Multi camera endoscope having a side service channel

Abstract

There is provided herein an endoscope assembly comprising at least one front-pointing camera and at least one front illuminator associated therewith, at least one side-pointing camera and at least one of side illuminator associated therewith, a front working channel configured for insertion of a medical tool and a side service channel configured for insertion of a medical tool.

Description

FIELD OF THE INVENTION

Embodiments of the disclosure relate to a multi camera endoscope assembly having one or more side service channels.

BACKGROUND

Endoscopes have attained great acceptance within the medical community, since they provide a means for performing procedures with minimal patient trauma, while enabling the physician to view the internal anatomy of the patient. Over the years, numerous endoscopes have been developed and categorized according to specific applications, such as cystoscopy, colonoscopy, laparoscopy, upper GI endoscopy and others. Endoscopes may be inserted into the body's natural orifices or through an incision in the skin.

An endoscope is usually an elongated tubular shaft, rigid or flexible, having a video camera or a fiber optic lens assembly at its distal end. The shaft is connected to a handle, which sometimes includes an ocular for direct viewing. Viewing is also usually possible via an external screen. Various surgical tools may be inserted through a working channel in the endoscope for performing different surgical procedures.

Endoscopes, such as colonoscopes, that are currently being used, typically have a front camera for viewing the internal organ, such as the colon, an illuminator, a fluid injector for cleaning the camera lens and sometimes also the illuminator and a working channel for insertion of surgical tools, for example, for removing polyps found in the colon. Often, endoscopes also have fluid injectors (“jet”) for cleaning a body cavity, such as the colon, into which they are inserted. The illuminators commonly used are fiber optics which transmit light, generated remotely, to the endoscope tip section. The use of light-emitting diodes (LEDs) for illumination is also known.

Among the disadvantages of such endoscopes, are their limited field of view and their limited options for operating medical and surgical tools.

There is thus a need in the art for endoscopes, such as colonoscopies, that allow a broader field of view and allow extended access of surgical tools as well as enabling efficient packing of all necessary elements in the tip section, while maintaining their function.

SUMMARY

The following embodiments and aspects thereof are described and illustrated in conjunction with systems, tools and methods, which are meant to be exemplary and illustrative, not limiting in scope.

There is provided herein, according to some embodiments of the invention a tip section of an endoscope, the tip section comprising: at least one front-pointing camera and at least one front illuminator associated therewith; at least one side-pointing camera and at least one of side illuminator associated therewith; a front working channel configured for insertion of a medical tool; and a side service channel configured for insertion of a medical tool.

In some embodiments, the tip section further comprises at least one front fluid injector configured for cleaning at least one of the front-pointing camera and at least one of the front illuminator.

In some embodiments, the tip section further comprises at least one side fluid injector configured for cleaning at least one of the side-pointing camera and at least one of the side illuminator.

In some embodiments, the tip section further comprises a pathway fluid injector for inflating and/or cleaning a body cavity into which the endoscope is inserted.

In some embodiments, the tip section comprises two side-pointing cameras.

In some embodiments, each of the side-pointing cameras is directed to opposing sides.

In some embodiments, each of the side-pointing cameras is essentially perpendicular to the front camera surface.

In some embodiments, the at least one side-pointing camera forms an obtuse angle with the front camera surface.

In some embodiments, the at least one side-pointing camera forms an acute angle with the front camera surface.

In some embodiments, the side service channel is curved at an angle of about 90° relative to the long dimension of the tip section towards a side wall of the tip section.

In some embodiments, the side service channel is curved at an obtuse angle relative to the long dimension of the assembly, towards a side wall of the tip section.

In some embodiments, the side service channel is curved at an acute angle relative to the long dimension of the assembly, towards a side wall of the tip section.

In some embodiments, the front working channel is further configured for insertion of a cleaning fluid and the side service channel is configured for suctioning the cleaning fluid.

In some embodiments, the side service channel is further configured for insertion of a cleaning fluid and the front working channel is configured for suctioning the cleaning fluid.

In some embodiments, the tip section comprises two side service channels directed essentially to opposing sides of the tip section.

In some embodiments, the side service channel comprises a proximal section, which splits into two distal sections directed essentially to opposing sides of the tip section.

In some embodiments, each one of the two distal sections is curved at an angle of about 90° relative to the long dimension of the tip section towards a side wall of the tip section.

In some embodiments, each one of the two distal sections is curved at an obtuse angle relative to the long dimension of the tip section towards a side wall of the tip section.

In some embodiments, each one of the two distal sections is curved at an acute angle relative to the long dimension of the tip section towards a side wall of the tip section.

In some embodiments, at least one of the front and side illuminators comprises at least one discrete illuminator.

In some embodiments, each of the front and side illuminators comprises a light-emitting diode (LED).

In some embodiments, at least one of the front and side illuminators is configured to emit white light.

In some embodiments, at least one of the front and side illuminators is configured to emit ultraviolet light.

In some embodiments, at least one of the front and side illuminators is configured to emit infrared light.

In some embodiments, at least one of the front and side illuminators is configured to emit near-infrared light.

In some embodiments, the front and side illuminators are configured to emit light in different wavelengths.

In some embodiments, each of the front-pointing camera and the side-pointing camera comprises an image sensor such as, but not limited to, a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS).

In some embodiments, the front and side fluid injectors are connected to a same fluid supply channel.

In some embodiments, the endoscope is a colonoscope.

In some embodiments, the endoscope is a flexible endoscope.

In some embodiments, the endoscope is a gastroscope.

In some embodiments, fields of view of the front-pointing camera and side-pointing camera are at least partially overlapping.

In some embodiments, at least one of the front and side cameras comprises a lens assembly providing a field of view of 90 degrees or more.

In some embodiments, at least one of the front and side cameras comprises a lens assembly providing a field of view of 120 degrees or more.

In some embodiments, at least one of the front and side cameras comprises a lens assembly providing a focal length of approximately 3-100 millimeters.

In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the figures and by study of the following detailed description.

BRIEF DESCRIPTION OF THE FIGURES

Exemplary embodiments are illustrated in referenced figures. Dimensions of components and features shown in the figures are generally chosen for convenience and clarity of presentation and are not necessarily shown to scale. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than restrictive. The figures are listed below.

FIG. 1 shows an exploded view of a tip section of an endoscope assembly according to some embodiments;

FIG. 2A shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 2B shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 3A shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 3B shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 4A shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 4B shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 4C shows a perspective view of a tip section of an endoscope assembly according to some embodiments;

FIG. 5A shows a perspective view of a fluid channeling component of an endoscope assembly with a medical tool inserted through a side service channel thereof, according to some embodiments; and

FIG. 5B shows a perspective view of a fluid channeling component of an endoscope assembly with a medical tool inserted through a side service channel thereof, according to some embodiments.

DETAILED DESCRIPTION

Reference is now made to FIG. 1, which shows an exploded view of a tip section 200 of an endoscope assembly 100 according to an embodiment.

An aspect of some embodiments relates to endoscope assembly 100 having tip section 200 equipped with one or more side service channels.

It is noted that the term “endoscope” as mentioned to herein may refer particularly to a colonoscope, according to some embodiments, but is not limited only to colonoscopes. The term “endoscope” may refer to any instrument used to examine the interior of a hollow organ or cavity of the body.

Tip section 200 may be turnable by way of flexible shaft (not shown) which may also be referred to as a bending section, for example a vertebra mechanism.

According to an embodiment, tip section 200 of an endoscope may include a tip cover 300, an electronic circuit board assembly 400 and a fluid channeling component 600.

Electronic circuit board assembly 400 may be configured to carry a front looking camera 116 and side looking cameras 116a (not shown) and 116b which may be similar to front looking camera 116 and may include a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS) image sensor.

Electronic circuit board assembly 400 may be configured to carry front illuminators 240a, 240b, 240c, which may be associated with front looking camera 116, may be positioned to essentially illuminate front looking camera's 116 fields of view.

In addition, electronic circuit board assembly 400 may be configured to carry side illuminators 250a and 250b, which may be associated with side looking camera 116b, may be positioned to essentially illuminate side looking camera's 116b fields of view. Electronic circuit board assembly 400 may also be configured to carry side illuminators, which may be associated with side looking camera 116a (not shown), which may be similar to side illuminators 250a and 250b.

Front illuminators 240a, 240b, 240c and side illuminators 250a and 250b may optionally be discrete illuminators and may include a light-emitting diode (LED), which may be a white light LED, an infrared light LED, a near infrared light LED, an ultraviolet light LED or any other LED.

The term “discrete”, concerning discrete illuminator, may refer to an illumination source, which generates light internally—in contrast to a non-discrete illuminator, which may be, for example, a fiber optic merely transmitting light generated remotely.

Reference is now made to FIGS. 2 A and B, which shows a perspective view of a tip section 200 of an endoscope assembly 100 according to an embodiment.

Tip cover 300 may be configured to fit over the inner parts of the tip section 200 including electronic circuit board assembly 400 and fluid channeling component 600 and to provide protection to the internal components in the inner parts.

Tip cover 300 may include a front panel 320 having a front optical assembly 256, of front looking camera 116. Front optical assembly 256 may include a plurality of lenses, static or movable, which may provide a field of view of up to essentially 180 degrees. Front optical assembly 256 may provide a focal length of up to about 100 millimeters.

Optical axis of front looking camera 116 may be essentially directed along the long dimension of the endoscope. However, since front looking camera 116 is typically a wide angle camera, its field of view may include viewing directions at large angles to its optical axis.

Additionally, front panel 320 may include optical windows 242a, 242b and 242c of illuminators 240a, 240b and 240c, respectively. It should be noted that number of illumination sources used for illumination of the field of view may vary.

In addition, front panel 320 may include a working channel opening 340 of a working channel 640, which is further discussed below.

Jet channel opening 344 of jet channel 644 may also be located on front panel 320 of tip cover 300. Jet channel 644 may be configured for providing high-pressure jet of fluid such as water or saline for cleaning the walls of the body cavity.

Also located on front panel 320 of tip cover 300 is injector opening 346 of injector channel 646 having a nozzle 348 aimed at front optical assembly 256. Injector channel 646 may be configured for injecting fluid (liquid and/or gas) to wash contaminants such as blood, feces and other debris from front optical assembly 256 of front looking camera 116. Optionally, injector channel 646 may be configured for cleaning front optical assembly 256 and one two or all of optical windows 242a, 242b and 242c. Injector channel 646 may be fed by fluid such as water and/or gas which may be used for cleaning and/or inflating a body cavity.

Visible on the sidewall 362 of tip cover 300 is side optical assembly 256b for side looking camera 116b, which may be similar to front optical assembly 256 and optical windows 252a and 252b of illuminators 250a and 250b for side looking camera 116b. Also on the sidewall 362 of tip cover 300 one the opposing side to side optical assembly 256b is an optical assembly (not shown) for side looking camera 116a (not shown), which may be similar to side optical assembly 256b and optical windows 252a and 252b of illuminators 250a and 250b for side looking camera 116b.

Optical axis of side looking camera 116b may be essentially directed perpendicular to the long dimension of the endoscope. Optical axis of side looking camera 116b is essentially directed perpendicular to the long dimension of the endoscope. However, since side looking camera 116b is typically a wide angle camera, its field of view may include viewing directions at large angles to its optical axis.

In addition, side injector opening 266 of side injector channel 666 may be located at distal end of sidewall 362. A nozzle cover 267 may be configured to fit side injector opening 266.

Additionally, nozzle cover 267 may include a nozzle 268 which may be aimed at side optical assembly 256b and configured for injecting fluid to wash contaminants such as blood, feces and other debris from side optical assembly 256b of side looking camera 116b. The fluid may include gas which may be used for inflating a body cavity. Optionally, nozzle 268 may be configured for cleaning both side optical assembly 256b and optical windows 252a and/or 252b.

According to some embodiments, side injector channel 666 may be configured to supply fluids for cleaning any of the tip elements (such as any optical assembly, windows, illuminators, and other elements).

Optionally, injector channel 646 and side injector channel 666 may be fed from same channel.

It is noted that according to some embodiments, although tip section 200 is presented herein showing one side thereof, the opposing side may include elements similar to the side elements described herein (for example, side looking camera, side optical assembly, injector(s), nozzle(s), illuminator(s), window(s), opening(s) and other elements).

Sidewall 362 may have a form of an essentially flat surface which assists in directing the cleaning fluid injected from injector channel 666 towards side optical assembly 256b and optical windows 252a and/or 252b. Lack of such flat surface may result in dripping of the cleaning fluid along the curved surface of tip section 200 of the endoscope without performing the desired cleaning action.

It is noted that according to some embodiments, tip section 200 may include more than one side looking cameras. In this case, the side looking cameras may be installed such that their field of views are substantially opposing. However, different configurations and number of side looking cameras are possible within the general scope of the current invention.

Fluid channeling component 600 includes a side service channel 650 having a side service channel opening 350. Side service channel 650, which will be discussed in more detail herein below, is configured to improve the performance of the endoscope (particularly, the colonoscope). Current colonoscopes typically have one working channel, which opens at the front distal section of the colonoscope. Such front working channel is adapted for insertion of a surgical tool. The physician is required to perform all necessary medical procedures, such as biopsy, polyp removal and other procedures, via this one channel. In addition, for treating (removing/biopsying) polyps or lesions found on the side walls of the colon, tip sections that have only a front working channel need to retracted and repositioned with their front facing the polyp or lesion. This re-positioning of the tip may result in “loosing” the polyp/lesion and further effort and time must be invested in re-locating it. These are major limitations that currently doctors have to face. According to some embodiments of this invention, there is provided herein an endoscope (such as colonoscope) that includes (in a tip section thereof), in addition to a front camera and one or more side cameras, and in addition to a front working channel, also a side service channel that is configured for insertion of a medical (such as a surgical) tool, optionally in addition to a medical tool inserted from the front working channel. The side service channel allows performance of medical procedures from (or in proximity to) the side of the tip section, while at the same time viewing the procedure by the side camera. This substantially increases the performance of the endoscope. Moreover, the front working channel and the side service channel may be used simultaneously for medical procedures. An example of such procedure may include cleaning of the colon. A common problem exists when doctors find out that the patient's colon is not sufficiently clean. In such cases, the doctor can try to clean the colon part using the “jet” exiting from the front part of the tip and in bad cases the doctor is forced to send the patient home and reschedule his/her appointment. According to embodiments of the invention, the two channels can be used simultaneously for cleaning. For example, a cleaning fluid (such as water or water with air) may be inserted through the front working channel and suctioned out from the side service channel, or vice versa. This may allow a better cleaning procedure that may solve or mitigate the problem of less efficient colonoscopies due to a non-cleaned colon.

In addition, a colonoscopy performed using a colonoscope according to embodiments of the invention may save the need of a cleaning procedure, currently performed by the patient him/herself, prior to colonoscopy.

Reference is now made to FIGS. 3A and 3B which show a perspective view of a fluid channeling component 600 of an endoscope assembly according to an embodiment.

According to some embodiments, fluid channeling component 600 may be configured as a separate component from electronic circuit board assembly 400. This configuration may be adapted to separate the fluid channels and working channel 640, which are located in fluid channeling component 600 from the sensitive electronic and optical parts which may be located in the area of electronic circuit board assembly 400.

According to some embodiments, fluid channeling component 600 may include a Proximal fluid channeling section 602 which may have an essentially cylindrical shape and a unitary distal channeling section 604. Distal fluid channeling section 604 may partially continue the cylindrical shape of proximal fluid channeling section 602 and may have a shape of a partial cylinder (optionally elongated partial cylinder). Distal fluid channeling section 604 may have only a fraction of the cylinder (along the height axis of the cylinder), wherein another fraction of the cylinder (along the height axis of the cylinder) is missing. Distal fluid channeling section 604 may be integrally formed as a unitary block with proximal fluid channeling section 602. The height of distal fluid channeling section 604 may by higher than that of proximal fluid channeling section 602. In the case of distal fluid channeling section 604, the shape of the partial cylinder (for example, partial cylinder having only a fraction of a cylinder shape along one side of the height axis) may provide a space to accommodate electronic circuit board assembly 400 (FIG. 1).

Distal fluid channeling section 604 may include a working channel 640, which may be configured for insertion of a surgical tool, for example, to remove, treat and/or extract a sample of the object of interest found in the colon or its entirety for biopsy.

Distal fluid channeling section 604 may further include a jet fluid channel 644 (depicted as jet fluid channel 744 in FIGS. 4A, 4B, and 4C) which may be configured for providing high pressure jet of fluid such as water or saline for cleaning the walls of the body cavity (such as the colon) and optionally for suction. Distal fluid channeling section 604 may further include injector channel 646 (depicted as injector channel 746 in FIGS. 4A, 4B, and 4C), which may be used for injecting fluid (liquid and/or gas) to wash contaminants such as blood, feces and other debris from front optical assembly 256 (FIG. 1) of forwards looking camera 116 (FIG. 1).

Proximal fluid channeling section 602 of fluid channeling component 600 may include a side injector channel 666 which may be connected to side injector opening 266 (FIG. 1). Reference is now made back to FIG. 1. Tip section 200 may include a front-pointing camera 116 as well as side looking camera 116b. While front-pointing camera 116 may be able to detect objects of interest (such as a polyp or another pathology), based on its, side-pointing camera may be able to detect additional objects of interest which are normally hidden from the front-pointing camera 116.

Once an object of interest has been detected, endoscope operator may desire to insert a surgical tool and remove, treat and/or extract a sample of the polyp or its entirety for biopsy.

In some cases, objects of interest may only be visible through side looking camera 116b, in this case, it may be beneficial for the endoscope's operator to be able to use surgical tools, which can access the object of interest and perform surgical operations while the object of interest is visible by side looking camera 116b.

Reference is now made back to FIGS. 3A, 3B. Fluid channeling component 600 may include a side service channel 650 having a side service channel opening 350 (FIG. 1).

Side service channel 650 includes a proximal section 652, a curve 654 and a distal section 656 and is located within fluid channeling component 600.

Proximal section 652 of side service channel 650 is essentially directed along the long dimension of the endoscope.

Curve 654 of side service channel 650 is configured to connect proximal section 652 and distal section 656 and curve (at essentially a right angle))(90° or in an obtuse angle) distal section 656 towards the side of fluid channeling component 600.

It is noted that according to some embodiments, a curve, such as curve 654 may be configured to create an acute angle between distal proximal section end 652 and a proximal distal section end 656.

Side service channel 650 may be configured to allow the endoscope operator to insert a surgical tool (not shown) and remove, treat and/or extract a sample of the object of interest or its entirety for biopsy.

Advantageously, side service channel 650 may allow greater flexibility to the endoscope operator and allow the insertion of extra surgical tools in addition to the surgical tools which may be inserted through working channel 640.

Reference is now made to FIGS. 4A, 4B, and 4C, which show a perspective view of a fluid channeling component 700 of an endoscope assembly according to an embodiment.

According to some embodiments, fluid channeling component 700 may include a side service channel 750 having two side service channel openings 758a and 758b.

Side service channel 750 may be located within fluid channeling component 700 and may include a distal section 752, a split 754 and two distal sections 756a and 756b. Proximal section 752 of side service channel 750 may be essentially directed along the long dimension of the endoscope.

Split 754 of side service channel 750 may be configured to split Proximal section 752 into two distal sections 756a and 756b and divert distal sections 756a and 756b towards two essentially opposite sides of fluid channeling component 700.

Side service channel 750 may be configured to allow the endoscope operator to insert a surgical tool (not shown) and remove, treat and/or extract a sample of the object of interest or its entirety for biopsy.

Advantageously, side service channel 750 may allow greater flexibility to the endoscope operator and allow the insertion of extra surgical tools in addition to the surgical tools, which may be inserted through working channel 740.

While some objects of interest may be visible and/or accessible via the endoscope front panel 320 (FIG. 1), some objects of interest may be more visible via side looking camera 116b (FIG. 1) and/or accessible via endoscope side service channel 750. Therefore, side service channel 750 may reduce the need to turn the tip section 200 towards the object of interest. Furthermore, side service channel 750 may allow the endoscope operator to access objects of interest, and perform surgical operations while object of interest is still visible by one of side looking camera 116b or 116c (FIG. 1).

Reference is now made to FIGS. 5A, 5B, which show a perspective view of a tip section of an endoscope assembly with a medical tool inserted through a side service channel thereof, according to some embodiments.

FIG. 5A shows tip section 200 of endoscope assembly 100, having side service channel 650 through which medical tool 360a is threaded and exits from side service channel opening 350a at essentially a right)(90° angle.

FIG. 5B shows tip section 200 of endoscope assembly 100, having side service channel 650 through which medical tool 360b is threaded and exits from side service channel opening 350b at an obtuse angle.

While a number of exemplary aspects and embodiments have been discussed above, those of skill in the art will recognize certain modifications, permutations, additions and sub-combinations thereof It is therefore intended that the following appended claims and claims hereafter introduced be interpreted to include all such modifications, permutations, additions and sub-combinations as are within their true spirit and scope.

In the description and claims of the application, each of the words “comprise” “include” and “have”, and forms thereof, are not necessarily limited to members in a list with which the words may be associated.

Claims

1. A tip section of an endoscope, the tip section comprising: a substantially cylindrical fluid channeling component disposed within the tip section and having a length and a height, wherein the fluid channeling component has a proximal section and, along said height, has a first fraction and a second fraction, wherein the proximal section is substantially cylindrical and comprises a first side channel, said first side channel having an opening on a curved side wall defining said proximal section, wherein the first fraction is semi-cylindrical and comprises a housing that extends outward from said proximal section and that has encased therein a working channel, and wherein the second fraction comprises a void;an electrical assembly configured to fit within said second fraction, wherein the electrical assembly comprises a front-pointing camera, a front illuminator, an integrated circuit board, a first side-pointing camera, a first side illuminator, a second side-pointing camera and a second side illuminator; anda tip cover section having a planar distal face and a plurality of curved side walls, wherein the tip cover section is configured to be removably attachable to said fluid channeling component and configured to receive said electrical assembly, wherein one of the plurality of curved side walls has an opening aligned with the opening on the curved side wall defining said proximal section.

2. The tip section of claim 1 wherein the tip cover section comprises a front working channel configured to mate to said working channel of the fluid channeling component and provide a contiguous pathway for receiving a medical tool.

3. A tip section of an endoscope, the tip section comprising: a substantially cylindrical fluid channeling component disposed within the tip section and having a length and a height, wherein the fluid channeling component has a distal section, a proximal section and, along said height, has a first fraction and a second fraction, wherein the proximal section is substantially cylindrical and comprises a first side channel having an opening on a curved side wall defining said proximal section, wherein the first fraction is semi-cylindrical and comprises a housing that extends outward from said proximal section to form said distal section and that has encased therein a working channel, and wherein the second fraction comprises a void;an electrical assembly configured to fit within said second fraction, wherein the electrical assembly comprises a front-pointing camera and a front illuminator positioned below a face of said distal section, an integrated circuit board, a first side-pointing camera and a first side illuminator adjacent the first side-pointing camera positioned on the first side, and a second side-pointing camera and a second side illuminator adjacent the second side-pointing camera on the second side; anda tip cover section having a planar distal face and a plurality of curved side walls, wherein the tip cover section is configured to be removably attachable to said fluid channeling component and configured to receive said electrical assembly, wherein one of the plurality of curved side walls has an opening aligned with the opening on the curved side wall defining said proximal section.

4. The tip section of claim 3 further comprising at least one front fluid injector configured to clean the front-pointing camera and the front illuminator.

5. The tip section of claim 3 further comprising at least one first side fluid injector configured to clean the first side-pointing camera and the first side illuminator adjacent the first side-pointing camera.

6. The tip section of claim 3 further comprising at least one second side fluid injector configured to clean the second side-pointing camera and the second side illuminator adjacent the second side-pointing camera.

7. The tip section of claim 3 further comprising a pathway fluid injector for inflating and/or cleaning a body cavity into which the endoscope is inserted.

8. The tip section of claim 3, wherein said first side channel is curved at an obtuse angle relative to a longitudinal axis through said tip section.

9. The tip section of claim 3 further comprising at least one front fluid injector configured to clean the front-pointing camera and the front illuminator, at least one first side fluid injector configured to clean the first side-pointing camera and the first side illuminator adjacent the first side-pointing camera, and at least one second side fluid injector configured to clean the second side-pointing camera and the second side illuminator adjacent the second side-pointing camera.

10. The tip section of claim 9 wherein the front fluid injector, the first side fluid injector and the second side fluid injector are connected to a same fluid supply channel.

11. The tip section of claim 3, wherein fields of view of said front-pointing camera and first side pointing camera are at least partially overlapping.

12. The tip section of claim 11, wherein fields of view of said front-pointing camera and second side pointing camera are at least partially overlapping.

13. The tip section of claim 11, wherein the front, first side and second side cameras each comprise a lens assembly providing a focal length of approximately 3-100 millimeters.