Method and apparatus for magnetically controlling endoscopes in body lumens and cavities

A magnetically navigable endoscope system comprising:

• an endoscope having a proximal end and a distal end, the distal end having a magnetic body;
• a component which transmits an image, associated with the distal end;
• a two-dimensional display for displaying the image from the image-transmitting component, the display having a vertical and horizontal direction;
• a magnetic field generating apparatus for generating a magnetic field to orient the magnetic body and thus the distal end of the endoscope;
• a controller for controlling the magnetic field generating apparatus to selectively apply to apply a magnetic field to change the position of the magnetic body and thus the position of the distal end of the endoscope, the controller operable in at least two mutually perpendicular directions, movement of the controller in one of the mutually perpendicular directions causing the magnetic field generating apparatus to change the magnetic field to move the distal end of the endoscope in the vertical direction as displayed on the display, and wherein the movement of the controller in the other of the mutually perpendicular direction causes the magnetic field generating apparatus to change the magnetic field to move the distal end of the endoscope in the horizontal direction as displayed on the display.

A magnetically navigable endoscope system comprising:

• an endoscope having a proximal end and a distal end, the distal end having a magnetic body;
• a component which transmits an image, associated with the distal end;
• a two-dimensional display for displaying the image from the image-transmitting component, the display having a vertical and horizontal direction;
• a magnetic field generating apparatus for generating a magnetic field to move the magnetic body and thus the distal end of the endoscope;
• and
• a controller for identifying the volume over which to orient the endoscope and controlling the magnetic field generating apparatus to selectively change the magnetic field to change the orientation of the magnetic body and thus the distal end of the endoscope over the specified volume.

A method of magnetically controlling an endoscope in body lumens and cavities, the method comprising:

• localizing the distal end of an endoscope;
• registering the location of the distal end of the endoscope to a pre-operative image set such as an MR or CT;
• identifying a direction on the pre-operative image set;
• and
• controlling the magnetic field generating apparatus to move the distal end of the endoscope in the identified direction.

A method of magnetically controlling an endoscope in body lumens and cavities, the method comprising:

• localizing the distal end of an endoscope;
• registering the location of the distal end of the endoscope to a pre-operative image set such as MR or CT;
• programming a volume over which to movethe endoscope;
• and
• controlling the magnetic field generating apparatus to move the distal end of the endoscope in the specified volume.

A magnetically navigable endoscope system comprising:

• an endoscope having a proximal end and a distal end, the distal end having a magnetic body;
• an imaging device which transmits an image, associated with the distal end;
• a plurality of sensors triggered by contact with the wall of a body lumen or cavity, distributed around the distal end;
• a two-dimensional display for displaying the image from the imaging device, the display having a vertical and horizontal direction;
• a magnetic field generating apparatus for generating a magnetic field to orient the magnetic body and thus the distal end of the endoscope;
• a computer which monitors feedback of the wall contact sensors and adjusts the magnetic field generating apparatus to selectively modify the magnetic field to change the orientation of the magnetic body such that the endoscope is automatically positioned within the body lumen or cavity.