
into small enough pieces such that the tissue can be removed from
the treatment site via the aspiration channel defined within the
endoscopic instrument 1600. In some implementations, the
power-driven instrument head 1680 may be configured to include a
portion through which material from the treatment site can be
removed. In some implementations, the circumference of the
aspiration channel can be in the order of a few micrometers to a
few millimeters.
[0204] In some implementations, where the powered actuator 1620
utilizes an electric current for operation, the current can be
supplied via one or more conductive wires that electrically couple
the powered actuator to an electrical current source. In some
implementations, the electrical current source can be external to
the endoscopic instrument 1600. In some implementations, the
endoscopic instrument 1600 can include an energy storage component,
such as a battery that is configured to supply electrical energy to
the electrical actuator. In some implementations, the energy
storage component can be positioned within the endoscopic
instrument. In some implementations, the energy storage component
or other power source may be configured to supply sufficient
current to the powered actuator that cause the powered actuator to
generate the desired amount of torque and/or speed to enable the
cutting shaft 1610 to cut tissue material. In some implementations,
the amount of torque that may be sufficient to cut tissue can be
greater than or equal to about 2.5 N mm. In some implementations,
the speed of rotation of the cutting shaft can be between 1000 and
5000 rpm. However, these torque ranges and speed ranges are
examples and are not intended to be limiting in any manner.
[0205] The endoscopic instrument 1600 can include other components
or elements, such as seals 1640 and bearings 1625, which are shown.
In some implementations, the endoscopic instrument 1600 can include
other components that are not shown herein but may be included in
the endoscopic instrument 1600. Examples of such components can
include sensors, cables, wires, as well as other components, for
example, components for engaging with the inner wall of the
instrument channel of an endoscope within which the endoscopic
instrument can be inserted. In addition, the endoscopic instrument
can include a housing that encases one or more of the powered
actuator, the feedthrough connector 1620, any other components of
the endoscopic instrument 1600. In some implementations, the tail
portion of the endoscopic instrument 1600 can also include a
flexible housing, similar to the flexible portion 165 shown in FIG.
1C, that can carry one or more flexible tubular members, such as
the flexible tubular member 1630, as well as any other wires,
cables or other components.
[0206] In some implementations, the endoscopic instrument can be
configured to engage with the instrument channel of an endoscope in
which the instrument is inserted. In some implementations, an outer
surface of the head portion of the endoscopic instrument can engage
with an inner wall of the instrument channel of the endoscope such
that the endoscopic instrument does not experience any unnecessary
or undesirable movements that may occur if endoscopic instrument is
not supported by the instrument channel. In some implementations,
the head portion of the body of the endoscopic instrument can
include a securing mechanism that secures the head portion of the
body to the inner wall of the instrument channel. In some
implementations, the securing mechanism can include deploying a
frictional element that engages with the inner wall. The frictional
element can be a seal, an o-ring, a clip, amongst others.
[0207] FIG. 16C illustrates a schematic view of an engagement
assembly of an example endoscopic instrument. FIG. 16D shows a
cut-open view of the engagement assembly when the engagement
assembly is disengaged. FIG. 16E shows a cut-open view of the
engagement assembly when the engagement assembly is configured to
engage with an instrument channel of an endoscope. As shown in
FIGS. 16C and 16D, the engagement assembly 1650 includes a housing
portion 1652 that defines a cylindrical groove 1654 around an outer
surface 1656 of the housing portion. The groove 1654 is sized such
that a compliant seal component 1670 can be partially seated within
the groove 1654. A cylindrical actuation member 1660 is configured
to encompass the housing portion 1652. The cylindrical actuation
member 1660 can slidably move along the length of the housing
portion 1652. The cylindrical actuation member 1660 is configured
to engage the securing member 1670 by pressing on the surface of
the securing member 1670. The actuation member 1660 can apply a
force on the securing member 1670 causing the securing member 1670
to deform such that the securing member 1670 becomes flatter and
wider. The securing member 1670 is configured such that when the
securing member 1670 widens, the outer surface of the securing
member 1670 can engage with an inner surface of the instrument
channel of an endoscope in which the endoscopic instrument is
inserted. In this way, when the cylindrical actuation member 1660
is actuated, the endoscopic instrument 1600 can engage with the
instrument channel thereby preventing the endoscopic instrument
1600 from moving relative to the instrument channel. This can help
provide stability to the operator while treating the subject. In
some implementations, more than one engagement assembly 1650 can be
positioned along various portions of the endoscopic instrument
1600.
[0208] FIG. 17A illustrates an exploded view of an example
endoscopic instrument 1700 according to embodiments of the present
disclosure. FIG. 17B illustrates a cross-sectional view of the
endoscopic instrument 1700. The endoscopic instrument 1700, similar
to the endoscopic instrument 1600 shown in FIGS. 16A and 16B, can
also be configured to be inserted within an instrument channel of
an endoscope, such as the endoscope 100 depicted in FIG. 1B. The
endoscopic instrument 1700, however, differs from the endoscopic
instrument 1600 in that the endoscopic instrument 1700 defines an
aspiration channel 1760 that extends through a powered actuator
1705. In this way, material entering a material entry port 1713 of
the endoscopic instrument 1700 can flow through the endoscopic
instrument 1700 and out of the endoscopic instrument in a straight
line.
[0209] As shown in FIGS. 17A and 17B, the endoscopic instrument
1700 is similar to the endoscopic instrument 1600 except that the
endoscopic instrument includes a different powered actuator 1705, a
different cutting shaft 1710 and a different feedthrough connector
1720. The powered actuator 1705 is similar to the powered actuator
1605 shown in FIG. 16A but differs in that the powered actuator
1705 includes a drive shaft 1708 that is hollow and extends through
the length of the powered actuator 1705. Since some of the
components are different, the manner in which the endoscopic
instrument is assembled is also different.
[0210] In some implementations, the powered actuator 1605 can be
any actuator capable of having a hollow shaft that extends through
the length of the motor. The distal end 1708a of the drive shaft
1708 includes a first opening and is coupled to the proximal end
1711 of the cutting shaft 1705. Unlike the cutting shaft 1610, the
cutting shaft 1710 includes a fluid outlet hole 1714 at the bottom
of the cutting shaft 1710. As a result, the entire length of the
cutting shaft 1710 is hollow. The proximal end 1708b of the drive
shaft 1708 is configured to couple to the feedthrough connector
1720, which differs from the feedthrough connector 1620 in that the
feedthrough connector 1720 includes a hollow bore 1722 defining a
channel in line with the proximal end of the drive shaft such that
the drive shaft 1708 and the hollow bore 1722 are fluidly coupled.
The hollow bore 1722 can be configured to couple to the flexible
tubular member 1730, which like the flexible tubular member 1630,
extends from the feedthrough connector at a distal end to a
proximal end that is configured to couple to a vacuum source.
[0211] As shown in FIGS. 17A and 17B, the drive shaft 1708 can be
hollow, such that the drive shaft 1708 defines a first opening at a
distal end 1708a and a second opening at a proximal end 1708b of
the drive shaft 1708. The cutting shaft 1710 is also hollow and
defines an opening 1714 at the bottom end 1710a of the cutting
shaft 1710. The distal end 1708a of the drive shaft 1708 is
configured to couple to the bottom end 1710a of the cutting shaft
1710 such that the first opening of the drive shaft 1708 is aligned
with the opening at the bottom end 1710a of the cutting shaft 1710.
In this way, the drive shaft 1708 can be fluidly coupled to the
cutting shaft 1710. A distal end 1710b of the cutting shaft 1710
includes a cutting tip 1712 and the material entry port 1713.
[0212] The proximal end 1708a of the drive shaft 1708 is fluidly
coupled to a distal end of the flexible tubular member 1730 via the
feedthrough connector 1720. In some implementations, the
feedthrough connector 1720 couples the drive shaft and the flexible
tubular member such that the flexible tubular member does not
rotate with the drive shaft. The proximal end of the flexible
tubular member can be configured to couple to a vacuum source.
[0213] As shown in FIG. 17B, the endoscopic instrument 1700 defines
an aspiration channel 1760 that extends from the material entry
port 1713 through the cutting shaft, the drive shaft, the
feedthrough connector 1720 to the second end of the flexible
tubular member 1730. In this way, material that enters the material
entry port 1713 can flow through the length of the endoscopic
instrument and exit from the endoscopic instrument at the second
end of the endoscopic instrument.
[0214] Other components of the endoscopic instrument 1700 are
similar to those shown in the endoscopic instrument 1600 depicted
in FIGS. 16A and 16B. For example, the outer structure 1715, the
encoding component 1606, the seals and the bearings may be
substantially similar to the outer structure 1615, the encoding
component 1606, the seals 1640 and the bearings 1625 depicted in
FIG. 16. Other components, some of which are shown, may be included
to construct the endoscopic instrument and for proper functioning
of the instrument.
[0215] FIG. 18A illustrates an exploded view of an example
endoscopic instrument 1800 according to embodiments of the present
disclosure. FIG. 18B illustrates a cross-sectional view of the
endoscopic instrument 1800. The endoscopic instrument 1800, similar
to the endoscopic instrument 1700 shown in FIGS. 17A and 17B, can
also be configured to be inserted within an instrument channel of
an endoscope, such as the endoscope 100 depicted in FIG. 1B. The
endoscopic instrument 1800, however, differs from the endoscopic
instrument 1700 in that the endoscopic instrument 1800 includes a
pneumatic or hydraulically powered actuator 1805.
[0216] In some implementations, the powered actuator 1802 includes
a tesla turbine that includes a tesla rotor 1805, a housing 1806
and a connector 1830 that along with the housing 1806 encases the
tesla rotor 1805. The tesla rotor 1805 can include a plurality of
disks 1807 spaced apart and sized such that the tesla rotor 1805
fits within the housing. In some implementations, the tesla rotor
can include between 7 and 13 disks having a diameter between about
2.5 mm and 3.5 mm and thicknesses between 0.5 mm to 1.5 mm. In some
implementations, the disks are separated by gaps that range from
0.2 mm to 1 mm. The tesla turbine 1802 also can include a hollow
drive shaft 1808 that extends along a center of the tesla rotor
1805. In some implementations, a distal end 1808a of the drive
shaft 1808 is configured to be coupled to a cutting shaft 1810 such
that the cutting shaft 1810 is driven by the tesla rotor. That is,
in some implementations, the cutting shaft 1810 rotates as the
drive shaft 1808 of the tesla rotor 1805 is rotating. In some
implementations, the cutting shaft 1810 can include outlet holes
similar to the cutting shaft 1610 shown in FIG. 16A. In some such
implementations, the feedthrough connector fluidly couples the
cutting shaft and the flexible portion similar to the feedthrough
connector 1630 shown in FIG. 16A.
[0217] The connector 1830 of the tesla turbine 1802 can include at
least one fluid inlet port 1832 and at least one fluid outlet port
1834. In some implementations, the fluid inlet port 1832 and the
fluid outlet port 1834 are configured such that fluid can enter the
tesla turbine 1802 via the fluid inlet port 1832, cause the tesla
rotor 1805 to rotate, and exit the tesla turbine 1802 via the fluid
outlet port 1834. In some implementations, the fluid inlet port
1832 is fluidly coupled to a fluid inlet tubular member 1842
configured to supply fluid to the tesla rotor via the fluid inlet
port 1832. The fluid outlet port 1834 is fluidly coupled to a fluid
outlet tubular member 1844 and configured to remove the fluid
supplied to the tesla turbine 1802. The amount of fluid being
supplied and removed from the tesla turbine 1802 can be configured
such that the tesla rotor 1805 can generate sufficient torque,
while rotating at a sufficient speed to cause the cutting shaft
1810 to cut tissue at a treatment site. In some implementations,
the fluid can be air or any other suitable gas. In some other
implementations, the fluid can be any suitable liquid, such as
water. Additional details related to how fluid can be supplied or
removed from pneumatic or hydraulic actuators, such as the tesla
turbine 1802 has been described above with respect to FIGS.
4A-15.
[0218] The connector 1830 also includes a suction port 1836 that is
configured to couple to an opening defined at a proximal end 1808b
of the hollow drive shaft 1808. The suction port 1836 is further
configured to couple to a distal end of a flexible tubular member
1846, similar to the flexible tubular member 1730 shown in FIG.
17A, which is configured to couple to a vacuum source at a proximal
end. In some implementations, a flexible tubular housing can
include one or more of the fluid inlet tubular member 184, fluid
outlet tubular member 1844 and the flexible tubular member 1846. In
some implementations, the flexible tubular housing can include
other tubular members and components that extend from the head
portion of the endoscopic instrument to the proximal end of the
tail portion of the endoscopic instrument 1800.
[0219] The cutting shaft 1810 and an outer structure 1815 are
similar to the cutting shaft 1710 and the outer structure 1715 of
the endoscopic instrument 1700 depicted in FIG. 17A. The cutting
shaft 1810 is hollow and defines an opening at a proximal end 1810b
of the cutting shaft 1810. The proximal end 1810b of the cutting
shaft 1810 is configured to couple to a distal end 1808a of the
drive shaft 1808 such that an opening at the distal end 1808a of
the drive shaft 1808 is aligned with the opening defined at the
proximal end 1808b of the cutting shaft 1810. In this way, the
drive shaft 1808 can be fluidly coupled to the cutting shaft 1810.
A distal end 1810b of the cutting shaft 1810 includes a cutting tip
1812 and a material entry port 1813 similar to the cutting shafts
1610 and 1710 shown in FIGS. 16A and 17A.
[0220] In some implementations, an irrigation opening 1852 can be
formed in the housing 1806. The irrigation opening 1852 is
configured to be fluidly coupled to the aspiration channel 1860. In
some such implementations, the irrigation opening 1852 is
configured to be fluidly coupled to a gap (not clearly visible)
that separates the walls of outer structure 1815 and the cutting
shaft 1810. In this way, fluid supplied to the tesla turbine 1802
can escape via the irrigation opening 1852 in to the gap. The fluid
can flow towards the material entry port 1813 of the cutting shaft
1810, through which the fluid can enter the aspiration channel
1860. In some implementations, since the aspiration channel 1860 is
fluidly coupled to a vacuum source, the fluid from the tesla
turbine 1802 can be directed to flow through the aspiration channel
1860 as irrigation fluid along with any other material near the
material entry port 1813. In this way, the irrigation fluid can
irrigate the aspiration channel 1860 to reduce the risk of
blockages.
[0221] In addition, as the irrigation fluid flows in the gap
separating the outer structure 1815 and the cutting shaft 1810, the
irrigation fluid can serve to reduce the generation of heat. In
some implementations, one or both of the cutting shaft 1810 and the
outer structure 1815 can be coated with a heat-resistant layer to
prevent the cutting shaft and the outer structure from getting hot.
In some implementations, one or both of the cutting shaft 1810 and
the outer structure 1815 can be surrounded by a heat-resistant
sleeve to prevent the cutting shaft 1810 and the outer structure
1815 from getting hot.
[0222] In some implementations, other types of hydraulically or
pneumatically powered actuators can be utilized in place of the
tesla turbine. In some implementations, a multi-vane rotor can be
used. In some such implementations, the powered actuator can be
configured to be fluidly coupled to a fluid inlet tubular member
and a fluid outlet tubular member similar to the tubular members
1842 and 1844 shown in FIG. 18B.
[0223] As described above with respect to the endoscopic
instruments 1600, 1700 and 1800 depicted in FIGS. 16A, 17A and 18A,
an endoscopic instrument is configured to meet certain size
requirements. In particular, the endoscopic instrument can be long
enough such that when the endoscopic instrument is completely
inserted into the endoscope, the power-driven instrument head can
extend beyond the face of the endoscope at one end such that the
cutting tip is exposed, while the tail portion of the endoscopic
instrument can extend out of the other end of the endoscope such
that the tail portion can be coupled to a vacuum source. As such,
in some implementations, the endoscopic instrument may be
configured to be longer than the endoscopes in to which the
endoscopic instrument will be inserted. Further, since endoscopes
have instrument channels that have different diameters, the
endoscopic instrument may also be configured to have an outer
diameter that is sufficiently small such that the endoscopic
instrument can be inserted into the instrument channel of the
endoscope in to which the endoscopic instrument will be
inserted.
[0224] Some endoscopes, such as colonoscopes, can have instrument
channels that have an inner diameter that can be as small as a few
millimeters. In some implementations, the outer diameter of the
endoscopic instrument can be less than about 3.2 mm. As such,
powered actuators that are part of the endoscopic instrument may be
configured to have an outer diameter than is less than the outer
diameter of the endoscopic instrument. At the same time, the
powered actuators may be configured to be able to generate
sufficient amounts of torque, while rotating at speeds sufficient
to cut tissue at a treatment site within a subject.
[0225] In some other implementations, the endoscopic instrument can
be configured such that a powered actuator is not housed within the
endoscopic instrument at all or at least within a portion of the
endoscopic instrument that can be inserted within the instrument
channel of an endoscope. Rather, the endoscopic instrument includes
a flexible cable that is configured to couple a power-driven
instrument head of the endoscopic instrument to a powered actuator
that is located outside of the endoscope.
[0226] FIG. 19A illustrates an example endoscopic instrument 1900
that is coupled to a powered actuation and vacuum system 1980. The
endoscopic instrument includes a head portion 1902 and a tail
portion. The tail portion includes the flexible cable 1920, which
can provide torque to the head portion 1902. The powered actuation
and vacuum system 1980 includes a powered actuator 1925, a coupler
1935 and a vacuum tubing 1930 configured to couple to the couple
1935 at a first end 1932 and couple to a vacuum source at a second
end 1934. In some implementations, the flexible cable 1920 can be
hollow and configured to carry fluid from the head portion 1902 to
the coupler 1935.
[0227] FIG. 19B illustrates a cross-section view of the powered
actuation and vacuum system 1980 of FIG. 19A. The powered actuator
1925 includes a drive shaft 1926 that is mechanically coupled to a
proximal end 1922 of the flexible cable 1920. In some
implementations, the drive shaft 1926 and the flexible cable 1920
are mechanically coupled via the coupler 1935. The coupler 1935
includes a vacuum port 1936 to which a first end 1932 of the vacuum
tubing 1930 can be fluidly coupled. The coupler 1935 can be
enclosed such that the vacuum tubing 1930 and the flexible cable
are fluidly coupled. In this way, suction applied in the vacuum
tubing 1930 can be applied all the way through the flexible cable
1920 to the head portion 1902 of the endoscopic instrument 1900.
Further, any material that is in the flexible cable 1920 can flow
through the flexible cable to the vacuum tubing 1930 via the
coupler 1935. In some implementations, the coupling between the
flexible cable and the vacuum tubing can occur within the head
portion 1902. In such implementations, the coupler 1935 may be
configured to be small enough to be positioned within the head
portion 1902.
[0228] FIG. 19C illustrates an exploded view of an example head
portion of the endoscopic instrument 1900 shown in FIG. 19A. The
head portion includes a housing cap 1952, a collet 1954, a cutting
shaft 1956, a shaft coupler 1958 and a head portion housing 1960.
In some implementations, the collet 1954 is slightly tapered
towards a distal end such that the collet 1954 can couple with the
cutting shaft 1956 that is disposed within the collet 1954. The
shaft coupler 1958 is configured to couple the cutting shaft to the
distal end of the flexible cable 1920. The head portion 1960 and
the housing cap 1952 are configured to house the shaft coupler
1958.
[0229] FIG. 19D illustrates a cut-open view of a portion of the
endoscopic instrument 1900 having an engagement assembly. In some
implementations, the head portion housing 1960 can include an
engagement assembly for engaging with the inner walls of an
instrument channel. The engagement assembly can be similar to the
engagement assembly 1650 shown in FIG. 16C. In some
implementations, the engagement assembly can be actuated via a
vacuum source. FIG. 19E shows a cut-open view of the engagement
assembly shown in FIG. 19D in a disengaged position. FIG. 19F shows
a cut-open view of the engagement assembly shown in FIG. 19D in an
engaged position.
[0230] The engagement assembly can include a pair of vacuum
actuated members 1962 that are configured to rotate between an
extended position in which the members 1962 are extended outwardly
to engage with a wall of the instrument channel 1990 and a
retracted position in which the members 1962 are positioned such
that they lie substantially parallel to the walls of the instrument
channel 1990. The grooves 1964 are fluidly coupled to an aspiration
channel 1970 defined within the flexible cable 1920. In some
implementations, fluid channels 1966 fluidly couple the grooves
1964 to the aspiration channel 1970. When a vacuum source is
applied to the aspiration channel 1970, a suction force is applied
to the members 1962 causing them to move from a retracted position
(as shown in FIG. 19E) to an extended position (as shown in FIG.
19F). In some implementations, the engagement assembly can also
include an outer ring supported by the vacuum actuated members
1964. The outer ring 1966 can be configured to assist in guiding
the endoscopic instrument through the instrument channel of the
endoscope. In particular, the outer ring can prevent the endoscopic
instrument from tilting to one side causing the power-driven
instrument head from jarring against the instrument channel.
[0231] The endoscopic instrument 1900 is similar to the endoscopic
instruments 1600, 1700 and 1800 depicted in FIGS. 16A-18A
respectively but differs from them in that the endoscopic
instrument 1900 does not include a powered actuator within the head
portion 1902 of the endoscopic instrument 1900. Instead, the
endoscopic instrument 1900 includes a flexible cable 1920 for
providing torque to a power-driven instrument head 1904 of the
endoscopic instrument 1900. In some implementations, the
power-driven instrument head 1904 can be similar to the
power-driven instrument heads depicted in FIGS. 16A-18A. In some
implementations, the flexible cable 1920 can be hollow such that
fluid can flow through the flexible cable 1920. In some such
implementations, a proximal end 1922 of the flexible cable 1920 can
be configured to couple to a vacuum source, while a distal end 1921
of the flexible cable 1920 can be coupled to the power-driven
instrument head 1904. In this way, fluid that enters a material
entry port 1907 can flow through the power-driven instrument head
1904 and into the flexible cable 1920, from which the fluid can
flow through the flexible cable 1920 and be removed from the
endoscopic instrument 1900 at the proximal end 1922 of the flexible
cable 1920.
[0232] In some implementations, a flexible cable, such as the
flexible cable 1920 can replace a powered actuator and drive shaft
that are housed within an endoscopic instrument. For example, the
endoscopic instruments 1600, 1700 and 1800 depicted in FIGS. 16A,
17A and 18A can be configured to utilize a flexible cable that is
coupled to a cutting shaft of a power-driven instrument head at a
distal end and coupled to a powered actuator located outside the
endoscopic instrument at a proximal end. The powered actuator
located outside the endoscopic instrument may be significantly
larger than the powered actuators 1605, 1705 or 1805. As the
powered actuator is actuated, torque generated by the powered
actuator can be translated from the powered actuator to the
power-driven instrument head via the flexible cable. The flexible
cable 1920 is configured to translate torque from the powered
actuator to the cutting shaft. In some implementations, the
flexible cable 1920 is or includes a fine coil with multiple
threads and multiple layers, which can transmit the rotation of one
end of the flexible cable to an opposite end of the flexible cable.
The flexibility of the cable allows the coil to maintain
performance even in sections of the coil that are bent. Examples of
the flexible cable 1920 include torque coils made by ASAHI INTECC
USA, INC located in Santa Ana, Calif., USA. In some
implementations, the flexible cable 1920 can be surrounded by a
sheath to avoid frictional contact between the outer surface of the
flexible cable and other surfaces. In some implementations, the
flexible cable 1920 can be coated with Polytetrafluoroethylene
(PFTE) to reduce frictional contact between the outer surface of
the flexible cable and other surfaces.
[0233] FIG. 20 is a conceptual system architecture diagram
illustrating various components for operating the endoscopic
instrument according to embodiments of the present disclosure. The
endoscopic system 2000 includes an endoscope 100 fitted with an
endoscopic instrument 2002 that includes a flexible tail portion
2004. The endoscopic instrument can, for example, be the endoscopic
instrument 220, 1600, 1700, 1800 or 1900 shown in FIGS. 4A-14, 16A,
17A, 18A and 19A. The system also includes an endoscope control
unit 2005 that controls the operation of the endoscope 100 and an
instrument control unit 2010 that controls the operation of the
endoscopic instrument 2002.
[0234] In addition, the endoscopic instrument also includes a
vacuum source 1990, a sample collection unit 2030 and a tissue
sensing module 2040. The vacuum source 1990 is configured to
fluidly couple to a flexible tubular member that forms a portion of
the aspiration channel. In this way, material that flows from the
endoscopic instrument through the aspiration channel towards the
vacuum source 1990 can get collected at 2030 sample collection
unit. The tissue sensing module can be communicatively coupled to a
tissue sensor disposed at a distal tip of the endoscopic instrument
2000. In some such implementations, the tissue sensing module can
also be configured to be communicatively coupled to the instrument
control unit 2010 such that the tissue sensing module can send one
or more signals instructing the control unit 2010 to stop the
actuation of the powered actuator.
[0235] In some implementations in which the powered actuator is
electrically actuated and disposed within the endoscopic
instrument, the powered actuator can be electrically coupled to the
instrument control unit 2010. In some such implementations, the
powered actuator is coupled to the control unit via one or more
electric cables. In some implementations, the powered actuator may
be battery operated in which case, the tubing may include cables
extending from the control unit to the powered actuator or the
battery for actuating the powered actuator.
[0236] In some implementations in which the power-driven instrument
head is coupled to a flexible torque coil that couples the
power-driven instrument head to a powered actuator that resides
outside of the endoscope, the powered actuator can be a part of the
instrument control unit.
[0237] In various embodiments of the present disclosure, an
endoscope, comprises a first end and a second end separated by a
flexible housing, an instrument channel extending from the first
end to the second end, and an endoscopic instrument comprising a
debriding component and a sample retrieval conduit disposed within
the instrument channel. The endoscopic instrument may further
include a flexible tubing in which the sample retrieval conduit is
partially disposed, the flexible tubing extending from the first
end to the second end of the endoscope. The flexible tubing may
also include a pneumatic air entry conduit and a fluid irrigation
conduit. In various embodiments, the debriding component may
include a turbine assembly and a cutting tool. In various
embodiments in which the endoscope is configured to have a built in
endoscopic instrument, the instrument channel may have a diameter
that is larger than the instrument channels of existing endoscopes.
In this way, larger portions of debrided material may be suctioned
from within the patient's body without clogging the suction
conduit.
[0238] In other embodiments, an endoscope may include a first end
and a second end separated by a flexible housing; an instrument
channel extending from the first end to the second end; and an
endoscopic instrument coupled to the instrument channel at the
first end of the endoscope, the endoscopic instrument comprising a
debriding component and a sample retrieval conduit partially
disposed within the instrument channel. In some embodiments, the
endoscopic instrument may be removably attached to the endoscopic
instrument.
[0239] In other embodiments of the present disclosure, an
endoscopic system, includes an endoscope comprising a first end and
a second end separated by a flexible housing and an instrument
channel extending from the first end to the second end and an
endoscopic instrument coupled to the instrument channel at the
first end of the endoscope. The endoscopic instrument may include a
debriding component and a flexible tubing having a length that is
greater than the length of the endoscope. Moreover, the flexible
tubing may include a sample retrieval conduit, an pneumatic air
entry conduit, and a fluid irrigation conduit, a disposable
cartridge configured to couple with the sample retrieval conduit
proximal the second end of the endoscope, a pressurized air source
configured to couple with the pneumatic air entry conduit proximal
the second end of the endoscope, and a fluid irrigation source
configured to couple with the fluid irrigation conduit proximal the
second end of the endoscope. In various embodiments, the endoscope
may also include at least one camera source and at least one light
source. In some embodiments of the present disclosure, the
pneumatic air entry conduit supplies pressurized air to a turbine
assembly of the debriding component proximal the first end of the
endoscope and the fluid irrigation conduit supplies irrigation
fluid to the sample retrieval conduit proximal the first end of the
endoscope.
[0240] As described above with respect to FIGS. 19A-19C, the
endoscopic tool can include a flexible cable that can be configured
to be driven by a powered actuator that resides outside the
endoscopic tool itself. The flexible cable can be a torque coil or
rope.
[0241] FIGS. 21AA-21F illustrate aspects of an endoscopic assembly.
In particular, FIGS. 21AA-21F illustrate various views of an
endoscopic tool 2110 coupled to a powered actuator 2120 encased in
a housing 2150. As shown in FIG. 21, the powered actuator 2120 can
be a motor that is operatively coupled to a flexible cable via a
pulley system. A casing 2150 including one or more structures, such
as a base plate 2152, one or more side plates 2154 and a top plate
2156 can encase the motor 2120. A coupling component 2130 can be
configured to couple the flexible cable 2114 to the motor 2120,
while providing a suction mechanism to remove any fluids passing
through the endoscopic tool 2110. The coupling component 2130 can
include a suction port 2170 through which fluid within the
endoscopic tool 2110 can be removed and collected. In FIG. 21B, a
pair of pulleys 2160 and 2162 coupled to a timing belt 2164 are
configured such that rotational energy from the motor is
transferred to one end of the flexible cable 2114. The other end of
the flexible cable 2114 can be coupled to a cutting member 2112.
Additional details regarding the flexible cable 2114 are described
herein with respect to FIGS. 22A-22H.
[0242] FIGS. 22A-22H show various implementations of example
flexible cables. In some implementations, the flexible cable can be
made of three separate threads or wires. An inner wire can have a
left-hand wound, a middle wire can have a right-hand wound and the
outer wire can have a left-hand wound. In some implementations, the
inner wire can have a right-hand wound, a middle wire can have a
left-hand wound and the outer wire can have a right-hand wound. In
some implementations, the flexible cable can be made of two
separate threads or wires. In some such implementations, the inner
wire can have a left-hand wound and the outer wire can have a
right-hand wound. In some other implementations, the inner wire can
have a right-hand wound and the outer wire can have a left-hand
wound. In some implementations, the wirerope strands can be twisted
in either Z-lay or S-lay. Examples of flexible cables include
wireropes and torque coils manufactured by ASAHI INTECC. In some
implementations, the outer diameter of the torque rope or coil is
limited by the size of the working channel of the endoscope with
which the endoscopic tool will be used. Other size considerations
that need to be taken into account include providing enough space
for the aspiration channel, irrigation channel, amongst others. In
some implementations, the outer diameter of the torque coil or
torque rope can range between 0.1 mm and 4 mm. In some
implementations, the torque coil or rope can have an outer diameter
of 0.5 mm to 2.0 mm.
[0243] Referring back to FIG. 21D, a cross-sectional view of the
coupling component 2130 is shown. The coupling component 2130
couples one end of the endoscopic tool to the powered actuator 2120
via the pulleys 2160 and 2162 and to the suction port 2170. The
coupling component includes a collection chamber 2181, which is
where fluid within the aspirating tube 2118 of the endoscopic tool
2110 can be collected before being suctioned out from the coupling
component 2130. The coupling component includes a collection
chamber 2181 can also include a drive shaft 2186 that is configured
to engage with the pulley 2162. The flexible cable or torque rope
2114 can be coupled to one end of the drive shaft 2186. An opposite
end of the drive shaft 2186 is coupled to the pulley 2162, such
that the drive shaft is operatively coupled with the motor 2120. In
this way, as the motor rotates, the pulleys and the timing belt
2164 are configured to rotate the drive shaft 2186, and in turn,
the torque rope 2114. FIGS. 24A-24C illustrate various aspects of
the drive shaft of the coupling component 2130. As shown in FIGS.
24A-24C, the drive shaft 2186 can be configured to receive one end
of the flexible cable via an opening 2406. A pair of holes 2402a
and 2402b can be configured to receive set screws or other securing
members for securing the flexible cable to the drive shaft
2186.
[0244] The coupling component 2130 also includes a housing
component 2500 that couples a flexible portion of the endoscopic
tool to the suction port 2170 via an opening 2502. FIG. 25
illustrates an example housing component 2500.
[0245] FIGS. 26A-26E show an example sleeve bearing.
[0246] FIGS. 27A-27C show an example base plate 2152 that forms a
portion of the casing. FIGS. 28A-28D show an example side plate
that forms a portion of the casing. The side plate can also serve
as a feedthrough mount.
[0247] In some implementations, the coupling component is a part of
the endoscopic tool. In some implementations, the coupling
component is coupled to a flexible portion of the endoscopic tool
via a compression fitting component 2182.
[0248] The flexible portion of the endoscopic tool includes an
outer tubing, which includes an aspiration tube 2118, the torque
rope 2114 and a sheath 2116 that surrounds the outer circumference
of the torque rope 2114. The sheath can help reduce friction or the
formation of kinks. The aspiration tube 2118 is configured to
couple to a cutting tool 2190 such that material that enters into
the cutting tool 2190 via an opening 2193 can pass through the
length of the endoscopic tool 2110 via the aspiration tube
2118.
[0249] As shown in FIGS. 21E-21F, the torque rope is configured to
be coupled to an inner cannula 2192 that forms a portion of the
cutting tool. The inner cannula 2192 can be surrounded by or
disposed within the outer cannula 2191. The opening 2193 is formed
within the outer cannula 2191 at one end of the cutting tool 2190.
Details of the cutting tool 2190 have been provided herein. FIGS.
23AA-23BB show an example implementation of a cutting tool. The
cutting tool can be any type of cutting tool used in existing
medical devices. The cutting tool shown in FIGS. 23AA-23BB are
shown only for the sake of example and the present disclosure is
not intended to be limited to such sizes, shapes, or dimension.
Commercially available cutting tools can be used. In some
implementations, the cutting tools can be modified in length. In
some implementations, the inner cannula can be bonded to the
ferrule, while the outer cannula can be coupled to the outer
aspirating tube. In some implementations, the connection between
the outer cannula and the aspiration channel may be sealed to
prevent material from leaking through the connection.
[0250] In some implementations, the torque rope 2114 is coupled to
the inner cannula 2192 via a ferrule 2194. The ferrule can be a
component that couples the torque rope to the inner cannula such
that rotational energy within the torque rope is transferred to the
inner cannula. Additional details regarding the shape, size and
dimensions of the ferrule are shown in FIGS. 29AA-29EE. Depending
on the size of the torque rope or flexible cable used in the
endoscopic tool 2110, the shape and size of the ferrule may vary.
Further, the ferrules shown in FIGS. 29A-29E are merely shown for
the sake of example and are not intended to be limited to the
particular size, shape, or dimensions shown in the Figures. In some
implementations, the ends of the torque rope can be inserted into
and bonded to short lengths of hypodermic tubing. Doing so can make
it easier to attach the ferrule to the distal end, and to clamp
onto on the proximal end (towards the drive shaft). In some
implementations, a graphite filled cyanoacrylate, such as loctite
black max, can be used. Other similar types of materials can also
be used instead.
[0251] FIGS. 30AA-30C illustrate aspects of an endoscopic assembly
in which the tip is press-fit. In some implementations, the
flexible portion of the endoscopic tool can include a balloon
structure that can be deployed such that the balloon structure can
engage with the inner walls of the endoscope. The balloon structure
can be coupled to an air supply line 3006 that is coupled to an air
supply source, such that when air is supplied, the balloon can
expand and engage with the inner wall of the endoscope. In some
implementations, the balloon structure can expand asymmetrically,
as shown in FIG. 30AA-30AB. In some implementations, the air supply
source can be actuated via a foot pedal. An irrigation line 3002
can be configured to supply an irrigation fluid. The irrigation
fluid can flow towards the cutting tool, where the irrigation fluid
can then flow through the suction channels 3004. The irrigation
fluid can prevent the suction channels from blockages. As shown in
FIG. 30C, the flexible cable or torque rope can be press fit into a
button at one end of the cutting tool.
[0252] FIGS. 31AA-31AB and 31B-31C illustrate aspects of an
endoscopic assembly in which the tip is press-fit. In some
implementations, the flexible portion of the endoscopic tool can
include a balloon structure that can be deployed such that the
balloon structure can engage with the inner walls of the endoscope.
The balloon structure can be coupled to an air supply source such
that when air is supplied, the balloon can expand and engage with
the inner wall of the endoscope. In some implementations, the
balloon structure can expand symmetrically, as shown in FIGS. 31AA
and 31AB. An irrigation line can be configured to supply an
irrigation fluid. The irrigation fluid can flow towards the cutting
tool, where the irrigation fluid can then flow through the suction
channels. The irrigation fluid can prevent the suction channels
from blockages. As shown in FIG. 31C, the flexible cable or torque
rope can be welded to one end of the cutting tool.
[0253] FIG. 32 shows a top view of an example flexible portion of
an endoscopic tool. In some implementations, the flexible portion
shown in FIG. 32 can be used with the implementations shown in
FIGS. 30AA-30C and 31AA-31AB and 31B-31C. The flexible portion 3202
includes a center channel 3204 through which the flexible cable
passes through. The flexible portion 3202 also includes two
aspiration channels 3406a and 3406b, an irrigation channel 3408 and
an air supply channel 3410.
[0254] In some implementations, the operating speed of the torque
rope can vary. In some example implementations, the torque rope can
have an operating speed within the range of 0.5 k RPM to 20 k RPM.
In some implementations, the torque rope can have an operating
speed within the range of 1 k RPM and 4 k RPM. In some
implementations, the operating speed of the torque rope can vary.
In some example implementations, the torque rope can operate with a
torque of 5 to 100 mN*m (milliNewton Meters). In some
implementations, the torque rope can operate with a torque of 20 to
50 mN*m (milliNewton Meters). However, it should be appreciated by
those skilled in the art that the torque and running speed of the
flexible cable can be altered based on the performance of the
endoscopic tool. In some implementations, various factors
contribute to the performance of the endoscopic tool, including the
amount of suction, the type of cutter, the size of the opening in
the cutter, amongst others. As such, the torque and running speed
at which to operate the flexible cable can be dependent on a
plurality of factors.
[0255] FIG. 33 is a cross-sectional view of an example cutting
assembly of an endoscopic tool using a torque rope. The cutting
assembly 3300 includes an outer cannula 3302, an inner cannula 3304
including an inner cutter 3306 disposed within the outer cannula
3302, a PTFE bearing 3308, a semi-compliant balloon 3310, and a
multilumen extrusion 3312. A torque rope 3314 can be coupled to the
inner cutter 3306. The diameter of the outer cannula can be between
0.05 inches to a size suitable to pass through an instrument
channel of an endoscope.
[0256] FIGS. 35AA-35AC show are cross-sectional views of different
configurations of the flexible portion region of one implementation
of an endoscopic tool described herein. The flexible portion region
can include an aspiration lumen 3402, an inflation lumen 3404, a
lavage or irrigation lumen 3406 and a torque rope.
[0257] FIG. 35 shows various views of portions of an endoscopic
tool. The endoscopic tool can include an outer cannula 1, an inner
cutter 2, an inner cannula 3, a torque rope 4, a trilumen extrusion
5, a balloon 6, a PTFE washer 7, two sidearms 8, a proximal plug 9,
an PTFE gasket 10 and a gasket cap 11.
[0258] FIG. 36 shows a cross-sectional view of the flexible portion
region of one implementation of an endoscopic tool described
herein. The flexible portion region can include an outer inflation
jacket 3602, an outer coil 3604, a torque coil 3606, a multi-lumen
extrusion 3608 disposed within the torque coil. The multi-lumen
extrusion 3608 can include a lavage lumen 3610 and an aspiration
lumen 3612.
[0259] FIG. 37 shows a cross-section view of one implementation of
the endoscopic tool described herein. The endoscopic tool includes
an outer cannula 3702, an inner cutter 3704, an inner torque coil
3706, an outer coil 3708, an outer inflation jacket and balloon
3710, and a multi-lumen extrusion 3712. A gear 3714, such as a worm
gear can engage with the torque coil to drive the inner cutter.
[0260] FIGS. 38A and 38B show various views of a distal portion of
one implementation of an endoscopic tool described herein. The
endoscopic tool includes an outer cutter 3802 that defines an
opening 3804. The endoscopic tool also includes an inner cutter
3806 disposed within the outer cutter. The inner cutter is coupled
to a torque coil 3808. The torque coil is disposed within a PET
heat shrink 3810 or other type of tubing. The outer cutter is
coupled to a braided shaft 3812 to allow the outer cutter 3802 to
rotate relative to the inner cutter 3806.
[0261] FIGS. 39A and 39B show cross-sectional views of the distal
portion of the endoscopic tool shown in FIGS. 38A and 38B along the
sections B-B and sections C-C.
[0262] In some implementations, an endoscopic instrument insertable
within a single instrument channel of an endoscope can include a
power driven instrument head or cutting assembly that is configured
to resect material at a site within a subject. The cutting assembly
includes an outer cannula and an inner cannula disposed within the
outer cannula. The outer cannula defines an opening through which
material to be resected enters the cutting assembly. The endoscopic
instrument also includes a flexible outer tubing coupled to the
outer cannula and configured to cause the outer cannula to rotate
relative to the inner cannula. The flexible outer tubing can have
an outer diameter that is smaller than the instrument channel in
which the endoscopic instrument is insertable. The endoscopic
instrument also includes a flexible torque coil having a portion
disposed within the flexible outer tubing. The flexible torque coil
having a distal end coupled to the inner cannula. The flexible
torque coil is configured to cause the inner cannula to rotate
relative to the outer cannula. The endoscopic instrument also
includes a proximal connector coupled to a proximal end of the
flexible torque coil and configured to engage with a drive assembly
that is configured to cause the proximal connector, the flexible
torque coil and the inner cannula to rotate upon actuation. The
endoscopic instrument also includes an aspiration channel having an
aspiration port configured to engage with a vacuum source. The
aspiration channel is partially defined by an inner wall of the
flexible torque coil and an inner wall of the inner cannula and
extends from an opening defined in the inner cannula to the
aspiration port. The endoscopic instrument also includes an
irrigation channel having a first portion defined between an outer
wall of the flexible torque coil and an inner wall of the flexible
outer tubing and configured to carry irrigation fluid to the
aspiration channel.
[0263] In some implementations, the proximal connector is hollow
and an inner wall of the proximal connector defines a portion of
the aspiration channel. In some implementations, the proximal
connector is a rigid cylindrical structure and is configured to be
positioned within a drive receptacle of the drive assembly. The
proximal connector can include a coupler configured to engage with
the drive assembly and a tensioning spring configured to bias the
inner cannula towards a distal end of the outer cannula. In some
implementations, the tensioning spring is sized and biased such
that the tensioning spring causes a cutting portion of the inner
cannula to be positioned adjacent to the opening of the outer
cannula. In some implementations, the proximal connector is
rotationally and fluidly coupled to the flexible torque coil. In
some implementations, the tensioning spring can be sized and biased
such that the distal tip of the inner cannula can contact the inner
distal wall of the outer cannula. This may limit any lateral or
undesired movement generated due to whip at the distal end of the
inner cannula caused by the rotation of the flexible torque
coil.
[0264] In some implementations, the endoscopic instrument also
includes a lavage connector including an irrigation entry port and
a tubular member coupled to the lavage connector and the flexible
outer tubing. An inner wall of the tubular member and the outer
wall of the flexible torque coil can define a second portion of the
irrigation channel that is fluidly coupled to the first portion of
the irrigation channel. In some implementations, the endoscopic
instrument also includes a rotational coupler coupling the flexible
outer tubing to the tubular member and configured to cause the
flexible outer tubing to rotate relative to the tubular member and
cause the opening defined in the outer cannula to rotate relative
to the inner cannula. In some implementations, the lavage connector
defines an inner bore within which the flexible torque coil is
disposed.
[0265] In some implementations, the endoscopic instrument also
includes a lining within which the flexible torque coil is
disposed, the outer wall of the lining configured to define a
portion of the irrigation channel. In some implementations, the
inner cannula is configured to rotate about a longitudinal axis of
the inner cannula and relative to the outer cannula and the
aspiration channel is configured to provide a suction force at the
opening of the inner cannula.
[0266] In some implementations, the flexible torque coil includes a
plurality of threads. Each of the plurality of threads can be wound
in a direction opposite to a direction in which one or more
adjacent threads of the plurality of threads is wound. In some
implementations, the flexible torque coil includes a plurality of
layers. Each of the plurality of layers can be wound in a direction
opposite to a direction in which one or more adjacent layers of the
plurality of layers is wound. In some implementations, each layer
can include one or more threads. Additional details regarding the
flexible torque coil are described above in regard to the
discussion of the flexible cable with respect to at least FIGS.
22A-22H.
[0267] In some implementations, the flexible outer tubing has a
length that exceeds the length of the endoscope in which the
endoscopic instrument is insertable. In some implementations, the
flexible outer tubing has a length that is at least 100 times
larger than an outer diameter of the flexible outer tubing. In some
implementations, the flexible portion is at least 40 times as long
as the cutting assembly.
[0268] FIGS. 40A-40B show a perspective view of an endoscopic tool
4000 and a portion of a drive assembly 4050 configured to drive the
endoscopic tool. FIG. 40B shows a perspective view of the
endoscopic tool and the portion of the drive assembly configured to
drive the endoscopic tool shown in FIGS. 40A-40B. Referring now
also to FIGS. 41, 42 and 43, FIG. 41 shows a top view of the
endoscopic tool 4000 and a top exposed view of the portion of the
drive assembly 4050 shown in FIGS. 40A-40B. FIG. 42 shows a
cross-sectional view of the endoscopic tool 4000 and the portion of
the drive assembly 4050 across the section A-A. FIG. 43 shows an
enlarged view of the drive connector of the endoscope and the
portion of the drive assembly 4050. FIG. 44 shows a perspective
view of the endoscopic tool 4000 and a portion of the drive
assembly shown in FIGS. 40A-40B. FIG. 45 shows a cross-sectional
view of the endoscopic tool and the portion of the drive assembly
across the section B-B. FIG. 46 shows an enlarged cross-sectional
view of the rotational coupler section of the endoscopic tool. FIG.
47A and FIG. 47B show a top view and a cross-sectional view of the
rotational coupler of the endoscopic tool.
[0269] The endoscopic tool 4000, as shown in FIGS. 40A-47B, may be
configured to be inserted within an instrument channel of an
endoscope. Examples of the endoscope can include a gastroscope,
such as a colonoscope, a laryngoscope, or any other flexible
endoscope. The endoscopic tool can include a flexible portion 4002
that is shaped, sized and configured to be inserted within the
instrument channel, while a remaining portion of the endoscopic
tool 4000 can be configured to remain outside the instrument
channel of the endoscope. The flexile portion 4002 can be shaped
and sized to fit within the instrument channel and be configured to
navigate through a tortuous path defined by the instrument channel
while the endoscope is inserted within the patient. In the case of
colonoscopes, the endoscope can form a series of bends of over at
least 60 degrees and in some situations, over 90 degrees.
[0270] The endoscopic tool 4000 can include a cutting assembly 4010
configured to resect material at a site within a subject. The
cutting assembly 4010 can be similar to the cutting assembly 160
described in FIG. 1C and elsewhere in the description and figures.
In some implementations, the cutting assembly 4010 can include an
outer cannula and an inner cannula disposed within the outer
cannula. The outer cannula can define an opening 4012 through which
material to be resected can enter the cutting assembly 4010. In
some implementations, the opening 4012 is defines through a portion
of the radial wall of the outer cannula. In some implementations,
the opening may extend around only a portion of the radius of the
outer cannula, for example, up to one third of the circumference of
the radial wall. As the aspiration channel 4090 extends between the
aspiration port 4092 and the opening 4012, any suction applied at
the aspiration port 4092 causes a suction force to be exerted at
the opening 4012. The suction force causes material to be
introduced into the opening of the outer cannula, which can then be
cut by the inner cannula of the cutting assembly.
[0271] The inner cannula can include a cutting section that is
configured to be positioned adjacent to the opening 4012 such that
material to be resected that enters the cutting assembly via the
opening 4012 can be resected by the cutting section of the inner
cannula. The inner cannula may be hollow and an inner wall of the
inner cannula may define a portion of an aspiration channel that
may extend through the length of the endoscopic tool. A distal end
of the inner cannula can include the cutting section while a
proximal end of the inner cannula can be open such that material
entering the distal end of the inner cannula via the cutting
section can pass through the proximal end of the inner cannula. In
some implementations, the distal end of the inner cannula can come
into contact with an inner surface of a distal end of the outer
cannula. In some implementations, this can allow the inner cannula
to rotate relative to the outer cannula along a generally
longitudinal axis, providing more stability to the inner cannula
while the inner cannula is rotating. In some implementations, the
size of the opening can dictate the size of the materials being cut
or resected by the inner cannula. As such, the size of the opening
may be determined based in part on the size of the aspiration
channel defined by the inner circumference of the flexible torque
coil.
[0272] The endoscopic instrument 4000 can include a flexible torque
coil 4080 that is configured to couple to the proximal end of the
inner cannula at a distal end of the flexible torque coil 4080. The
flexible torque coil can include a fine coil with multiple threads
and multiple layers, which can transmit the rotation of one end of
the flexible torque coil to an opposite end of the flexible torque
coil. Each of the layer of thread of the flexible torque coil can
be wound in a direction opposite to a direction in which each of
the layer of thread adjacent to the layer of thread is wound. In
some implementations, the flexible torque coil can include a first
layer of thread wound in a clockwise direction, a second layer of
thread wound in a counter-clockwise direction and a third layer of
thread wound in a clockwise direction. In some implementations, the
first layer of thread is separated from the third layer of thread
by the second layer of thread. In some implementations, each of the
layers of thread can include one or more threads. In some
implementations, the layers of thread can be made from different
materials or have different characteristics, such as thickness,
length, among others.
[0273] The flexibility of the torque coil 4080 allows the coil to
maintain performance even in sections of the torque coil 4080 that
are bent. Examples of the flexible torque coil 4080 include torque
coils made by ASAHI INTECC USA, INC located in Santa Ana, Calif.,
USA. In some implementations, the flexible torque coil 4080 can be
surrounded by a sheath or lining to avoid frictional contact
between the outer surface of the flexible torque coil 4080 and
other surfaces. In some implementations, the flexible torque coil
4080 can be coated with Polytetrafluoroethylene (PFTE) to reduce
frictional contact between the outer surface of the flexible torque
coil 4080 and other surfaces. The flexible torque coil 4080 can be
sized, shaped or configured to have an outer diameter that is
smaller than the diameter of the instrument channel of the
endoscope in which the endoscopic tool is to be inserted. For
example, in some implementations, the outer diameter of the
flexible torque coil can be within the range of 1-4 millimeters.
The length of the flexible torque coil can be sized to exceed the
length of the endoscope. In some implementations, the inner wall of
the flexible torque coil 4080 can be configured to define another
portion of the aspiration channel that is fluidly coupled to the
portion of the aspiration channel defined by the inner wall of the
inner cannula of the cutting assembly 4010. A proximal end of the
flexible torque coil 4080 can be coupled to a proximal connector
assembly 4070, details of which are provided below.
[0274] The endoscopic instrument 4000 can include a flexible outer
tubing 4086 that can be coupled to the proximal end of the outer
cannula. In some implementations, a distal end of the flexible
outer tubing 4086 can be coupled to the proximal end of the outer
cannula using a coupling component. In some implementations, the
outer cannula can be configured to rotate responsive to rotating
the flexible outer tubing. In some implementations, the flexible
outer tubing 4086 can be a hollow, braided tubing that has an outer
diameter that is smaller than the instrument channel of the
endoscope in which the endoscopic instrument 4000 is to be
inserted. In some implementations, the length of the flexible outer
tubing 4086 can be sized to exceed the length of the endoscope. The
flexible outer tubing 4086 can define a bore through which a
portion of the flexible outer tubing 4086 extends. The flexible
outer tubing 4086 can include braids, threads, or other features
that facilitate the rotation of the flexible outer tubing 4086
relative to the flexible torque coil, which is partially disposed
within the flexible outer tubing 4086.
[0275] The endoscopic instrument 4000 can include a rotational
coupler 4030 configured to be coupled to a proximal end of the
flexible outer tubing 4086. The rotational coupler 4030 may be
configured to allow an operator of the endoscopic tool to rotate
the flexible outer tubing 4086 via a rotational tab 4032 coupled to
or being an integral part of the rotational coupler 4030. By
rotating the rotational tab 4032, the operator can rotate the
flexible outer tubing and the outer cannula along a longitudinal
axis of the endoscope and relative to the endoscope and the inner
cannula of the cutting assembly 4010. In some implementations, the
operator may want to rotate the outer cannula while the endoscopic
instrument is inserted within the endoscope while the endoscope is
within the patient. The operator may desire to rotate the outer
cannula to position the opening of the outer cannula to a position
where the portion of the radial wall of the outer cannula within
which the opening is defined may aligned with the camera of the
endoscope such that the operator can view the material entering the
endoscopic instrument for resection via the opening. This is
possible in part because the opening is defined along a radial wall
extending on a side of the outer cannula as opposed to an opening
formed on the axial wall of the outer cannula.
[0276] In some implementations, a proximal end 4034 of the
rotational coupler 4030 can be coupled to a lavage connector 4040.
In some implementations, the rotational coupler 4030 can be a
rotating luer component that allows a distal end 4036 of the
rotational coupler 4030 rotate relative to the proximal end 4034 of
the rotational coupler 4030. In this way, when the flexible outer
tubing 4086 is rotated, the component to which the proximal end of
the rotational coupler 4030 is coupled, is not caused to rotate. In
some implementations, the proximal end 4034 of the rotational
coupler 4030 can be coupled to an outer tubular member 4044
configured to couple the proximal end 4034 of the rotational
coupler 4030 to the lavage connector 4040. The rotational coupler
4030 can define a bore along a central portion of the rotational
coupler 4030 through which a portion of the flexible torque coil
4080 extends. In some implementations, the rotational coupler 4030
can be a male to male rotating luer connector. In some
implementations, the rotational coupler can be configured to handle
pressures up to 1200 psi.
[0277] The lavage connector 4040 can be configured to introduce
irrigation fluid into the endoscopic tool 4000. The lavage
connector 4040 includes a lavage port 4042 configured to engage
with an irrigation source, such as a water container. In some
implementations, the lavage connector 4040 can be a Y port used in
fluid delivery systems that complies with medical device industry
standards and is sized to couple to the flexible outer tubing 4086
or the outer tubular member 4044 that serves to couple a distal end
4048 of the lavage connector 4040 to the proximal end 4034 of the
rotational coupler 4030. In some implementations, the lavage
connector can define a hollow channel between the proximal end 4046
and the distal end 4048 of the lavage connector 4040 that is sized
to allow the flexible torque coil 4080 to pass through the hollow
channel defined through the lavage connector 4040.
[0278] As described above, the proximal connector assembly 4070 is
configured to be coupled to a proximal end of the flexible torque
coil 4080. The proximal connector assembly 4070 can be configured
to engage with the drive assembly 4050 that is configured to
provide torque to the inner cannula via the proximal connector
assembly 4070 and the flexible torque coil 4080. The proximal
connector assembly 4070 can further define a portion of the
aspiration channel and be configured to fluidly couple the
aspiration channel to a vacuum source to facilitate the removal of
material entering the aspiration channel. In some implementations,
a proximal end of the proximal connector assembly 4070 can include
an aspiration port 4092 through which the material that enters the
endoscopic tool 4000 can be withdrawn from the endoscopic tool
4000.
[0279] In some implementations, the endoscopic tool 4000 can be
configured to be driven by the drive assembly 4050. The drive
assembly 4050 is configured to provide rotational energy from an
energy source to the endoscopic tool 4000. The drive assembly 4050
can include a housing 4060 that may house a first beveled gear 4054
and a second beveled gear 4056 that are positioned such that the
rotation of the first beveled gear 4054 causes a rotation of the
second beveled gear 4056. The second beveled gear 4056 can be
coupled to a drive receptacle that is sized and shaped to receive
and engage with the proximal connector assembly 4070 of the
endoscopic tool 4000. In some implementations, the first beveled
gear 4054 can be coupled to a motor (not shown) or other rotational
source via a rotational input shaft 4052.
[0280] The proximal connector assembly 4070 can include a hollow
drive shaft 4072, a coupler 4076 through which the hollow drive
shaft 4072 passes and a tensioning spring 4074 coupled to the
hollow drive shaft 4072. A distal end of the drive shaft 4072 can
be coupled to the proximal end of the flexible torque coil 4080. In
some implementations, the drive shaft 4072 and the flexible torque
coil 4080 can be permanently coupled to one another. In some
implementations, the drive shaft 4072 and flexible torque coil 4080
can be coupled using a coupler, a press fit, a weld, such as a butt
weld, or any other attachment means that allows the flexible torque
coil 4080 to rotate when the drive shaft 4072 rotates and to allow
material passing through the flexible torque coil 4080 to flow
through the drive shaft 4072. A proximal end of the drive shaft
4072 can define the aspiration port 4092. In some implementations,
the aspiration port 4092 can be configured to engage with a vacuum
source causing material entering the opening 4012 to flow through
the aspiration channel 4090 and out of the endoscopic tool through
the aspiration port 4092.
[0281] A coupler 4076, such as a hex-shaped coupler, can be
configured to couple with the hollow drive shaft. In some
implementations, the hex-shaped coupler is a part of the hollow
drive shaft. The coupler 4076 can include an outer wall that is
configured to engage with an inner wall of a drive receptacle 4058.
The drive receptacle 4058 is coupled to the second beveled gear
4056 and is configured to rotate when the second beveled gear 4056
rotates. In some implementations, the drive receptacle 4058 can be
a hollow cylindrical tube. In some implementations, a proximal end
4059 of the drive receptacle 4058 can include an opening defined by
an inner wall of the proximal end of the drive receptacle 4058 that
has a diameter that smaller than the inner diameter of the
remaining portion of the drive receptacle 4058. In some
implementations, the diameter of the opening through the proximal
end 4059 of the drive receptacle 4058 can be large enough to
receive the drift shaft 4072 but small enough to prevent the
tensioning spring 4074 coupled to the drive shaft 4072 from passing
through the opening. In some implementations, the inner diameter of
the remaining portion of the drive receptacle is sized to engage
with the coupler 4076.
[0282] The tensioning spring 4074 can be biased in such a way that,
during operation of the endoscopic tool 4000, the tensioning spring
4074 may prevent the drive shaft 4072, the flexible torque coil
4080 and the inner cannula from sliding towards the proximal end of
the endoscopic tool 4000. In some implementations, without the
tensioning spring 4074, the inner cannula may slide away from the
distal end of the endoscopic tool 4000. This may be due to a force
applied by the material to be resected at the opening 4012. In some
implementations, the tensioning spring 4074 provides a countering
force that prevents the inner cannula from sliding away from the
distal end when the inner cannula comes into contact with the
material to be resected at the opening 4012. In some
implementations, the tensioning spring 4074 can be configured to
bias the distal end of the inner cannula to contact an inner wall
of the distal end of the outer cannula. In some implementations,
the tensioning spring 4074 can be sized and biased such that the
distal tip of the inner cannula can contact the inner distal wall
of the outer cannula. This may limit any lateral or undesired
movement generated due to whip at the distal end of the inner
cannula caused by the rotation of the flexible torque coil.
[0283] The housing 4060 can be configured to engage with an
aspiration end cap 4062 and a locking collar 4064. In some
implementations, the aspiration end cap 4062 can be configured to
allow a vacuum source to maintain a secure connection with the
aspiration port 4092 of the drive shaft 4072. In some
implementations, the aspiration end cap 4062 can be configured to
allow the drive shaft 4072 to rotate while maintaining a secure
connection between the vacuum source and the aspiration port 4092
of the drive shaft 4072. In some implementations, the aspiration
end cap 4062 can be configured to be secured to a portion of the
housing 4060 in such a way that the aspiration port of the drive
shaft 4072 is accessible via an opening of the aspiration end cap
4062. In some implementations, the vacuum source can be coupled to
the end cap 4062 such that the vacuum source does not rotate along
with the proximal end of the drive shaft 4072. In some
implementations, one or more bearings or bushings can be used to
allow facilitate a fluid connection between the aspiration port
4092 of the drive shaft 4072 and the vacuum source without causing
the vacuum source to rotate with the drive shaft 4072.
[0284] The locking collar 4064 can be configured to secure the
lavage connector 4040 to the proximal connector assembly 4070. In
some implementations, the locking collar 4064 can be configured to
secure a proximal end 4046 of the lavage connector 4040 to the
housing 4060 of the drive assembly 4050. The locking collar 4064
can further be configured to prevent the proximal connector
assembly 4070 from disengaging with the drive receptacle 4058 and
moving towards the distal end of the endoscopic tool 4000. In some
implementations, the locking collar 4064 can be configured to
secure a lining 4082 within which the flexible torque coil 4080 is
disposed to the flexible torque coil 4080, the drive shaft 4072 or
the housing 4060. In some implementations, the lining 4082 can
serve as a heat shrink to reduce the dissipation of heat generated
in the flexible torque coil to other components of the endoscopic
tool. In some implementations, the outer wall of the lining 4082
can define a portion of the irrigation channel, while the inner
wall of the lining 4082 can serve to prevent any material passing
through the aspiration channel from escaping through the walls of
the flexible torque coil. In some implementations, the lining 4082
can also prevent the irrigation fluid passing through the
irrigation channel to flow into the aspiration channel 4090 through
the walls of the flexible torque coil 4080.
[0285] The distal end 4048 of the lavage connector 4040 can be
configured to engage with an inner wall of the outer tubing 4044.
In some implementations, the distal end 4048 of the lavage
connector 4040 can be press fit into a proximal end of the outer
tubing 4044. In some implementations, a connector connecting the
distal end 4048 of the lavage connector 4040 and the outer tubing
can be used. The inner wall of the outer tubing 4044 and the outer
wall of the lining 4082 can define a portion of the irrigation
channel 4096. The outer tubing 4044 can extend from the distal end
4048 of the lavage connector 4040 to a proximal end 4034 of the
rotational coupler 4030. The distal end of the outer tubing 4044
can be configured to engage with the proximal end 4034 of the
rotational coupler 4030.
[0286] In some implementations, the irrigation channel can extend
from the irrigation entry port to the opening of the outer cannula.
The irrigation channel can be defined by the inner wall of the
outer tubular member, the rotational coupler, the inner wall of the
outer tubing and the inner wall of outer cannula. In some
implementations, the irrigation channel can also be defined by the
outer wall of the inner cannula and the outer wall of the flexible
torque coil 4080. In some implementations, the endoscopic
instrument 4000 can also include the hollow lining 4082 that is
sized to fit around the flexible torque coil 4080. In some
implementations, the hollow lining 4082 can serve as a barrier
between the irrigation channel 4096 and the aspiration channel
4090. In some implementations, the hollow lining 4082 can prevent
air or other fluids to seep through the threads of the flexible
torque coil 4080. In addition, the hollow lining can allow the
aspiration channel to maintain a suction force throughout the
length of the aspiration channel by preventing air to escape or
enter through the threads of the flexible torque coil 4080.
[0287] As described above, the cutting assembly 4010 includes the
outer cannula. The braided tubing 4086 is coupled to the outer
cannula such that rotating the rotational tab 4032 of the
rotational coupler 4030 results in rotating the outer cannula. The
outer cannula includes the opening 4012 at a distal end of the
outer cannula. The opening is defined within a portion of the
radial wall of the outer cannula and may only extend around a
portion of the radius of the outer cannula. As the aspiration
channel 4090 extends between the aspiration port 4092 and the
opening 4012, any suction applied at the aspiration port 4092
causes a suction force to be exerted at the opening 4012. The
suction force causes material to be introduced into the opening of
the outer cannula, which can then be cut by the inner cannula of
the cutting assembly. In some implementations, the aspirated
material can be collected in a collection cartridge. In some
implementations, the collection cartridge can be fluidly coupled to
the proximal end of the aspiration channel.
[0288] The inner cannula is disposed within the outer cannula and
configured to resect any material that is sucked into or otherwise
enters the opening 4012 due to the suction force in the aspiration
channel 4090. The inner cannula can cut, resect, excise, debride or
shave the material at the opening 4012 based in part on the
interaction between the cutting surface and the wall of the outer
cannula that defines the opening. In some implementations, the
rotational movement of the cutting surface relative to the opening
4012 can cause the material to be cut, resected, excised, or
shaved. The flexible torque coil is coupled to the inner cannula
and causes the inner cannula to rotate along the longitudinal axis
of the inner cannula. As the outer cannula is coupled to the outer
tubing and is not rotationally coupled to the inner cannula or
flexible torque coil, the inner cannula rotates relative to the
outer cannula. A gap between an outer wall of the inner cannula and
the inner wall of the outer cannula defines a portion of the
irrigation channel through which irrigation fluid can flow from the
lavage connector 4040 through the irrigation channel portion
defined in part by the outer tubing 4044, the rotational coupler
4030, and the flexible outer tubing 4086 towards the cutting
surface of the inner cannula. The inner cannula may define a
portion of the aspiration channel through which excised or resected
material and the irrigation fluid can flow from the cutting surface
of the inner cannula towards the aspiration port 4092.
[0289] The length of the cutting assembly 4010 may be sized to
allow the endoscopic instrument 4000 to traverse through the length
of the endoscope while the endoscope is inserted inside a patient.
In some implementations, the endoscope may be disposed within the
patient and the endoscope may include bends that exceed 60 degrees.
As such, the length of the cutting assembly 4010 may not exceed a
few centimeters. In some implementations, the length of the cutting
assembly 4010 may be less than 1% of the length of the endoscopic
tool 4000, or the length of the flexible portion of the endoscope
within which the endoscopic tool can be inserted. As described
above, tissue sensing capabilities can be implemented with the
cutting assembly serving as a portion of the tissue sensor.
[0290] It should be appreciated that one or more seals, bearings,
and other components may be used. Seals may be used to maintain
pressure, prevent fluid leaks, or to securely engage components to
one another. In some implementations, bearings may be used to allow
components to rotate relative to one another without adversely
affecting the components or the performance of the endoscopic
tool.
[0291] FIG. 45 shows a cross-sectional view of the endoscopic tool
and the portion of the drive assembly across the section B-B. As
shown in FIG. 45, the second beveled gear 4056 may be configured to
engage with the drive receptacle 4058 of the drive assembly 4050.
The proximal connector 4070 of the endoscopic tool 4000, which
includes the coupler 4076 and the drive shaft 4072, can be inserted
disposed within the drive receptacle 4058. The outer wall of the
coupler 4076 is sized to engage with the inner wall of the drive
receptacle 4058 such that when the drive receptacle 4058 rotates,
the coupler 4076 also rotates. Because the coupler 4076 is coupled
to the drive shaft 4072, the drive shaft 4072 may also rotate when
the drive receptacle 4058 rotates. The inner wall of the drive
shaft defines a portion of the aspiration channel 4090.
[0292] FIG. 46 shows an enlarged cross-sectional view of the
rotational coupler section of the endoscopic tool. FIG. 47A and
FIG. 47B show a top view and a cross-sectional view of the
rotational coupler of the endoscopic tool.
[0293] As shown in FIGS. 46-47B, the outer tubing 4044 is
configured to engage with the rotational coupler 4030. The outer
tubing 4044 surrounds the lining 4082, which in turn surrounds the
flexible torque coil 4080. The inner wall of the flexible torque
coil 4080 may define a portion of the aspiration channel 4090. The
space between the inner wall of the outer tubing 4044 and the outer
wall or surface of the lining 4082 defines a portion of the
irrigation channel. The tab 4032 can be configured to be rotated by
an operator of the endoscopic tool. In some implementations, the
operator can rotate the tab 4032 while the endoscopic tool is
inserted within the instrument channel of the endoscope and cause
the outer cannula to rotate relative to the inner cannula and the
endoscope. In this way, the operator can position the opening
defined through the outer cannula by rotating the outer cannula to
a desired position. In some implementations, by providing a
mechanism through which the outer cannula can be rotated relative
to the endoscope, an operator does not have to be concerned about
the position of the opening when the endoscopic tool is inserted
within the instrument channel of the endoscope as the operator may
be able to adjust the position of the opening by causing the outer
cannula to rotate while the endoscopic tool is inserted within the
endoscope.
[0294] FIG. 48 is a perspective view of a portion of the endoscopic
tool inserted for operation within a drive assembly. The drive
assembly 4800 includes a drive interface 4810 configured to receive
the proximal connector 4070 of the endoscopic tool 4000. The
proximal connector 4070 can engage with the drive receptacle of the
drive interface 4810 to translate rotational energy generated by
the drive assembly 4800 to the cutting assembly of the endoscopic
tool 4000. The drive assembly 4800 may include a pump 4820 or other
fluid displacement device to control the flow of irrigation fluid
into the lavage port 4042 of the endoscopic tool 4000. In some
implementations, the pump 4820 can be a peristaltic pump. In some
implementations, the pump can be any positive displacement fluid
pump. In some implementations, a valve between the pump 4820 and
the lavage port 4042 can be placed to control an amount of
irrigation fluid entering the endoscopic tool. In some
implementations, the speed at which the pump 4820 operates can
dictate the rate at which irrigation fluid enters the endoscopic
tool. The drive assembly can also include a pinch valve 4830. In
some implementations, the pinch valve can be configured to control
the application of a suction force applied to the aspiration
channel.
[0295] In some implementations, an actuator, such as a control
switch can be used to actuate the drive assembly 4800. In some
implementations, the actuator can be a foot pedal, a hand switch,
or any other actuation means for controlling the drive assembly
4800. In some implementations, the actuator can be coupled to the
drive means, such as the pump 4820 such that when the actuator is
actuated, the pump 4820 begins to rotate, generating torque, which
is translated to the proximal connector of the endoscopic tool via
the drive interface 4810. The torque applied to the proximal
connector can be translated via the flexible torque coil to the
inner cannula, thereby causing the inner cannula to rotate relative
to the outer cannula. In some implementations, the actuator can be
coupled to a pinch valve, such as the pinch valve 4830 to control
the amount of suction applied to the aspiration channel. In some
implementations, the actuator can be configured to actuate both the
drive means and the pinch valve simultaneously, such that the inner
cannula is rotating while suction is applied through the aspiration
channel. In some implementations, the actuator can also be coupled
to an irrigation control switch or valve that controls the flow of
irrigation fluid into the endoscopic tool via the irrigation entry
port 4042. In some implementations, the actuator can be configured
to actuate the drive means, the pinch valve for aspiration and the
irrigation control switch for irrigation simultaneously, such that
the inner cannula is rotating while suction is applied through the
aspiration channel and irrigation fluid is supplied to the
endoscopic tool.
[0296] In some implementations, a separate irrigation control
switch can be configured to control the flow of irrigation fluid
through the irrigation channel of the endoscopic tool. An operator
can control the volume of irrigation fluid provided to the
irrigation channel via the irrigation control switch.
[0297] The drive assembly configuration shown in FIGS. 40A-48 is
one example configuration of a drive assembly. It should be
appreciated that the endoscopic tool 4000 can be configured to be
driven by other drive assembly configurations. In some
implementations, the proximal connector portion of the endoscopic
tool 4000 can be modified to engage with other drive assembly
configurations. In some implementations, the endoscopic tool 400
can be configured to be packaged as one or more different
components that can be assembled prior to inserting the endoscopic
tool within the instrument channel of the endoscope. In some
implementations, the proximal connector of the endoscopic tool 4000
can be assembled together by an operator of the endoscopic tool
after one or more components of the endoscopic tool are caused to
engage with components of the drive assembly.
[0298] FIG. 49 illustrates another implementation of the endoscopic
tool and a drive assembly configured to drive the endoscopic tool.
FIG. 50A is a side view of the endoscopic tool and drive assembly
shown in FIG. 49. FIG. 50B is a cross-sectional view of the
endoscopic tool and drive assembly shown in FIG. 49 taken along the
section A-A. The endoscopic tool 4910 is similar to the endoscopic
tool 4000 but differs from the endoscopic tool 4000 in that the
endoscopic tool 4910 has a different proximal connector 4912. In
this implementation, the proximal connector 4912 can be coupled to
a flexible torque coil, similar to the flexible torque coil 4000
shown in FIGS. 40A-43, and include a proximal connector engagement
structure 4914 that is configured to engage with a drive assembly
4950. The proximal connector engagement structure can be sized to
engage with the drive assembly 4950 and include one or more
engagement surfaces configured to engage with the drive assembly
4950. The engagement surfaces can be coupled to the drive shaft
included within the proximal connector 4912 such that when the
drive assembly 4950 applies a rotating force to the engagement
surfaces, the drive shaft rotates, which in turn causes the
flexible torque coil and cutting assembly of the endoscopic tool
4900 to rotate. In some implementations, the engagement surfaces
4914 can be cylindrical objects having an outer wall configured to
engage with the drive assembly 4950 and an inner wall configured to
engage with an outer wall of the drive shaft. In some
implementations, the proximal connector 4910 can also include a fin
4916 or other structure that prevents the proximal connector 4910
and endoscopic tool 4910 from rotating relative to the drive
assembly 4950. In some implementations, a side of the fin 4916 can
rest on or engage with a mounting structure 4936a and 4936b. In
this way, when a rotating force is applied by the drive assembly on
the engagement surfaces, the fin 4916 prevents the proximal
connector 4910 from rotating relative to the drive assembly 4950.
The mounting structures 4936 can be configured such that various
components of the drive assembly 4950 can be mounted on or receive
support from the mounting structures 4936.
[0299] The drive assembly 4950 can include a retractable arm 4922,
one or more spring loaded bearings 4924, a drive belt 4932 and a
drive wheel 4936 and one or more stationary bearings 4940. The
retractable arm 4922 can be configured to rotate between a first
position and a second position. The spring loaded bearings 4924 can
be mounted to the retractable arm 4922 and positioned such that
when the retractable arm 4922 is in the first position as shown in
FIGS. 49 and 50A-B, the spring loaded bearings 4924 can apply a
force on the proximal connector 4912 causing the proximal connector
to remain in place while the drive assembly 4950 is actuated. The
spring loaded bearings 4924 can be positioned such that when the
proximal connector 4912 of the endoscopic tool 4910 is engaged with
the drive assembly 4950, the spring loaded bearings 4924 engage
with an engagement component 4916 of a drive shaft (not shown)
disposed within the proximal connector 4912. The engagement
component 4916 can be strategically located on the proximal
connector 4912 such that when the retractable arm 4922 is in the
first position, the spring loaded bearings 4924 come into contact
with the engagement component 4916. The engagement component 4916
can be cylindrical in shape and surround the drive shaft disposed
within the proximal connector 4912. The engagement component 4916
can form a portion of the outer wall of the proximal connector
4912. In some implementations, the engagement component 4916 can
rotate along a longitudinal axis of the proximal connector 4912 and
rotate relative to the proximal connector 4912. In some
implementations, the drive wheel 4936 can be an elastomeric
friction drive wheel.
[0300] A drive means, such as a motor or other driving source, can
drive the drive wheel 4936 mounted on a mounting shaft 4930 via the
drive belt 4934 that moves when the drive means is actuated. The
drive belt 4934 can cause the drive wheel 4936 to rotate. The
engagement component 4916 of the proximal connector 4912 can be
configured to contact the drive wheel 4936 when the endoscopic tool
is positioned within the drive assembly 4950. A stationary bearing
4940 of the drive assembly 4950 can be positioned to hold the
proximal connector 4912 in place while the rotation of the drive
wheel 4936 causes the engagement component 4916 to rotate. The
stationary bearing 4940 can also provide a force causing the drive
wheel 4936 and the engagement component 4916 to maintain
contact.
[0301] As shown in FIG. 50B, when the retractable arm is in the
first position, or engaged position, the spring loaded bearings
4924 are in contact with the one or more engagement components 4916
at a first side and the drive wheel 4936 is in contact with the
engagement components 4916 at a second side. The spring loaded
bearings may allow the engagement components 4916 to rotate when
the drive wheel is rotating. The fin 4914 rests against the
mounting structures of the drive assembly preventing the endoscopic
tool from rotating. When the retractable arm is in a second
position, or disengaged position, the spring loaded bearings 4924
are not in contact with the one or more engagement components 4916.
As such, the endoscopic tool is not securely positioned within the
drive assembly, and as such, actuating the drive means may not
cause the flexible torque coil within the endoscopic tool to
rotate.
[0302] It should be appreciated that the outer diameter of the
endoscopic instrument may be sized to be inserted within the
instrument channel of an endoscope while the endoscope is inserted
within a patient. In addition, the endoscopic instrument may be
sized to be large enough that the endoscopic tool comes into
contact with the inner walls of the instrument channel at various
portions of the instrument channel to maintain stability of the
endoscopic instrument. If the outer diameter of the endoscopic
instrument is much smaller than the inner diameter of the
instrument channel, there may be a large amount of space between
the endoscopic instrument and the inner wall of the instrument
channel, which may allow the endoscopic instrument to move, vibrate
or otherwise experience some instability during operation.
Improved Endoscopic Tool for Removing Material from within a
Patient
[0303] FIGS. 51A-51C show an endoscopic tool 5100. The endoscopic
tool 5100 may be similar to various endoscopic tools described
herein, including the endoscopic tool 4000 (e.g., as shown in FIGS.
40A-40B, 41, and 42). The endoscopic tool 5100 can be configured to
obtain samples of polyps and neoplasms from a patient. The
endoscopic tool 5100 can be configured to be rotated by a torque
source (e.g., a motor coupled to a drive assembly or drive shaft of
the endoscopic tool 5100). The endoscopic tool 5100 can be
configured to flow irrigation fluid out into a site within a
subject (e.g., a site within a colon, esophagus, lung of the
subject). The endoscopic tool 5100 can be configured to resect
material at a site within a subject. The endoscopic tool 5100 can
be configured to provide a suction force via an aspiration channel
to obtain a sample of the material resected at a site within a
subject. In some implementations, the endoscopic tool 5100 can be
configured to be inserted within an instrument channel, such as an
instrument channel of an endoscope (e.g., a gastroscope, such as a
colonoscope, a laryngoscope, or any other flexible endoscope).
[0304] The endoscopic tool 5100 includes a proximal connector 5110
and a flexible torque delivery assembly 5200. The proximal
connector 5110 is configured to couple a drive assembly 5150 (e.g.,
a drive assembly including a drive shaft configured to be rotated
by a source of rotational energy) of the endoscopic tool 5100 to
the flexible torque delivery assembly of the endoscopic tool 5100.
In some implementations, the proximal connector 5110 includes a
first connector end 5114 at which the drive assembly 5150 is
coupled, and a second connector end 5118 at which the flexible
torque delivery assembly 5200 is coupled. As shown in FIGS. 51A and
51C, the first connector end 5114 includes an inner wall 5116
defining an opening in which the drive assembly 5150 can be
received. For example, in some implementations, the proximal
connector 5110 can be used to connect the drive assembly 5150 to a
drive shaft of a surgical console (see, e.g., console drive
assembly 6150 of console 6000 shown in FIGS. 55A-55D and 57A-57C,
etc.). The proximal connector 5110 includes a drive transfer
assembly 5122. The drive transfer assembly 5122 is configured to be
operatively coupled to the drive assembly 5150, receive torque from
the drive assembly 5150 when the drive assembly 5150 rotates, and
transfer the torque to the flexible torque delivery assembly 5200
in order to rotate the flexible torque delivery assembly 5200. In
some implementations, the drive assembly 5150, drive transfer
assembly 5122, and at least a portion of the flexible torque
delivery assembly 5200 are coaxial. For example, the drive transfer
assembly 5122 can be engaged to the drive assembly 5150 along a
drive axis 5102, and the drive transfer assembly 5122 can also be
engaged to the flexible torque delivery assembly 5200 at a proximal
end 5204 of the flexible torque delivery assembly 5200 along the
drive axis 5102. It should be appreciated that rotating the
flexible torque delivery assembly may include causing the flexible
torque delivery assembly to rotate a component (such as an inner
cannula) at one of the flexible torque delivery assembly.
[0305] In some implementations, the drive transfer assembly 5122
includes gears, belts, or other drive components to control the
direction and/or torque transferred from the drive assembly 5150 to
the flexible torque delivery assembly 5200. For example, such drive
components can be positioned at an angle to one another to change
an axis of rotation of the flexible torque delivery assembly 5200,
or offset from one another to shift an axis of rotation of the
flexible torque delivery assembly 5200 relative to the drive axis
5102.
[0306] In some implementations, the drive assembly 5150 includes a
drive engagement member 5152. The drive engagement member 5152 is
configured to engage the drive assembly 5150 to a source of
rotational energy (e.g., a drive rotated by a motor, such as
console drive assembly 6150 of console 6000, etc.). The drive
engagement member 5152 can be configured to be fixedly and/or
rigidly connected to the console drive assembly 6150, such that the
drive engagement member 5152 rotates in unison with the console
drive assembly 6150. For example, as shown in FIG. 51A, the drive
engagement member 5152 includes a proximal drive end 5154 including
a fitting (e.g., hex fitting, pin fitting, etc.) configured to
engage (e.g., lock with, mate with, fixedly engage, frictionally
engage, etc.) an engagement receiver member 6158 of the console
drive assembly 6150 of the console 6000. As such, rotation of the
console drive assembly 6150 causes rotation of the drive engagement
member 5152.
[0307] In some implementations, the drive assembly 5150 includes
one or more shaft components 5154 configured to transfer rotation
of the drive engagement member 5150 to the drive transfer assembly
5122. In some implementations, the drive transfer assembly 5122
includes the one or more shaft components 5156. The shaft
components 5156 can include an insulator member 5156a (e.g., a heat
sheath, heat shrink, etc.) configured to insulate components of the
drive assembly 5150 from heat generated by rotation of the drive
assembly or components thereof. The shaft components 5156 can
include a cutter 5156b. The shaft components 5156 can include a
shaft torque coil 5156c which may be similar to other torque coils
described herein. In some implementations, the shaft components
5156 can include a shaft torque rope. The shaft components 5156 can
include a shaft tube 5156d. The shaft tube 5156d can include a
radius that is less than a relatively greater radius of the drive
engagement member 5152 (e.g., a relatively greater radius that may
facilitate receiving rotational energy from a drive shaft or other
rotational energy source, such as by engaging the drive engagement
member 5152 to the engagement receiver member 6158 of the console
drive assembly 6150). For example, the shaft tube 5156d can include
a relatively lesser smaller corresponding more closely to a radius
of the drive transfer assembly 5122 and/or the flexible torque
delivery assembly 5200. In such implementations, the torque
received at the drive transfer assembly 5122 and/or the flexible
torque delivery assembly 5200 can be modified (e.g., increased) in
a manner corresponding to the change in radius between the radius
of the drive engagement member 5152 and the radius of the shaft
tube 5156d.
[0308] The distal portion of the endoscopic tool 5100 (e.g., the
distal portion including the cutting assembly 5201) can be similar
to other distal portions of endoscopic tools described herein
(e.g., cutting assembly 4010 shown in FIG. 42, etc.). In some
implementations, the cutting assembly 5201 can include an outer
cannula and an inner cannula disposed within the outer cannula. The
outer cannula can define an opening 5208 through which material to
be resected can enter the cutting assembly 5201. In some
implementations, the opening 5208 is defined through a portion of
the radial wall of the outer cannula. In some implementations, the
opening 5208 may extend around only a portion of the radius of the
outer cannula, for example, up to one third of the circumference of
the radial wall. As the aspiration channel extends between a vacuum
port (e.g., vacuum port 5126) and the opening 5208, any suction
applied at the vacuum port causes a suction force to be exerted at
the opening 5208. The suction force causes material to be
introduced into the opening or cutting window of the outer cannula,
which can then be cut by the inner cannula of the cutting assembly
5201.
[0309] The inner cannula can include a cutting section that is
configured to be positioned adjacent to the opening 5208 such that
material to be resected that enters the cutting assembly 5201 via
the opening 5208 can be resected by the cutting section of the
inner cannula. The inner cannula may be hollow and an inner wall of
the inner cannula may define a portion of an aspiration channel
that may extend through the length of the endoscopic tool. A distal
end of the inner cannula can include the cutting section while a
proximal end of the inner cannula can be open such that material
entering the distal end of the inner cannula via the cutting
section can pass through the proximal end of the inner cannula. In
some implementations, the distal end of the inner cannula can come
into contact with an inner surface of a distal end of the outer
cannula. In some implementations, this can allow the inner cannula
to rotate relative to the outer cannula along a generally
longitudinal axis, providing more stability to the inner cannula
while the inner cannula is rotating. In some implementations, the
size of the opening can dictate the size of the materials being cut
or resected by the inner cannula. As such, the size of the opening
may be determined based in part on the size of the aspiration
channel defined by the inner circumference of the flexible torque
coil.
[0310] The endoscopic tool 5100 can include a flexible torque coil
5212 that is configured to couple to the proximal end of the inner
cannula at a distal end of the flexible torque coil 5212. The
flexible torque coil can include a fine coil with multiple threads
and multiple layers, which can transmit the rotation of one end of
the flexible torque coil to an opposite end of the flexible torque
coil. Each of the layers of thread of the flexible torque coil can
be wound in a direction opposite to a direction in which each of
the layers of thread adjacent to the layer of thread is wound. In
some implementations, the flexible torque coil can include a first
layer of thread wound in a clockwise direction, a second layer of
thread wound in a counter-clockwise direction and a third layer of
thread wound in a clockwise direction. In some implementations, the
first layer of thread is separated from the third layer of thread
by the second layer of thread. In some implementations, each of the
layers of thread can include one or more threads. In some
implementations, the layers of thread can be made from different
materials or have different characteristics, such as thickness,
length, among others.
[0311] The flexibility of the torque coil 5212 allows the coil to
maintain performance even in sections of the torque coil 5212 that
are bent. Examples of the flexible torque coil 5212 include torque
coils made by ASAHI INTECC USA, INC located in Santa Ana, Calif.,
USA. In some implementations, the flexible torque coil 5212 can be
surrounded by a sheath or lining (e.g., sheath 5214) to avoid
frictional contact between the outer surface of the flexible torque
coil 5212 and other surfaces. In some implementations, the flexible
torque coil 5212 can be coated with Polytetrafluoroethylene (PFTE)
to reduce frictional contact between the outer surface of the
flexible torque coil 5212 and other surfaces. The flexible torque
coil 5212 can be sized, shaped or configured to have an outer
diameter that is smaller than the diameter of the instrument
channel of the endoscope in which the endoscopic tool is to be
inserted. For example, in some implementations, the outer diameter
of the flexible torque coil can be within the range of 1-4
millimeters. The length of the flexible torque coil can be sized to
exceed the length of the endoscope. In some implementations, the
inner wall of the flexible torque coil 5212 can be configured to
define another portion of the aspiration channel that is fluidly
coupled to the portion of the aspiration channel defined by the
inner wall of the inner cannula of the cutting assembly 5201. A
proximal end of the flexible torque coil 5212 can be coupled to the
proximal connector 5110 (e.g., to the drive transfer assembly 5122
of the proximal connector 5110, etc.).
[0312] The endoscopic tool 5100 can include a flexible outer tubing
5206 that can be coupled to the proximal end of the outer cannula.
In some implementations, a distal end of the flexible outer tubing
5206 can be coupled to the proximal end of the outer cannula using
a coupling component. In some implementations, the outer cannula
can be configured to rotate responsive to rotating the flexible
outer tubing. In some implementations, the flexible outer tubing
5206 can be a hollow, braided tubing that has an outer diameter
that is smaller than the instrument channel of the endoscope in
which the endoscopic tool 5100 is to be inserted. In some
implementations, the length of the flexible outer tubing 5206 can
be sized to exceed the length of the endoscope. The flexible outer
tubing 5206 can define a bore through which a portion of the
flexible outer tubing 5206 extends. The flexible outer tubing 5206
can include braids, threads, or other features that facilitate the
rotation of the flexible outer tubing 5206 relative to the flexible
torque coil, which is partially disposed within the flexible outer
tubing 5206. The flexible outer tubing can define a portion of an
irrigation channel for outputting fluid to a site within a
subject.
[0313] The endoscopic tool 5100 can include a rotational coupler
5216 configured to be coupled to a proximal end of the flexible
outer tubing 5206. The rotational coupler 5216 may be configured to
allow an operator of the endoscopic tool to rotate the flexible
outer tubing 5206 via a rotational tab 5218 coupled to or being an
integral part of the rotational coupler 5216. By rotating the
rotational tab 5218, the operator can rotate the flexible outer
tubing and the outer cannula along a longitudinal axis of the
endoscope and relative to the endoscope and the inner cannula of
the cutting assembly 5201. In some implementations, the operator
may want to rotate the outer cannula while the endoscopic
instrument is inserted within the endoscope while the endoscope is
within the patient. The operator may desire to rotate the outer
cannula to position the opening of the outer cannula to a position
where the portion of the radial wall of the outer cannula within
which the opening is defined may aligned with the camera of the
endoscope such that the operator can view the material entering the
endoscopic instrument for resection via the opening. This is
possible in part because the opening is defined along a radial wall
extending on a side of the outer cannula as opposed to an opening
formed on the axial wall of the outer cannula.
[0314] In some implementations, a proximal end 5220 of the
rotational coupler 5216 can be fluidly coupled to the proximal
connector 5110, such that the irrigation channel of the endoscopic
tool 5100 passes from an irrigation port 5134 through the flexible
outer tubing 5206 into the rotational coupler 5216. Irrigation
fluid entering the proximal connector 5110 at the irrigation port
5134 can thus pass through the rotational coupler 5216 in order to
be outputted at a site within a subject. In some implementations,
the rotational coupler 5216 can be a rotating luer component that
allows a distal end 5222 of the rotational coupler 5216 to rotate
relative to the proximal end 5220 of the rotational coupler 5216.
In this way, when the flexible outer tubing 5206 is rotated, the
component to which the proximal end of the rotational coupler 5216
is coupled, is not caused to rotate. The rotational coupler 5216
can define a bore along a central portion of the rotational coupler
5216 through which a portion of the flexible torque coil 5212
extends. In some implementations, the rotational coupler 5216 can
be a male to male rotating luer connector. In some implementations,
the rotational coupler can be configured to handle pressures up to
1200 psi.
[0315] In some implementations, the flexible torque delivery
assembly 5200 is configured to be fluidly coupled to a vacuum
source to apply a suction force to the aspiration channel. The
aspiration channel allows for fluid and material (e.g., a sample to
be obtained) to be drawn into the distal end 5204 of the flexible
torque delivery assembly 5200 in order to flow to the proximal end
5202 of the flexible torque delivery assembly 5200. For example,
after the cutting assembly 5201 has been used to resect material
from a site within a subject, vacuum pressure can be applied
through the aspiration channel to draw (e.g., transfer by suction,
etc.) fluid and material into the flexible torque delivery assembly
5200.
[0316] In some implementations, the proximal connector 5110 is
configured to be coupled to a vacuum source to provide a suction
force for aspiration. For example, as shown in FIGS. 51A and 51C,
the proximal connector 5110 includes a vacuum port 5126 (e.g.,
aspiration port). The vacuum port/aspiration port 5126 can be
similar to other aspiration ports disclosed herein. The vacuum port
5126 is configured to fluidly couple an aspiration channel of the
endoscopic tool 5100 to a vacuum source (e.g., to a vacuum source
with a specimen receiver positioned between the vacuum source and
the endoscopic tool). The vacuum port 5126 is configured to
transmit a suction force applied to the vacuum port 5126 to the
aspiration channel, in order to draw fluid and material entering
the distal end 5204 of the endoscopic tool 5100 through the
aspiration channel towards the vacuum source. In some
implementations, such as shown in FIGS. 51A and 51C, the vacuum
port 5126 includes a vacuum port channel 5130 oriented transverse
to the drive axis 5102 (and thus the aspiration channel). This may
facilitate coupling tubing to the vacuum port 5126 that extends to
a specimen receiver or vacuum source without interfering with
manipulation of the proximal connector 5110 and the endoscopic tool
5100. In various implementations, the vacuum port channel 5130 can
be oriented at varying angles relative to the drive axis 5102. In
some implementations, vacuum tubing 5132 can be coupled to the
vacuum port 5126.
[0317] In some implementations, the proximal connector 5110 is
configured to be coupled to a fluid source to provide fluid to be
outputted by the endoscopic tool 5100 to a site within a subject.
As shown in FIGS. 51A-51C, the proximal connector 5110 includes an
irrigation port 5134, including an irrigation port channel 5136,
configured to receive fluid from a fluid source. The irrigation
port 5134 is configured to be fluidly coupled to an irrigation
channel of the flexible torque delivery assembly 5200 (e.g., an
irrigation channel defined between the flexible outer tubing 5206
and the flexible torque coil 5212 and extending to an opening at
the distal end 5204 of the flexible torque delivery assembly 5200),
such that fluid can flow from the proximal connector 5110 through
flexible torque delivery assembly 5200 to be outputted at a site
within a subject. In some implementations, the fluid (e.g.,
irrigation fluid) can be used to cool the flexible torque delivery
assembly 5200, which may generate heat due to friction caused by
rotation or other movements. In some implementations, the fluid can
be used to wash a site within a subject. In some implementations,
the fluid provides lubrication to facilitate rotation or other
movement of components of the endoscopic tool 5100 relative to one
another. In some implementations, the irrigation port 5134 is
configured to be coupled to a fluid transfer device or irrigation
pump (e.g., fluid transfer device 6200 as shown in FIGS. 52A-52F,
etc.). The irrigation port 5134 receives a flow of irrigation fluid
from the irrigation pump and transfers the fluid into the
irrigation channel. In some implementations, the irrigation channel
is defined to include the irrigation port 5134 and/or tubing
connecting the irrigation port 5134 to the fluid source. In some
implementations, the irrigation port 5134 can be coupled to a fluid
source by fluid tubing 5140. The fluid tubing 5140 can be coupled
to a fitting 5144 (e.g., vented spike fitting, non-vented spike
fitting, etc.) configured to interface the fluid tubing 5140 to a
fluid source.
Console for Endoscopic Tool
[0318] Referring now to FIGS. 52A-56D, a console 6000 for an
endoscopic tool is illustrated. The console 6000 is configured to
receive control commands (e.g., user inputs) for controlling
operation of an endoscopic tool (e.g., endoscopic tool 5100), such
as the various endoscopic tools disclosed herein, including an
endoscopic tool 5100 as illustrated in FIGS. 51A-51C, etc. The
console 6000 is configured to interface with devices such as the
endoscopic tool 5100, a specimen receiver (e.g., a specimen
receiver 7000 as illustrated in FIG. 64), a vacuum source, an
aspiration source, etc. As such, the console 6000 is configured to
interface devices coupled to the console 5100 with each other. The
console 6000 can interface devices using mechanical connections as
well as electronic connections.
[0319] In some implementations, the console 6000 includes a user
interface 6010. The user interface 6010 is configured to receive
user input (e.g., user input from an operator of the console 6000,
a user performing a procedure using the console and/or the
endoscopic tool 5100, etc.). The console 6000 is configured to
perform operations based on the received user input. For example,
the console 6000 can include processing electronics (e.g., a
processing circuit/processor, memory, etc.) configured to process
user input in order to generate outputs (e.g., control signals)
configured to cause devices to perform operations associated with
the user input. A processor may be, or may include, one or more
microprocessors, application specific integrated circuits (ASICs),
circuits containing one or more processing components, a group of
distributed processing components, circuitry for supporting a
microprocessor, or other hardware configured for processing. A
processor may be configured for executing computer code. The
computer code may be stored in memory to complete and facilitate
the activities described herein. In some implementations, the
computer code may be retrieved and provided to a processor from a
hard disk storage or communications interface (e.g., the computer
code may be provided from a source external to the console 6000). A
memory can be any volatile or non-volatile computer-readable
storage medium capable of storing data or computer code relating to
activities described herein. For example, a memory can include
modules which are computer code modules (e.g., executable code,
object code, source code, script code, machine code, etc.)
configured for execution by a processor. A memory can include
computer executable code related to functions including motor
control, processing user inputs, controlling devices such as the
endoscopic tools disclosed herein, receiving and transmitting data,
etc. In some implementations, processing electronics can represent
a collection of multiple processing devices.
[0320] In some implementations, the user interface 6010 includes
user input devices 6014 (e.g., buttons, knob, switches, foot pedals
etc.) configured to receive user input for controlling operation of
the console 6000, as well as for controlling devices operatively
coupled to the console 6000 such as endoscopic tool 5100, etc. For
example, as shown in FIGS. 52A and 52E, the user interface 6010 can
include a speed control 6014a (e.g., to control a speed of rotation
of a drive of the console, etc.), a power button 6014b, a vacuum
control release 6014c configured to receive user input for
controlling a vacuum control device 6040 (e.g., user input
indicating instructions to open the vacuum control device 6040 so
that a vacuum source, the endoscopic tool 5100, a specimen receiver
7000, etc., can be fluidly coupled via the vacuum control device
6040), and a primer input 6014d configured to prime and/or flush
irrigation tubing (e.g., to prime and/or flush tubing configured to
fluidly couple a fluid transfer device 6200 to an endoscopic tool,
etc.).
[0321] In some implementations, the user interface 6010 includes an
auxiliary control interface 6018. For example, the auxiliary
control interface 6018 can be configured to receive user inputs for
rotation (for example, the inner cannula) of an endoscopic tool
5100, for vacuum control, for irrigation control, etc. In some
implementations, the auxiliary control interface 6018 is configured
to receive user inputs or other control signals from a remote input
device (e.g., foot pedal, hand control, portable electronic device,
etc.). The auxiliary control interface 6018 can be configured to
communicate with the remote input device via a wired connection or
wireless signals (e.g., radio frequency, infrared, Bluetooth,
internet protocol, WI-FI, etc.). For example, a foot pedal can be
configured to receive user inputs for rotation, vacuum control, and
or/irrigation control, and transmit control signals based on the
user inputs for reception by the auxiliary control interface 6018.
In some implementations, the auxiliary control interface 6018 is
configured to receive the control signals from the foot pedal for
processing in order to control operation of the endoscopic tool
5100, including for applying vacuum to an aspiration channel of the
endoscopic tool 5100, for rotating components of the endoscopic
tool 5100, and/or for flowing irrigation fluid through an
irrigation channel of the endoscopic tool 5100 to a site within a
subject. In some implementations, the foot pedal includes a pedal
input configured to receive an input corresponding to each function
of the foot pedal (e.g., rotation, vacuum, irrigation, etc.). In
some implementations, a first pedal input is configured to receive
an input corresponding to activation of multiple functions (e.g.,
rotation and suction/vacuum), and a second pedal input is
configured to receive an input corresponding to activation of other
functions (e.g., irrigation). In some implementations, a first
pedal input is configured to receive an input corresponding to
activation of multiple functions (e.g., rotation and irrigation),
and a second pedal input is configured to receive an input
corresponding to activation of other functions (e.g.,
suction/vacuum). For example, the second pedal input can be
configured for vacuum control or irrigation, but only within a
predetermined period of time after activation of the first pedal
input (e.g., 5 seconds, 10 seconds, 12 seconds, 15 seconds, etc.).
In some implementations, the predetermined period of time is
determined based on preventing heat buildup in the endoscopic tool
or ensuring that the vacuum draws the tissue towards the cutting
window for resection by the rotating cutting window. In some
implementations, the predetermined period of time is determined
based on preventing inadvertent activation of suction force. In
some implementations, when the first foot pedal is actuated, a
suction force is applied and after a predetermined time, the drive
motor for causing rotation of the inner cannula is actuated. In
this way, the material to be resected can be suctioned into the
cutting window of the outer cannula before rotation of the inner
cannula. Furthermore, by applying suction prior to actuation of the
cutter, any materials trapped within the aspiration channel can be
removed prior to the cutting of additional material.
[0322] In some implementations, the console 6000 includes a vacuum
control device 6040 (e.g., a vacuum control valve). The vacuum
control device 6040 is configured to couple a vacuum source to the
endoscopic tool 5100. For example, the vacuum control device 6040
can be configured to fluidly couple tubing to the vacuum port 5126
of the proximal connector 5110 of the endoscopic tool 5100, and
also fluidly couple tubing to a specimen receiver (e.g., specimen
receiver 7000) and/or a vacuum source. In some implementations, the
vacuum control device 6040 mechanically engages (e.g., grips,
locks, holds, etc.) vacuum tubing that fluidly couples the
endoscopic tool 5100 to the specimen receiver 7000. In some
embodiments, the vacuum control device 6040 includes a manifold
configured to be fluidly coupled the endoscopic tool 5100 to a
plurality of specimen receivers 7000. The user interface 6010 can
include a manifold/valve control configured to control fluid flow
through exiting the endoscopic tool 5100 to one or more of the
plurality of specimen receivers 7000.
[0323] In some implementations, the vacuum control device 6040 is
configured to be opened in response to user input received at the
vacuum control release 6014c. For example, in response to actuation
of the vacuum control release 6014c, processing electronics of the
console 6000 can receive a vacuum release signal and cause the
vacuum control device 6040 to open, allowing vacuum tubing to be
positioned in the vacuum control device 6040. In some
implementations, the vacuum control device 6040 can be configured
to be mechanically coupled to the vacuum control release 6014c,
such that actuation of the vacuum control release 6014c
mechanically actuates the vacuum control device 6040 to open the
vacuum control device 6040. In some implementations, the vacuum
control device 6040 is configured to be opened for a predetermined
amount of time. For example, the vacuum control device 6040 can be
actuated to an open position for a predetermined amount of time in
response to input received at the vacuum control release 6014c, and
then automatically close after the predetermined amount of
time.
[0324] In some implementations, processing electronics of the
console 6000 are configured to receive control signals from the
foot pedal, and performing at least one of controlling rotation of
the endoscopic tool 5100, controlling a fluid source for delivering
irrigation fluid through the endoscopic tool 5100 (e.g., control
operation of a fluid transfer device 6200 to output fluid from the
fluid transfer device 6200 into the endoscopic tool 5100), or
controlling application of a vacuum pressure to the endoscopic tool
5100 (e.g., enabling a vacuum source to apply a suction force to
the endoscopic tool 5100). For example, the processing electronics
can be configured to receive a first signal from a first pedal
input and a second signal from a second pedal input, cause a motor
6300 to rotate the endoscopic tool 5100 in response to receiving
the first signal, cause a fluid transfer device 6200 to output
fluid into the endoscopic tool 5100 in response to receiving the
first signal, and cause the vacuum control device 6040 to enable
vacuum pressure to be applied to the endoscopic tool 5100 in
response to receiving the second signal (e.g., in response to
receiving the second signal within a predetermined time of
receiving the first signal).
[0325] In some implementations, the console 6000 includes an
endoscopic tool interface 6100. The endoscopic tool interface 6100
is configured to engage the endoscopic tool 5100. In some
implementations, the endoscopic tool interface 6100 is configured
to mechanically engage the drive assembly 5150 of the endoscopic
tool 5100 (e.g., fixedly engage, rigidly engage, etc.), in order to
rotate the drive assembly 5150. For example, the endoscopic tool
interface 6100 can act as an interface between the endoscopic tool
5100 and a drive mechanism of the console 6000.
[0326] FIGS. 56A-56C show an implementation of the endoscopic tool
interface 6100 in further detail. The endoscopic tool interface is
configured to be attached to the console 6000 coaxially with a
console drive assembly (e.g., console drive assembly 6150). The
endoscopic tool interface includes an interface receiver 6104
configured to be coupled to the proximal connector 5110 of the
endoscopic tool 5100, facilitating alignment and coupling of the
console drive assembly 6150 to the proximal connector 5110 such
that the console drive assembly 6150 can rotate the drive assembly
5150 of the endoscopic tool 5100.
[0327] Referring back to FIGS. 52A-54C, in some implementations,
the console 6000 includes a fluid transfer device 6200 (e.g., an
irrigation pump). The fluid transfer device 6200 is configured to
flow fluid (e.g., irrigation fluid) through the endoscopic tool
5100 to be output by the endoscopic tool 5100 at the distal end
5104 of the endoscopic tool 5100. In some implementations, the
irrigation fluid is received from a fluid source in a procedure
room (e.g., water container, saline/IV bag, etc). The fluid
transfer device 6200 can be configured to output fluid at a
pressure sufficient to drive the fluid to an outlet at the distal
end 5104 of the endoscopic tool 5100.
[0328] In some implementations, the console 6000 includes a motor
6300. The motor 6300 is configured to provide rotational energy in
order to rotate the endoscopic tool 5100. In some implementations,
the motor 6300 is an electric motor. In some implementations, the
motor 6300 is a variable speed motor. In some implementations, the
motor 6300 is a fixed speed motor; if variable rotation rates are
desired from the fixed speed motor 6300, then a speed change device
(e.g., gears, etc.) can be used to step from a rotation rate of the
motor 6300 to a desired rotation rate. In some implementations, the
speed control 6014a of the console 6000 is configured to receive a
speed control input (e.g., a speed control input corresponding to
an absolute rotation rate of the motor 6300 or the console drive
assembly 6150, a relative rotation rate based on a percentage of a
maximum rotation rate of the motor 6300 or the console drive
assembly 6150, etc.). In such implementations, user input can be
received indicating a desired rotation rate of the endoscopic tool
5100, and the motor 6300 and the console drive assembly 6150
(including any gears, etc., coupled between an output shaft of the
motor 6300 and the console drive assembly 6150) can be configured
to output a torque to the endoscopic tool 5100 based on the desired
rotation rate indicated by the user input.
[0329] Referring further to FIGS. 55A-55D, mechanical engagements
are shown between various components of the console 6000, including
the endoscopic tool interface 6100, the console drive assembly
6150, the vacuum control device 6040, and the motor 6300. In some
implementations, an output shaft of the motor 6300 is engaged to
and coaxial with the console drive assembly 6150. In other
implementations, as shown in FIGS. 55A-55D, an output shaft 6304 of
the motor 6300 is parallel to and offset from a drive axis of the
console drive assembly 6150. In such implementations, an
intermediate drive assembly 6350 can be configured to be coupled to
the output shaft 6304 and to the console drive assembly 6150, such
as to transfer the rotational output of the output shaft 6304 to
the drive assembly 6150. For example, as shown in FIGS. 55A-55D,
the intermediate drive assembly 6350 includes a first rotation
member (e.g., a pulley) 6354 that is configured to be engaged to
the output shaft 6304, a second rotation member (e.g., a pulley)
6358 that is configured to be engaged to the console drive assembly
6150, and a rotation transfer device (e.g., a belt) 6362 configured
to transfer rotation from the first rotation member 6354 to the
second rotation member 6358. For example, the rotation transfer
device 6362 can frictionally engaged both the first rotation member
6354 and the second rotation member 6358, so that when the output
shaft 6304 of the motor 6300 causes the first rotation member 6354
to rotate, the rotation transfer device 6362 and thus the console
drive assembly 6150 are also rotated.
[0330] FIGS. 57A-57C show an implementation of the console drive
assembly 6150 in further detail. The console drive assembly 6150 is
configured to transfer rotation of a rotational energy source
(e.g., the motor 6300) to rotation of an endoscopic tool (e.g., the
endoscopic tool 5100). In some implementations, the console drive
assembly 6150 includes an input shaft 6154. The input shaft 6154
can be configured to be coupled to the output shaft 6304 of the
motor 6300. For example, the input shaft 6154 can be coupled to the
output shaft 6304 via intermediate shafts, gears, a two-sided
coupling member (e.g., a coupling member having a first receiving
surface configured to engage the input shaft 6154 and a second
receiving surface configured to engage the output shaft 6304). In
some embodiments, the input shaft 6154 is configured to be coupled
to the intermediate drive assembly 6350. For example, the input
shaft 6154 can be configured to engage the second rotation member
6358, such that rotation of the second rotation member 6358, caused
by rotation of the output shaft 6304, causes rotation of the input
shaft 6154.
[0331] In some implementations, the console drive assembly 6150
includes an engagement receiving member 6158. The engagement
receiver member 6158 is configured to engage the console drive
assembly 6150 to the endoscopic tool 5100, such as to engage drive
engagement member 5152. For example, the engagement receiver member
6158 can include a receiving surface 6162 shape to engage (e.g.,
frictionally engage) the drive engagement member 5152 (e.g., a hex
fitting shaped to match a hex head of the drive engagement member
5152, etc.). As the console drive assembly 6150 is rotated by the
motor 6300, the rotational energy is transferred through the input
shaft 6154 to the engagement receiver member 6158 to the drive
engagement member 5152, thus rotating the endoscopic tool 5100.
[0332] In some implementations, the console drive assembly 6150
includes a drive torque coil 6400. FIGS. 58A-58C show an
implementation of the drive torque coil 6400 in further detail. The
drive torque coil 6400 is configured to be positioned within the
console drive assembly 6150 between the engagement receiving member
6158 and the input shaft 6154. The drive torque coil 6400 can be
similar to other torque coils disclosed herein. The drive torque
coil 6400 can be configured to compensate for torque forces that
could disrupt an orientation of the endoscopic tool 5100, and can
complement compensation by the flexible torque coil 5212. The drive
torque coil 6400 can include friction reduction members 6404
positioned on ends of the drive torque coil 6400, the friction
reduction members being configured to reduce friction and wear
between the drive torque coil 6400 and other components of the
console drive assembly 6150. The drive torque coil 6400 can
complement action of the flexible torque coil 5212. The drive
torque coil 6400 can be configured to rotate freely in the console
drive assembly 6150 using the friction reduction members 6404 while
compressing or expanding to compensate for compression or expansion
forces applied to the console drive assembly 6150.
[0333] In some implementations, the console 6000 includes one or
more bracket assemblies 6500. FIGS. 59A-59C show an implementation
of the bracket assembly 6500 in further detail. The bracket
assembly 6500 can be configured to hold (e.g., support, engage) a
device configured to be fluidly coupled to the console 6000 and/or
the endoscopic tool 5100. For example, the bracket assembly 6500
can be configured to hold a specimen receiver (e.g., specimen
receiver 7000 as shown in FIG. 64). In some implementations, the
bracket assembly 6500 includes a bracket receiver surface 6504. The
bracket receiver surface 6504 can be configured to receive and
engage the specimen receiver 7000. For example, the bracket
receiver surface 6504 can include features configured to
frictionally and/or mechanically engage the specimen receiver 7000.
As shown in FIGS. 59A-59C, the bracket assembly 6500 can include
one or more specimen engagement receiving members 6508 extending
into a bracket body 6514 of the bracket assembly 6500. The specimen
engagement receiving members 6508 are configured to reciprocally
engage engagement features of the specimen receiver 7000. In some
implementations, the specimen engagement receiving members 6508
include a first receiving portion 6510 continuous with and offset
from a second receiving portion 6512. As such, an engagement
feature of the specimen receiver 7000 can be positioned in the
first receiving portion 6510. As the specimen receiver 7000 is
rotated, the engagement feature can be translated (e.g., slid)
along the first receiver portion 6510 and then vertically
repositioned into the second receiving portion 6512. The specimen
engagement receiving members 6508 are thus configured to prevent
rotation of the specimen receiver 7000 unless the specimen receiver
7000 is also translated in a direction perpendicular to the plane
of rotation. In other words, while a user can insert or remove the
specimen receiver 7000 by both rotating and shifting the specimen
receiver 7000, unintentional forces applied to the specimen
receiver 7000 (e.g., during a procedure) will not cause the
specimen receiver 7000 to be removed from the bracket assembly
6500. In some implementations, the bracket assembly 6500 is
configured to be fluidly coupled to the specimen receiver 7000. For
example, if the console 6000 includes fluid connections for
coupling to the specimen receiver 7000 (e.g., for coupling a vacuum
source to the specimen receiver 7000), the fluid connections can be
fluidly coupled to the specimen receiver 7000 via the bracket
assembly 6500.
[0334] Referring back to FIGS. 52A-52F, in some implementations,
the console 6000 includes a holder assembly 6600. The holder
assembly 6600 can include a holding receiver 6604 configured to
hold (e.g., support) components configured to be used with the
console 6000. For example, the holding receiver 6604 can be
configured to hold control devices for controlling operation of an
endoscopic tool. The holder assembly 6600 can include a fastening
member (e.g., screw, bolt, etc.) 6608 configured to fasten a
component to the holding receiver 6604.
[0335] Referring further to FIGS. 53A-53B, in some implementations,
the console 6000 includes a power input assembly 6650. The power
input assembly 6650 can include a power cable receiver 6660
configured to receive electrical power from a remote power source.
The power input assembly 6650 can include an input (e.g., switch,
button, etc.) 6664 configured to turn power to the console 6000
on/off. The power input assembly 6650 can be configured to deliver
energy to components of the console 6000 (e.g., motor 6300, user
interface 6010, processing electronics, etc.). In some
implementations, the power input assembly 6650 can include a local
power source (e.g., a battery). The local power source can be
configured to supply all power to the console 6000, backup power to
the console 6000, and or local power to certain components of the
console 6000. For example, a battery can be configured to supply
power to processing electronics, while a remote power source can be
configured to provide power to the motor 6300.
[0336] FIGS. 60A-63 show various views of operating and connecting
the console 6000 with the endoscopic tool 5100 and other components
described herein. Referring now to FIGS. 60A-60B, the endoscopic
tool 5100 is shown being coupled to the console 6000 at the
endoscopic tool 6100. The proximal connector 5110 is configured to
be positioned adjacent to the endoscopic tool interface 6100 in
order to engage the endoscopic tool 5100 to the console drive
assembly 6150. In some implementations, the endoscopic tool
interface 6100 includes an engagement actuator 6104 configured to
engage the endoscopic tool 5100 to the console 6000. In some
implementations, the engagement actuator 6104 can be configured to
be positioned in a first, unlocked position (shown in FIG. 60A),
and a second, locked position (shown in FIG. 60B), such that
movement of the engagement actuator 6104 moves the engagement
actuator 6104 between the first and second positions. For example,
an operator of the console 6000 can move the engagement actuator
6104 between the positions in order to lock or unlock the
endoscopic tool 5100 from the console 6000.
[0337] Referring now to FIG. 61, a specimen receiver (e.g.,
specimen receiver 7000 shown in FIG. 64) can be fluidly coupled to
a vacuum source. For example, tubing (e.g., vacuum tubing, suction
tubing, etc.) can be fluidly coupled to an outlet of the specimen
receiver (e.g., second receiver port 7018). The tubing can be used
to apply a suction force to the specimen receiver 7000, in order to
draw fluid out of the endoscopic tool 5100 (e.g., via an aspiration
channel) through the specimen receiver 7000 towards the vacuum
source. In some implementations, the tubing can be configured to
remove excess fluids exiting the specimen receiver 7000. In some
implementations, the tubing is clear, allowing an operator to view
the fluid exiting the specimen receiver 7000 to determine the
content of the fluid. In some implementations, the console 6000 is
positioned on a fluid pathway between the vacuum source and the
specimen receiver.
[0338] In some implementations, the irrigation channel includes the
irrigation port 5134, the irrigation port channel 5136, a portion
defined between the flexible outer tubing 5206 and the flexible
torque coil 5212 (e.g., a portion defined between an inner wall of
the flexible outer tubing 5206 and an exterior of the flexible
torque coil 5212), and extending to an opening at the distal end
5204 of the torque delivery assembly 5200. In some implementations,
the irrigation channel includes a portion defined between the
rotational coupler 5216 and the flexible torque coil 5212. In some
implementations, the irrigation channel includes a portion defined
by an interface of the proximal connector 5110 between the
irrigation port channel 5136 and the portion defined between the
flexible outer tubing 5206 and the flexible torque coil 5212. In
some implementations, the irrigation channel extends from the
irrigation port 5134 to the opening at the distal end 5204 of the
torque delivery assembly 5200. In some implementations, the
irrigation channel extends out of the endoscopic tool 5100 to a
fluid source. For example, the irrigation channel can extend
through tubing that fluidly couples the irrigation port 5134 to a
fluid source (e.g., to fluid transfer device 6200). In some
implementations, the irrigation channel includes the fluid
source.
[0339] Referring now to FIG. 62 and FIGS. 51A-51C, a specimen
receiver (e.g., specimen receiver 7000) can be fluidly coupled to
the endoscopic tool 5100. For example, tubing 6702 (e.g., vacuum
tubing, suction tubing, etc.) can be fluidly coupled between the
vacuum port 5126 of the proximal connector 5110 and an inlet of the
specimen receiver 7000 (e.g., first receiver port 7014). The tubing
can be used to apply a suction force to the endoscopic tool 5100,
in order to draw fluid out of the endoscopic tool 5100 (e.g., via
an aspiration channel), such as for obtaining a sample in the
specimen receiver 7000.
[0340] In some implementations, the aspiration channel includes the
vacuum port 5126, the vacuum port channel 5130, and a portion
defined by an inner wall of the flexible torque coil 5212. The
aspiration channel be partially defined by a portion defined by an
inner wall of the inner cannula of the cutting assembly 5201,
extending to the opening 5208. In some implementations, the
aspiration channel includes (or is partially defined by) an
interface of the proximal connector 5110 between the vacuum port
channel 5130 and the portion defined by the flexible torque coil
5212. In some implementations, the aspiration channel extends from
the vacuum port 5126 to the opening 5208.
[0341] In some implementations, the aspiration channel extends out
of the endoscopic tool 5100 to a vacuum source. For example, the
aspiration channel can be partially defined by tubing fluidly
coupling the vacuum port 5126 to a vacuum source. In some
implementations, the aspiration channel includes a specimen
receiver (e.g., specimen receiver 7000). The aspiration channel can
include (or partially be defined by) tubing fluidly coupling the
endoscopic tool 5100 to the specimen receiver (e.g., tubing 6702
shown in FIG. 62), a channel extending through the specimen
receiver, and tubing fluidly coupling the specimen receiver to a
vacuum source (e.g., tubing 6701 shown in FIG. 61). In some
implementations, the aspiration channel extends from the vacuum
source through the specimen receiver through the endoscopic tool
5100 to the opening 5208, such as when the distal end 5204 of the
torque delivery assembly 5200 is positioned at a site within a
subject.
[0342] Referring now to FIGS. 63A-63B and 51A-51C, the fluid
transfer device 6200 (e.g., irrigation pump) can be fluidly coupled
to the irrigation port 5134 of the proximal connector 5110. In some
implementations, the fluid transfer device 6200 includes actuation
members 6204 configured to open the fluid transfer device 6200 in
order to expose an outlet of the fluid transfer device 6200. An
operator of the console 6000 can couple tubing to the outlet of the
fluid transfer device 6200 and to the irrigation port in order to
fluidly couple the fluid transfer device 6200 to the irrigation
channel of the endoscopic tool 5100. In some embodiments, the
actuation members 6204 are configured to be positioned in a first,
closed position (see FIG. 63B), and shifted to a second, open
position (see FIG. 63A). In some embodiments, the console 6000
includes a user input configured to receive a fluid transfer device
control command. Processing electronics of the console 6000 can be
configured to receive the fluid transfer device control command and
cause the fluid transfer device 6200 to open or close (e.g., cause
the actuation members 6204 to actuate) based on the fluid transfer
device control command.
Specimen Receiver
[0343] FIG. 64 shows an exploded perspective view of a specimen
receiver 7000. The specimen receiver 7000 is configured to receive
fluid flow and obtain samples of a material (e.g., tissue from a
patient, a polyp resected from a colon of a patient, etc.) from the
fluid flow. The specimen receiver 7000 can be fluidly coupled to
the endoscopic tool 5100. The specimen receiver 7000 can be fluidly
coupled to a vacuum source. The vacuum source can be used to
provide a suction force through the specimen receiver 7000 to draw
fluid flow from the endoscopic tool 5100 through the specimen
receiver 7000 and out of the specimen receiver 7000. The fluid flow
can thus be drawn through a sample obtaining member for capturing a
sample from the fluid flow.
[0344] The specimen receiver 7000 includes a first receiver member
7010, a second receiver member 7050, and a specimen capture member
7100. The first receiver member 7010 is configured to be positioned
upstream relative to fluid flow through the specimen receiver 7000.
The second receiver member 7050 is configured to be positioned
downstream relative to fluid flow through the specimen receiver
7000. The first receiver member 7010 and second receiver member
7050 are configured to be engaged to one another with the specimen
capture member 7100 positioned inside the first receiver member
7010 and second receiver member 7050.
[0345] For example, as shown in FIG. 64, the first receiver member
7010 includes a first receiver port 7014 configured to receive
fluid flow and pass the fluid flow to an interior of the specimen
receiver 7000 via a first receiver channel 7018 fluidly coupled to
the first receiver port 7014. The second receiver member 7050
includes a second receiver port 7054 configured to receive fluid
flow via a second receiver channel 7058 fluidly coupled to the
second receiver port 7054. The second receiver port 7054 is
configured to be coupled to a vacuum source (e.g., a vacuum source
positioned downstream of the specimen receiver 7000) to provide a
suction force to draw the fluid flow out of the specimen receiver
7000.
[0346] In some implementations, the first receiver member 7010 is
configured to engage the second receiver member 7050. For example,
the first receiver member 7010 can include features configured to
reciprocally mate with and engage (e.g., lock, attach to, couple,
connect, etc.) features of the second receiver member 7050. As
shown in FIG. 64, the first receiver member 7010 includes an outer
rim 7022 having receiver engagement members 7026 extending from the
outer rim 7022. The receiver engagement members 7026 are configured
to be positioned in corresponding receiver engaging members 7066
located on an inner rim 7062 of the second receiver member 7050.
For example, the receiver engaging members 7066 can include tracks
configured to receive the receiver engagement members 7026, such
that when the first receiver member 7010 is rotated relative to the
second receiver member 7050, the receiving engagement members 7026
slide within the tracks of the receiver engaging members 7066. In
various implementations, the inclusion of such engagement members
can be interchanged between the first receiver member 7010 and the
second receiver member 7050.
[0347] In some implementations, the first receiver port 7014
(and/or the first receiver channel 7018) includes an inner diameter
that is less than an inner diameter of the second receiver port
7054 (and/or the second receiver channel 7058). This may facilitate
fluid flow through the specimen receiver 7100 by facilitating a
pressure gradient that decreases in the direction of the fluid
flow.
[0348] In some implementations, the specimen receiver 7000 is
configured to be engaged to the console 6000. For example, the
specimen receiver 7000 can be engaged to the bracket assembly 6500
of the console 6000. Referring further to FIG. 64 and back to FIGS.
59A-59C, in some implementations, the specimen receiver 7000
includes console engagement members 7200 configured to engage to
specimen receiver engaging members 6508 of the bracket assembly
6500. For example, the specimen receiver engaging members 6508 can
include tracks configured to receive the console engagement members
7200 when the specimen receiver 7000 is positioned in the bracket
assembly 6500. In some implementations, a first receiving portion
6510 is offset from a second receiving portion 6512, facilitating
locking the specimen receiver 7000 in the bracket assembly 6500.
This may help hold the specimen receiver 7000 in place if angular
forces are applied to the specimen receiver 7000, such as angular
forces resulting from fluid flow through the specimen receiver
7000, action of the motor 6300, or from objects contacting the
specimen receiver 7000.
[0349] The specimen capture member 7100 is configured to obtain a
sample of material from the fluid flow passing through the specimen
receiver 7000. In some implementations, the specimen capture member
7100 is configured to filter the fluid flow to obtain the sample of
material. For example, the specimen capture member 7100 can be a
size filter (e.g., mesh filter, paper filter, etc.) configured to
separate material in the fluid flow by size. The specimen capture
member 7100 can be selected based on a known or expected size of
material to be obtained from the fluid flow, so as to separate
samples to be obtained from other material having a similar size
(e.g., sized within an order of magnitude of the samples to be
captured). For example, prior to a procedure to be performed, an
operator can select the specimen capture member 7100 to have a
filter size (e.g., mesh size, etc.) configured based on a known or
expected size of material. The specimen capture member 7100 can
include a bulk size (e.g., surface area, circumference, etc.)
configured to fit within a receiving surface of the first receiver
member 7010 and/or the second receiver member 7050.
[0350] For example, as shown in FIG. 64, the specimen capture
member 7100 includes a first specimen capture surface (e.g.,
upstream surface) 7104, a second specimen capture surface (e.g.,
downstream surface) 7108, a specimen capture body 7112 extending
between the first specimen capture surface 7104 and the second
specimen capture surface 7108, and a specimen capture rim 7112.
Fluid flow having entered the specimen receiver 7000 via the first
receiver port 7014 flows through the first receiver channel 7018,
contacts the first specimen capture surface 7104, flows through the
specimen capture body 7112, and exits the specimen capture member
7100 via the second specimen capture surface 7108 to flow into the
second receiver channel 7058. The specimen capture member 7100
selectively transmits fluid through the specimen capture body 7112,
such as by blocking material that is too large to pass through
specimen capture body 7112. For example, if the specimen capture
member 7100 includes a mesh filter, the mesh can be sized such that
samples to be obtained are too large to pass through the mesh,
while blood and other fluids in the fluid flow pass through gaps in
the mesh.
[0351] In some implementations, after a procedure is complete
(e.g., after a specimen is obtained), the specimen receiver 7000
can be opened to remove the sample. For example, the first receiver
member 7010 can be rotated relative to the second receiver member
7050 to open the specimen receiver 7000, thus exposing the specimen
capture member 7100 and the sample.
[0352] In some implementations, if the size of material to be
captured is not known or expected, the specimen capture member 7100
can be selected intraoperatively. For example, based on information
acquired by the endoscopic tool 5100 regarding the sample to be
obtained, an operator can determine an expected size of the sample
and select the specimen capture member 7100. In some
implementations, the specimen receiver 7000 can be decoupled from
the endoscopic tool 5100 to allow the specimen capture member 7100
and/or the specimen receiver 7000 to be replaced. In some
implementations, if the specimen receiver 7000 is fluidly coupled
to the endoscopic tool 5100 via the console 6000, the specimen
receiver 7000 can be decoupled from the console 6000. In some
implementations, if the console 6000 is fluidly coupled to multiple
specimen receivers 7000, a fluid output control can be used to
redirect fluid flow exiting the endoscopic tool 5100 to a specimen
receiver 7000 having an appropriately sized specimen capture member
7100.
[0353] In some implementations, the specimen receiver 7000 includes
a fluid seal member 7150. The fluid seal member is configured to be
positioned inside the specimen receiver 7000 and against surfaces
of the first receiver member 7010 and/or second receiver member
7050, so as to prevent fluid flow from exiting the specimen
receiver 7000 at an interface between the first receiver member
7010 and the second receiver member 7050. In some implementations,
the fluid seal member 7150 is configured to surround the specimen
capture member 7100 to support the specimen capture member 7100. In
some implementations, one or more surfaces of the first receiver
member 7010 and/or the second receiver member 7050 are configured
to support the specimen capture member 7100, such as by applying
tension and/or compression to the specimen capture member 7100 to
support the specimen capture member 7100 against a pressure
different caused by fluid flow through the specimen capture member
7100.
[0354] In some implementations, the specimen receiver 7000 includes
an indicator configured to provide a visual indication of whether
material has been obtained by the specimen receiver 7000. The
indicator can include a transparent or translucent portion
configured to allow an operator to see inside the specimen receiver
7000. The indicator can be coupled to a pressure sensor disposed
within the specimen receiver 7000, and provide an output indicating
a pressure within the specimen receiver 7000. In some
implementations, fluid exiting the specimen receiver 7000 to the
vacuum source can provide the indication of whether material has
been obtained by the specimen receiver 7000.
[0355] In some implementations, the specimen receiver 7000 is
directly coupled to the vacuum port 5126 of the endoscopic tool
5100, such as by using tubing to connect the vacuum port 5126 to
the first receiver port 7014 of the specimen receiver 7000. In some
implementations, the specimen receiver 7000 is fluidly coupled to
the endoscopic tool 5100 via the console 6000. For example, the
console 6000 can include a valve and/or manifold system configured
to be fluidly coupled to the endoscopic tool 5100 and transfer
fluids in or out of the endoscopic tool 5100, including a manifold
configured to fluidly couple the specimen receiver to the
endoscopic tool 5100. In some implementations, the specimen
receiver 7000 defines a length from an opening of the first
receiver port 7014 (e.g., an opening at which the fluid is
received) to an opening of the second receiver port 7054 (e.g., an
opening at which a vacuum source may be coupled; an opening at
which fluid exits the second receiver port 7054). The length may be
greater than or equal to 1 inch and less than or equal to 5 inches.
The length may be greater than or equal to 2 inches and less than
or equal to 4 inches. The length may be 2 inches. In some
implementations, the specimen receiver 7000 defines a diameter or
width of the outer rim 7022. The diameter may be greater than or
equal to 0.5 inches and less than or equal to 4 inches. The
diameter may be greater than or equal to 1 inch and less than or
equal to 3 inches. The diameter may be 1.5 inches. The dimensions
of the specimen receiver 7000, such as the length of the specimen
receiver 7000 and/or the diameter of the outer rim 7022 may be
configured to facilitate a pressure gradient through the specimen
receiver 7000 enabling effective specimen capture by the specimen
capture member 7100. For example, given a known vacuum pressure or
range of vacuum pressures to be applied via the second receiver
port 7054, the dimensions of the specimen receiver 7000 may be
configured to facilitate a pressure gradient through the specimen
receiver 7000 that is greater than a first threshold sufficient to
draw fluid through the specimen capture member 7100 and less than a
second threshold above which the specimen capture member 7100 is
expected to collapse into the second receiver channel 7058.
[0356] FIG. 65 shows a flow diagram of a method 7300 for operation
of a console configured to operate with an endoscopic tool. The
method 7300 may be performed using various systems and apparatuses
disclosed herein, including the endoscopic tool 5100, the console
6000, and the specimen receiver 7000. The method 7300 may be
performed by a surgeon, medical assistant, or other operator, such
as in a procedure room. The method 7300 may include or be performed
as part of a procedure for obtaining samples of polyps and
neoplasms from a patient; a procedure using a gastroscope, such as
a colonoscope, a laryngoscope, or any other flexible endoscope; a
minimally invasive surgical procedure; etc. In some
implementations, the method 7300 includes positioning an instrument
channel at a site within a patient. In some implementations, the
method 7300 can start with identifying material to be resected
(e.g., as discussed with regards to step 7350).
[0357] At 7310, an endoscopic tool is coupled to a console. For
example, the endoscopic tool can include a proximal connector
including an engagement member configured to engage an engagement
receiving member of an interface of the console. The proximal
connector can be positioned adjacent to the interface to align the
engagement member with the engagement receiving member and to
engage the engagement member with the engagement receiving member.
In some implementations, the console includes an actuation member
configured to be actuated in order to lock or unlock the engagement
between the endoscopic tool and the console. In some
implementations, engaging the engagement member to the engagement
receiving member operatively couples a motor of the console to the
endoscopic tool, such that rotation of the motor can cause rotation
of the endoscopic tool. In some implementations, a surgeon or other
operator couples the endoscopic tool to the console.
[0358] In some implementations, at 7315, the endoscopic tool is
fluidly coupled to a specimen receiver (e.g., a specimen receiver
configured to filter fluid from the endoscopic tool to separate a
sample of material from the fluid). For example, the endoscopic
tool can include a vacuum port (e.g., a vacuum port of a proximal
connector of the endoscopic tool) that is fluidly coupled via
tubing to an inlet of the specimen receiver. In some
implementations, a surgeon or other operator can fluidly couple the
endoscopic tool to the specimen receiver.
[0359] In some implementations, at 7320, the endoscopic tool is
fluidly coupled to a vacuum source. For example, the endoscopic
tool can include a vacuum port (e.g., a vacuum port positioned on
the proximal connector of the endoscopic tool) configured to be
fluidly coupled to a vacuum source by tubing. The tubing can be
coupled to the vacuum port, such as by sliding the tubing around
the vacuum port to form a fluid seal, or by positioning the tubing
adjacent to the vacuum port and engaging the tubing to the vacuum
port using an engagement fitting or other device. In some
implementations, coupling the endoscopic tool to the vacuum source
at the vacuum port fluidly couples an aspiration channel of the
endoscopic tool (e.g., an aspiration channel extending from the
vacuum port to an opening at a distal end of the endoscopic tool)
to the vacuum source. In some implementations, the endoscopic tool
is fluidly coupled to the vacuum source via a specimen receiver
configured to obtain a sample of material that is drawn through the
aspiration channel from the opening at the distal end of the
endoscopic tool to the vacuum port. For example, tubing can be
fluidly coupled to the vacuum port and to an inlet (e.g., a first
receiver port) of the specimen receiver, and tubing can also be
fluidly coupled between an outlet (e.g., a second receiver port) of
the specimen receiver and the vacuum source, such that a vacuum
applied to the outlet of the specimen receiver is applied through
an aspiration channel extending through an interior of the specimen
receiver through the endoscopic tool to the opening at the distal
end of the endoscopic tool, in order to draw a sample of material
through the opening through the endoscopic tool into the specimen
receiver. In some implementations, the tubing between the
endoscopic tool and the specimen receiver is coupled via a vacuum
control device. The console may receive a vacuum control release
instruction at a user interface, process the vacuum control release
instruction, and actuate, release, or open the vacuum control
device to allow tubing to be coupled via the vacuum control device.
In some implementations, a surgeon or other operator can fluidly
couple the endoscopic tool to the vacuum source, such as by fluidly
coupling tubing from a vacuum port of the endoscopic tool to a
specimen receiver and fluidly coupling tubing from the specimen
receiver to the vacuum source.
[0360] In some implementations, at 7330, the endoscopic tool is
fluidly coupled to a fluid source. For example, the endoscopic tool
can be fluidly coupled to a fluid transfer device, such as an
irrigation pump, including a fluid transfer device included in the
console. In some implementations, tubing can be fluidly coupled
between an irrigation port of the endoscopic tool, such as an
irrigation port positioned on the proximal connector of the
endoscopic tool, and the fluid transfer device. In some
implementations, fluidly coupling the fluid transfer device to the
endoscopic tool fluidly couples the fluid transfer device to an
irrigation channel extending through the endoscopic tool from the
irrigation port through tubing of the endoscopic tool to an opening
at the distal end of the endoscopic tool, such that irrigation
fluid can be outputted at the distal end (e.g., at a site within a
subject) by action of the fluid transfer device. In some
implementations, the console can receive a prime or flush
instruction at a user interface, process the instruction, and cause
the fluid transfer device to prime or flush the fluid transfer
device and/or prime or flush the irrigation channel. In some
implementations, a surgeon or other operator can fluidly couple the
endoscopic tool to the fluid source, such that fluid from the fluid
source can pass through the irrigation channel defined by the
endoscopic tool to a distal end of the cutting assembly.
[0361] In some implementations, at 7340, the endoscopic tool is
inserted in an instrument channel of an endoscope. For example, the
endoscopic tool can be inserted in an instrument channel, such that
the distal end of the endoscopic tool is positioned at the site
within the subject in order to interact with the site (e.g., resect
material, obtain a sample of material, etc.). In other
implementations, the endoscopic tool is inserted in the instrument
channel prior to coupling the endoscopic tool to the console. In
some implementations, a surgeon or other operator can insert the
endoscopic tool in the instrument channel.
[0362] In some implementations, at 7350, material to be resected at
the site within the subject is identified. For example, image
information (e.g., image information received from an image capture
device of the instrument channel, etc.) can be used to determine a
location of the material and/or properties of the material. In some
implementations, a surgeon or operator can identify material to be
resected. In some implementations, the surgeon or operator can move
or orient the cutting window defined within the outer cannula of
the endoscopic tool by rotating a rotational coupler that is
positioned outside of the subject. As described herein, the
rotational coupler is configured to control the orientation of the
cutting window. In some implementations, upon identifying the
material to be resected, the surgeon or operator can orient the
cutting window to be adjacent to the material to be resected, such
that when a suction force is applied to the endoscopic tool, the
material is resected.
[0363] In some implementations, at 7360, operation of the
endoscopic tool can be controlled. For example, commands can be
received at the console to be processed for controlling the
endoscopic tool or other components operatively coupled to the
console. In some implementation, commands are received as user
inputs at a user interface of the console. In some implementations,
processing electronics of the console receive the user inputs from
the user interface, and process the inputs to determine how to
control operation of the endoscopic tool or other components. For
example, one or more user inputs can be received (e.g., at a foot
pedal) indication instructions to perform operations such as
rotating the endoscopic tool, applying a vacuum to the endoscopic
tool (e.g., to an aspiration channel of the endoscopic tool),
and/or flowing irrigation fluid through the endoscopic tool to be
outputted by the endoscopic tool (e.g., flowing irrigation fluid
through an irrigation channel of the endoscopic tool). The
processing electronics can receive the user inputs, and process the
user inputs to determine operations indicated by the inputs in
order to cause the operations to occur. For example, in response to
receiving an input indicating an instruction to rotate the
endoscopic tool, the processing electronics can cause a motor of
the console to rotate in order to rotate the endoscopic tool. In
some implementations, the processing electronics can receive
multiple user inputs and process the multiple user inputs to
coordinate operation of the endoscopic tool or other devices. For
example, the processing electronics can receive a first input
indicating instructions to rotate the endoscopic tool and a second
input indicating instructions to apply a vacuum to the endoscopic
tool (e.g., by controlling operation of a vacuum control device),
and control operation of the vacuum control device based on whether
the second input was received within a predetermined time of the
first input. In some implementations, controlling operation of the
endoscopic tool includes using the endoscopic tool to resect
material from the site within the subject, including by rotating a
cutting window at the distal end of the endoscopic tool against the
material. In some implementations, operation of the endoscopic tool
can be controlled by a surgeon or other operator, such as by
providing user inputs to the user interface.
[0364] In some implementations, at 7370, a sample of the material
is obtained. For example, after material has been resected, a
suction force can be applied to the material via an aspiration
channel of the endoscopic tool (e.g., by controlling operation of a
vacuum control device to apply a suction force from a vacuum source
to the endoscopic tool) in order to apply a suction force at an
opening of the endoscopic tool to draw in the sample through the
aspiration channel of the endoscopic tool. The sample can be drawn
into a specimen receiver fluidly coupled to the aspiration channel,
such as a specimen receiver configured to filter fluid exiting the
endoscopic tool and entering the specimen receiver in order to
separate the sample from the remainder of the fluid. In some
implementations, a surgeon or other operator obtains the sample of
material by controlling operation of the console to apply the
suction force.
[0365] In some implementations, at 7380, a sample is removed from
the specimen receiver. For example, a sample can be captured in a
specimen receiver and removed from the specimen receiver. In some
implementations, removing the sample includes decoupling the
specimen receiver from the endoscopic tool. In some
implementations, removing the sample includes opening the specimen
receiver in order to access the sample. In some implementations,
the specimen receiver is a one-time use specimen receiver, such
that the entire specimen receiver is removed as part of removing
the sample. In some implementations, a specimen capture device
(e.g., a filter) of the specimen receiver is a one-time use filter,
such that the filter can be replaced while the specimen receiver is
reused. In some implementations, the sample is removed by a surgeon
or other operator.
[0366] In some implementations, at 7390, the sample is cataloged.
For example, the sample can be cataloged based on properties of the
sample (e.g., chemical properties, medical properties, etc.),
and/or based on a location of the site within the subject from
which the sample was obtained. For example, samples can be
associated with different locations within a subject, such as
different locations within a colon, larynx, lung, or other region
of the subject. In some implementations, the sample can be
cataloged by a surgeon or other operator. In some implementations,
the sample is stored for transport and sent to a remote facility
(e.g., a testing laboratory remote from a procedure room in which
the procedure to obtain the sample is performed) for cataloging or
other analysis.
[0367] In some implementations, at 7400, it is determined whether
more samples are to be obtained. For example, more samples can be
obtained based on whether more polyps, neoplasms, or other
materials have been identified for resection and/or analysis. More
samples can be obtained based on a pre-operative plan or an
intraoperative decision. In some implementations, a surgeon or
other operator can determine whether more samples are to be
obtained.
[0368] In some implementations, if it is determined that more
samples are to be obtained, then at step 7410, a specimen receiver
is fluidly coupled to the endoscopic tool and to the vacuum source,
such that the endoscopic tool can be controlled to obtain
additional samples in the specimen receiver. In some
implementations, if the previous specimen receiver was a one-time
use specimen receiver, then a new specimen receiver can be used. In
some implementations, if the previous specimen receiver included a
one-time use filter, then the filter can be replaced. In some
implementations, a surgeon or other operator can fluidly couple the
specimen receiver to the endoscopic tool and to the vacuum source.
The method can then return to step 7350, such as for identifying
additional material to be resected. The endoscopic tool can be
controlled to obtain additional samples as disclosed herein. For
example, the endoscopic tool can be repositioned, rotated, or
otherwise controlled to be able to obtain additional samples. In
some implementations, a surgeon or other operator can repeat steps
of the method, such as by repeating control of the endoscopic tool,
etc.
[0369] In some implementations, if it is determined that more
samples are not to be obtained, then at 7420, the procedure can
end. In some implementations, ending the procedure includes
decoupling the endoscopic tool from the console and/or from other
components coupled to the endoscopic tool, such as a vacuum source,
a specimen receiver, and/or a fluid transfer device. In some
implementations, a sample is not removed from a specimen receiver
until the endoscopic tool is decoupled from the specimen
receiver.
[0370] It should be appreciated that one or more steps of the
method shown in FIG. 65 do not have to be performed in the order
shown. For example, step 7340 can be performed prior to steps 7310
through 7330.
* * * * *