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US 10,743,750 B2Granted
Multi-link modular continuum robotic endoscope system
AssigneeMassachusetts Institute of Technology
InventorsIan W. Hunter, Yi Chen, Jiahui Liang
Life of this patent
Estimating the term…
Abstract
Robotic endoscopes have the potential to help endoscopists position tools during procedures, to propel the endoscope to the desired position, to automate functions and to prevent perforations during procedures. Modular architecture for a continuum robotic endoscope with multiple bending segments along the length of the endoscope. Each of the segments is modular, containing a set of actuation motors that drive short cables in the continuum segments.
Claims43
A modular segmented continuum endoscope comprising:
- a continuum endoscope having a distal end and a plurality of connected segments extending along a length of the endoscope in sequence that are configured to be inserted into a patient to perform a surgical procedure, each segment in the plurality of connected segments having a plurality of at least three connected turning modules;
- an electric drive motor module in each segment being connected to the plurality of turning modules of each respective segment and configured to control relative angular orientation of the plurality of at least three connected turning modules such that the plurality of at least three connected turning modules within each segment orient to form one of a plurality of redundant shapes having a radius of curvature for each selected segment, wherein a selected segment shape is defined at least by a force imparted by the electric drive motor module coupled to the selected segment and by a force imparted to the continuum endoscope by tissue contacting the continuum endoscope;
- and
- a central controller that is communicatively connected to each electric drive motor module such that the radius of curvature of each segment is independently controlled with coordinated control signals transmitted to selected electric drive motor modules from the central controller during insertion of the endoscope into the patient, the control signals emitted in temporal sequence and including control signals to coil and uncoil the plurality of connected segments.
1 more element
A method of operating a segmented modular continuum endoscope comprising:
- inserting a continuum endoscope having a distal end and a plurality of connected segments that extend along a length of the endoscope in sequence into a patient to perform a surgical procedure, wherein each segment within the patient has a plurality of at least three connected turning modules connected to an electric drive motor module, the movement of each segment constrained by portions of the continuum endoscope at each end of each segment;
- and
- actuating the electric drive motor module in a selected segment of the continuum endoscope using a central controller to control a relative angular orientation of the plurality of at least three connected turning modules of the selected segment such that the electric drive motor module and the plurality of at least three connected turning modules within the selected segment orient to form one of a plurality of redundant shapes having a radius of curvature for the selected segment, wherein the selected segment shape is defined at least by a force imparted by the electric drive motor module coupled to the selected segment and by a force imparted to the continuum endoscope by tissue of the patient contacting the continuum endoscope, the central controller being communicatively coupled to each electric drive motor module such that the radius of curvature of each segment is independently controlled with coordinated control signals transmitted to selected electric drive motor modules from the central controller during insertion of the endoscope into the patient, the control signals emitted in temporal sequence and including control signals to coil and uncoil the plurality of connected segments.
A modular segmented endoscope comprising:
- a continuum endoscope having a plurality of connected segments configured to be inserted into a patient to perform a surgical procedure, each segment having a plurality of at least three connected turning modules actuated by an electric drive motor module connected to a segment controller, the electric drive motor module of each segment being connected to the plurality of at least three connected turning modules of each respective segment to control relative angular orientation of the plurality of at least three connected turning modules within each segment, and
- an endoscope controller connected to each segment controller, each segment controller being configured to be independently controlled with control signals from the endoscope controller such that a radius of curvature of the plurality of at least three connected turning modules of each segment can be independently controlled wherein a redundant shape of each segment is further defined in part by a force imparted to the continuum endoscope by tissue of the patient.
Dependencies are inferred from the claim text.