The present invention relates to an endoscope system and a method for operating the endoscope system.
The demands placed on medical devices for improved performance are constantly increasing. One requirement is to improve the operability of medical devices. Very strict safety requirements must be met by medical devices, in particular, medical devices that are in direct contact with a patient. Particularly, endoscopes are subject to high safety and temperature requirements, and the endoscopes preferably provide improved images and are as easy as possible for a surgeon to operate.
Typically, endoscopes do not have a point of separation between the endoscope tube and its holder. Further, typically endoscopes are completely fixed systems end-to-end. Rotating such endoscopes around its main axis results in twisting and potentially damaging fixed internal cables. This limits the maneuverability and hence field-of-view of the optical devices of the endoscope. Further, cleaning of this type of endoscope is problematic, as generally they can only be cleaned by wiping with a germicide, as autoclaving is not possible because they are not waterproof throughout. Therefore, there is a need for an endoscope system providing improved usage and safety.
Embodiments of the present invention provide an endoscope system and method for operating the endoscope system. Briefly described, the present disclosure relates to an endoscope system for imaging a sample, an inner part of a patient, or an organ. An imaging device includes an endoscope tube with a proximal end and a distal end configured to mount the imaging device. A handle at the endoscope tube proximal end is configured to move the endoscope tube rotationally. An interface is configured to removably attach the endoscope tube to the handle and to rotate the endoscope tube around a main axis relative to the handle without restriction.
Other systems, methods and features of the present invention will be or become apparent to one having ordinary skill in the art upon examining the following drawings and detailed description. It is intended that all such additional systems, methods, and features be included in this description, be within the scope of the present invention and protected by the accompanying claims.
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principals of the invention.
The following definitions are useful for interpreting terms applied to features of the embodiments disclosed herein, and are meant only to define elements within the disclosure.
As used herein, the expression “endoscope system” may describe a device, in particular a medical device for imaging a sample, an inner part of a patient, or an organ. The endoscope system typically includes at least an endoscope tube, and may provide images from an inner part of a patient. The endoscope system may further include an interface, and in particular, a galvanic isolation interface. The galvanic isolation interface may apply, for example, a high voltage on the order of 4000 V and induce a current flow on the order of 10 μA or less so that a patient is protected during examination.
As used herein, the expression “endoscope tube” may describe a part of the endoscope system, which is adapted to be at least partially inserted within a patient. In particular, the endoscope tube has a distal end that is inserted into the patient. A camera disposed at the distal end of the endoscope tube includes at least one image sensor and/or an objective that provides internal images of the patient. A proximal end of the endoscope tube is opposite the distal end is generally not inserted into the patient. The endoscope tube may be rigid, or alternatively be flexible. The expression “main axis”, in particular “main axis of the endoscope tube” refers to an axis of the largest extension of the endoscope tube, i.e., usually a longitudinal direction of the endoscope tube.
As used herein, the term “interface” refers to a connection between two devices, for example an endoscope tube and a handle, wherein different signals or energy of different types may be transmitted between the two connected devices via the interface. In particular, the interface transmits one or more of analog or digital electrical data, digital optical data, electric, and or optical energy (light). The interface may be rotationally symmetric with respect to the main axis. The interface may be described in a functional way, such as including any type of guiding signals and/or energy from the endoscope tube to a handle; e.g., the interface may have any kind of capacitive, inductive and/or electrical coupling, as well as a functionality including as a transmitter and/or receiver of electrical and/or optical data. The interface may be adapted to transmit image data coming from the distal end of the endoscope tube and for receiving control data from a base unit at the endoscope tube proximal end. The interface may have a transmitter and/or a receiver chip accommodating short range and high bandwidth transmission of image data described in terms of resolution and refresh rate of a screen.
As used herein, the term “handle” refers to a mechanical part that enables to positioning or moving the endoscope tube into and/or inside the patient. The handle may couple rigidly to the endoscope tube with respect to the main axis, so that the handle may determine a direction of the endoscope tube along a longitudinal position of the endoscope tube. An operator, a surgeon for example, may manually operate the handle. Alternatively, the handle may be operated automatically by a robot arm, or the handle may be appropriately operated both manually and robotically. The handle may allow for any rotational movement of the endoscope tube around its main axis while supported by the interface being connected between the handle and the endoscope tube.
As used herein, the expression “inner rotational degree of freedom” refers to a property of the interface enabling an endless, unhindered turning of the endoscope tube in both directions, clockwise and counterclockwise, relative to a rotational axis of a handle. A rotation of 360 degree may create a state which equals a non-rotated state of 0 degree. After a full 360-degree rotation, the orientation of the endoscope tube relative to the handle may be of the original state or initial state. After any rotation of the endoscope tube supported by the interface relative to the handle, the endoscope system may be free of any permanent or non-permanent internal twisting. The interface may have at least partially rotational symmetry to support this movement. At an inner conjunction, the interface may have two rotationally symmetric parts, a first part of which may rigidly couple to the endoscope tube and a second part may rigidly couple to the handle. The interface may be seen as an integrative part of the endoscope tube and/or of the handle and at least as a part of the endo scope system. The interface has the mechanical property of an inner unhindered rotatability and an electrical property of providing an information and/or energy flow or exchange between the endoscope tube and the handle.
As used within this disclosure, the term “conduit” refers to a means to conduct information and/or energy, for example, electrical wiring or an optical waveguide.
In exemplary embodiments of an endoscope system described below, the interface is accessible and operable such that the endoscope tube and the handle may be connected and disconnected. Within this disclosure, “connectable and disconnectable” or “couplable or decouplable” indicates the interface may be mechanically operated and/or may provide electrical and/or optical connectivity when in the connected state. In the connected state the interface may allow for rotating the endoscope tube relative to the handle, and may allow for transmitting electric and/or optical data and/or energy. Further, the endoscope tube and the handle may be disconnected from each other so that the endoscope tube and the handle are free of any mechanical and/or electrical and/or optical connection. While disconnected the endoscope tube may be cleaned and maintained separately from the handle and other parts of the endoscope system.
According to the exemplary embodiment of the endoscope system described below, the interface incorporates a galvanic isolation so that the endoscope tube and the handle are galvanically isolated when being connected to each other by the interface. As used herein, the expression “galvanic isolated” or “galvanic isolation” may describe a property of the interface providing electrical isolation, for example across the interface coupling the endoscope tube and the handle. In particular, the galvanic isolation interface may provide a galvanic isolation when the endoscope tube is coupled with its proximal end towards the handle. If the interface connects the endoscope tube and the handle there may be tools to support this coupling. Alternatively, the interface may allow for manually coupling and/or decoupling of the endoscope tube and the handle.
Regarding the interface, as used within this disclosure “freely accessible” refers to providing manual or tool supported coupling and/or decoupling the interface.
As used herein the expression “offset angle” refers to an angular deviation from a reference axis. For example, offset angle may describe an angle spanned between a camera direction (in which direction the camera points to take images) and the main axis of the endoscope tube. For example, an offset angle may be 30 degrees, i.e., that the camera points in a different direction compared with the endoscope tube. However, the offset angle may be negligible or zero (0 degrees), as an inner rotation of the interface may merely cause a different orientation of the images which are taken. In particular, the offset angle may be provided and adapted by an objective being a part of the camera.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers are used in the drawings and the description to refer to the same or like parts.
In order to capture images, a camera unit 150 having a single image sensor 151 is disposed at a distal end 132 of the endoscope tube 130. Alternatively, or additionally to the single image sensor 151, the camera unit 150 may include an image sensor pair including a first image sensor 151a and a second image sensor 151b for capturing stereo images. The camera unit 150 may capture images with a camera angle having an offset angle 155 relative to the main axis 153 of the endoscope tube 130. Similar, first and second image sensors 151a, 151b may capture images with an offset angle 155′ relative to the main axis 153 of the endoscope tube 130. By a rotation 170 of the endoscope tube 130 a camera perspective may vary showing a wider area if the offset angles 155, or 155′ are greater than 0 degrees. If the offset angles 155, 155′ are 0 degrees only an orientation change of the same area may be captured by the camera unit 150.
A transmission cable 180 (
As shown by
The endoscope tube 130 is made of a material that is biocompatible, and preferably an electrically conducting material for shielding the inner electronics from electromagnetic interference (EMI), such as steel and/or titanium, among others.
The endoscope system 100 may include a rotary motor 220 (
A first tube sided electrode ring 271-1 and a second tube sided electrode ring 271-2 may be an integral part of the endoscope tube 130, or the part of the interface 160 being assigned to the endoscope tube 130. Similarly, a first handle sided electrode ring 272-1 and a second handle sided electrode ring 272-2 may be an integral part of the handle 120, or the part of the interface 160 being assigned to the handle 120. For a data or electrical power transmission, the first tube sided electrode ring 271-1 may lie proximately inside the first handle sided electrode ring 272-1, but still having a gap in between, for a capacitive and/or inductive transmission of data and/or electrical power. For further safety and reliability all coupling elements (electrode rings, coils) may be covered by a thin electrical isolating material like ABS, PVC or so on, such that no electrically conductive part is exposed to the outside of the tube at the interface area.
Analogously, the second tube sided electrode ring 271-2 may lie directly inside a second handle sided electrode ring 272-2 for a capacitive and/or inductive transmission of data and/or electrical power. The same may apply to a tube sided pad 271-3 and a handle sided pad 272-3 positioned opposite to each other with a gap therebetween, for transmitting data by a capacitive coupling. Each of the first tube sided electrode ring 271-1, the second tube sided electrode ring 271-2, the first handle sided electrode ring 272-1, and the second handle sided electrode ring 272-2 may couple to a first tube sided cable 281-1, a second tube sided cable 281-2, a first handle sided cable 282-1, and a second handle sided cable 282-2, respectively Alike, the tube sided electrode pad 271-3, and the handle sided electrode pad 272-3, may be connected to a third tube sided cable 281-3, and a third handle sided cable 282-3, wherein the tube sided cables connect to the endoscope tube 130 and the handle sided cables connect to the handle 120.
For further safety, a rigid galvanic isolation 260 may connect between a power supply connection 193 and the transmission cable 180. Preferably, a transmitter/receiver combination 291,291′ may be arranged within or close to the endoscope tube 130 (preferably the transmitter 291) and/or inside or close to the handle 120 (preferably the receiver 291′). Using two video channels for stereo imaging corresponds to two transmitters inside 130 and two receivers inside 120. In this case the distance of the two transmitter antennas is greater than the distances between the transmitter and associated receiver antennas, for example, by at least an order of magnitude, for example a distance of 2 mm between the transmitter and the associated receiver antennas and a distance of 20 mm between the two transmitter antennas inside 130. This arrangement provides a good coexistence of the two transmission channels without disturbing one another. The combination of the transmitter 291 and the receiver 291′ may provide additional or supplementary data exchange.
An inductive coupling takes place between two conductor coils which are located near to each other by the magnetic field. Electrical power, for example, up to 20 W, may be transferred from the transmitter coil to the receiver coil even if an electric isolator (plastics) is located between the two coils. Therefor inductive coupling may be preferable to transfer electrical energy and electrical signals, for example, with a bandwidth of up to 10 MHz. The coils for the inductive coupling may be formed as windings of a wire or as flat coils on a PCB. The coils may lie side by side or concentric to each other.
A capacitive coupling takes place between two electrically conductive areas located adjacent to each other. The grade of coupling increases if the distance between the two areas decreases and/or a dielectric medium is located between the two areas. Because an isolating plastic is a better dielectric medium than air because of its higher relative permittivity, the plastic insulation barrier formed on the surface of 130 increases the capacitive coupling, for example, by about a factor of 4 for equal area separations. Because of the small resulting capacitances, for example, not more then 10 pF, the capacitive coupling is preferable for high frequency signals like the video data or other high frequency communication, for example, having signal frequencies of 100 MHz and higher.
An optical coupling takes place between two light guides through a free air gap. A large amount of light can be coupled from a light source by a bundle of glass fibers over an interface (free air gap) to a light guide inside of the endoscope tube 130. In addition, modulated light may be used to transfer the high frequency video data over a light guiding ring (part of the endoscopic tube 130) to a glass fiber (part of the handle 120 and/or the proximal transmission cable part 180-2) and to an optical receiver inside the handle 120 and/or the base unit 190.
The three friction rollers 830i, 830ii, 830iii may additionally provide a rigid suspension of the endoscope tube 130H so that only a rotation of the endoscope tube 130H may happen, and a movement of the endoscope tube 130H in a radial direction is prevented. In addition to the drive for a rotation, a rotation angle detection device may include a permanent magnet 835 and hall sensors 835i, 835ii, 835iii so that the rotational state may be detected, and the detection of the rotational state may be a basis for controlling the friction rollers 830i, 830ii, 830iii. The hall sensors (or other relative or absolute positioning sensors) 835i, 835ii, 835iii may be located outside of the endoscope tube 160H wherein the permanent magnet 835 may be located on the hollow inside of the endoscope tube 160H and opposite to the hall sensors 835i, 835ii, 835iii. In particular, the permanent magnet 835 may resist higher temperatures up to 150° C. in order to maintain its function after a process of sterilization of the endoscope tube 130. For example, the permanent magnet may be a Samarium-Cobalt (SmCo) magnet.
The interface 160 may include a clamping device by which the endoscope tube 130 is fixed to the handle 120 so that a motor providing a rotation can cause a rotation of the endoscope tube 130.
A gear 128 is arranged with the handle 120 may mate with the clamping nut 162, so that a rotation of the gear 128 causes a rotation of the clamping nut 162, which in turn causes a rotation of the clamp screw 163, which further causes a rotation of the clamped endoscope tube 130.
A glass fiber optic bundle may be coupled with a light source providing light for illumination the specimen to be examined. The light source may be arranged in the handle 120 or towards a proximal end of the endoscope system 100. A glass fiber optic bundle or any bundle with a plurality of singular fiber cables for conducting light conveys light from the light source to a target to be illuminated. A light conductor, in particular a light transmission bar, may be coupled to the glass fiber optic bundle. The glass fiber bundle may be arranged in a handle side of the interface 160 and the light conductor or light transmission bar may be arranged inside the endoscope tube 130.
Further, the electrical-optical coupling 160H may include pairs of coils 168i, 168ii, 168iii, 168iv. For each of the coil pairs 168i, 168ii, 168iii, 168iv one coil may be arranged inside the endoscope tube 130 and the other coil may be arranged directly opposite hereto on an inner surface of the handle 120. Here, a rotary movement of each coil (e.g., of the endoscope tube-sided coil) of the two coils of one coil pair 168i, 168ii, 168iii, 168iv may be independent to the other coil (e.g., here the coil inside the handle 120). Alternatively, a rotary movement of the coils inside of the endoscope tube 130 may be independent from the coils arranged to and directly inside the handle 120.
For the control communication channel, a bidirectional bitrate of about 800 kBit/s is desirable. For video data a bitrate up to 4 GBit/s in a single channel mode or up to 2 GBit/s in a dual channel mode is desirable. In a non-limiting example of an rx/tx coil pair, the diameter of the rx-coil may be about 10 mm, and the diameter of the tx coil may be about 12 mm. Preferably, the same rx/tx coil pair is used for both power transfer and bidirectional control communication, for example, to transfer until about 10 W electrical energy over the inductive interface. The wireless power transfer is generally in a frequency range of about 100 kHz-200 kHz, with coil inductances of about 5 μH-10 μH.
For example, a first and second coil pair 168i, 168ii may provide an inductive coupling in a frequency range of 50 MHz to 2 GHz for providing two channels of video data transmission (if two image sensors 151A, 151B are used, see
As an alternative, or in addition, to the coil pair 168i, 168ii, a RF-antenna pair 169 is arranged similarly surrounding the inside of the endoscope tube 130, and the inside of the handle 120 in which the endoscope tube 130, and by this providing a contact free high frequency exchange at a frequency of 60 GHz for two video channels. The integration of a rotation angle detection system may include the permanent magnet 835 and the hall sensors 835i, 835ii, 835iii, as depicted by
Under the first embodiment, the interface 160 within the endoscope system 100 facilitates unrestricted rotation of the endoscope tube 130 relative to the handle 120. Consequentially, a surgeon may use this combination of the endoscope tube and the handle without regard to any previous or subsequent turnings of the endoscope tube relative to the handle. This may allow the surgeon to concentrate on operating the patient while receiving information, for example image data shown on a screen. The interface 160 protects the patient from possibly dangerous electrical energy by integration of galvanic isolation. Further, the interface 160 may provide a solution for separating the endoscope tube 130 and the handle 120. This facilitates cleaning and maintaining the endoscope tube 130 independently from the handle 120, so the endoscope tube 130 may be maintained and cleaned better and more frequently, as the endoscope tube 130 is at least partially in contact with the patient. Thus, a galvanic isolation outside of the patient may provide a safe and efficient use of the endoscope system 100.
The rotational state of the interface 160 and the (transversal and longitudinal) movement of the endoscope tube 130 may captured while the endoscope system 100 is being operated manually and/or robotically, as well as partially manually and robotically. A state of rotation of the endoscope tube 130 relative to the handle may be captured and/or transmitted to a processing unit so the generation of images may be based at least partially on information regarding the inner rotation of the interface 160.
As an alternative or in addition, a transmitter/receiver combination may be used to transmit (processed or non-processed) image data towards a screen or control data towards the endoscope tube, or camera unit comprising the image sensor(s). Data from the image sensors may be processed within the handle and/or within a base unit and/or within a computer connecting to the screen.
One or more light sources may provide electromagnetic waves of different wavelengths. The wavelengths may depend on the purpose such as using visible light for displaying images in the visible range, or such as monochromatic waves for using fluorescent effects. The light sources may be arranged outside the portion of the endoscope tube coming in contact with the patient. The evoked electromagnetic waves may be coupled to a light wave guide, such as a fiber glass cable by which the waves may be guided to the distal end of the endoscope tube. The electromagnetic waves may pass the interface in central location so that passing the interface is independent of the inner rotational state of the interface and the relative rotation of the endoscope tube and the handle. Depending on the energy consumption the at least one light source may be integrated within the base unit, the handle, and/or the endoscope tube. The light sources may couple the generated light into the transmission cable which then guides the light towards the distal end of the endoscope tube for the use of illumination of the area of the patient to be examined. Electrical power for the third light source being arranged within the endoscope tube, and preferably closer to the handle, may be provided via the rotatable interface, wherein the interface may transmit the electrical power by an inductive coupling.
An endoscope tube adapted to capture image data from the inner part of the patient is provided, as shown by block 1110. The endoscope system includes at least one image sensor for capturing image data with a user specified offset angle. A handle for moving the endoscope tube is provided, as shown by block 1120. An interface arranged between the endoscope tube and the handle, rotatable about its main axis is provided, as shown by block 1130. The endoscope tube may be rotated to capture images in directions according to the offset angle with respect to the main axis of the endoscope tube.
A base unit collects, analyzes, and processes the image data for display on a screen. The base unit may be an independent device, or may be integrated inside the handle and/or the screen.
It will be apparent to those skilled in the art that various modifications and variations can be made to the structure of the present invention without departing from the scope or spirit of the invention. In view of the foregoing, it is intended that the present invention cover modifications and variations of this invention provided they fall within the scope of the following claims and their equivalents.
This application claims the benefit of U.S. Provisional Patent Application Ser. No. 63/145,587, filed Feb. 4, 2021, entitled “Endoscope System and Method for Operating the Endoscope System,” which is incorporated by reference herein in its entirety.
Number | Date | Country | |
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63145587 | Feb 2021 | US |
Number | Date | Country | |
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Parent | PCT/US22/14832 | Feb 2022 | US |
Child | 18362588 | US |