Patent Publication Number: US-2023141974-A1

Title: Remote control of articulated catheter emulating hand-held motions

Description:
BACKGROUND 
     Technical Field 
     The present disclosure relates to the field of surgical devices, and in particular, to remotely controlled catheters that emulate hand-held motions. 
     Description of Related Art 
     Minimally invasive surgical procedures have become increasingly prevalent over traditional open surgical techniques. Handheld endoscopes enable clinicians to explore internal cavities of a patient without the need for extensive incisions, reducing patient recovery time and patient discomfort. Endoscopes have been increasingly used to explore narrow luminal networks of the patient, such as the luminal network of the lungs, amongst others. Typical endoscopic procedures involve manual manipulation of the catheter and manual articulation of a distal end portion of the catheter to navigate the various bifurcations and/or undulating nature of the luminal network more easily. 
     Advances in technology has enabled clinicians to utilize robotic surgical systems to perform various surgical procedures. As can be appreciated, robotic surgical systems enable fine motor control and a steadier grasp on the endoscope. However, much is lost in the way of feedback to the user when using a robotic surgical system over manual manipulation of the endoscope. As such, clinicians lose tactile sensations when utilizing robotic surgical systems, which make it difficult for a clinician to identify how much pressure is being applied to the surrounding tissue when advancing or otherwise manipulating the endoscope within the luminal network. Such difficulties arise during initial insertion of the endoscope within the luminal network, where a clinician may wish to have manual control and tactile feedback from the endoscope, whereas the finer control and steadier hand of the robotic surgical system is preferred as the distal portion of the catheter approaches the surgical site and/or target tissue. 
     Additionally, the camera view at the distal end of the endoscope reacts differently when the endoscope is manipulated by the robotic surgical system as compared to manual manipulation, as the clinician is permitted to physically rotate the catheter whereas robotic surgical systems are rotationally fixed. Therefore, the view presented to the clinician is not what is expected, leading to difficulty in identifying the direction in which the distal end portion of the catheter must be articulated to traverse the various lumens of the luminal network. 
     SUMMARY 
     In accordance with the present disclosure, a system for performing a surgical procedure includes an endoscope including a catheter attachment and a control handle selectively coupled to a portion of the catheter attachment such that inputs received by the control handle effectuate corresponding reactions of a portion of the catheter attachment when the control handle is coupled to the catheter attachment and when the control handle is separated from the catheter attachment. 
     In aspects, the catheter attachment may include a catheter housing and a catheter operably coupled to, and extending distally from, a portion of the catheter housing. 
     In other aspects, the catheter housing may include a drive mechanism that is disposed within a portion of the catheter housing and is configured to effectuate articulation of a distal portion of the catheter. 
     In certain aspects, the drive mechanism may include a motor, wherein the motor causes the drive mechanism to effectuate articulation of the distal portion of the catheter. 
     In other aspects, the control handle may include a motor disposed therein, wherein the motor is operably coupled to the drive mechanism when the catheter housing is coupled to the control handle. 
     In aspects, the system may include a robotic surgical system, a portion of the robotic surgical system configured to be selectively coupled to a portion of the catheter housing when the catheter housing is separated from the control handle. 
     In other aspects, the catheter housing may include a drive mechanism disposed therein, the drive mechanism selectively couplable to a portion of the robotic surgical system such that when the catheter housing is coupled to the robotic surgical system, the robotic surgical system is operably coupled to the drive mechanism. 
     In aspects, the control handle may be in selective communication with the robotic surgical system, wherein inputs received on the control handle are received by the robotic surgical system to cause the robotic surgical system to effectuate a corresponding reaction of the catheter. 
     In other aspects, the control handle may include an inertial measurement unit, wherein movement of the control handle is measured by the inertial measurement unit to effectuate a corresponding reaction of the catheter. 
     In certain aspects, the control handle may include a control pad, wherein inputs received on the control pad cause the robotic surgical system to effectuate a corresponding reaction of the catheter. 
     In accordance with another aspect of the present disclosure, a method for performing a surgical procedure includes navigating a distal portion of a catheter attachment within a body cavity of a patient using a control handle selectively coupled to a portion of the catheter attachment, separating the control handle from the catheter attachment, coupling the catheter attachment to a portion of a robotic surgical system, and navigating the distal portion of the catheter attachment to a surgical site using the control handle to remotely control movement of the catheter attachment via the robotic surgical system. 
     In aspects, navigating a distal portion of the catheter attachment may include articulating a distal portion of a catheter operably coupled to a portion of the catheter attachment using a drive mechanism disposed within a portion of the catheter attachment. 
     In certain aspects, navigating a distal portion of the catheter may include articulating a distal portion of the catheter using a motor operably coupled to the drive mechanism and disposed within a portion of the catheter attachment. 
     In other aspects, navigating a distal portion of the catheter may include articulating the distal portion of the catheter using a motor operably coupled to the drive mechanism and disposed within a portion of the control handle. 
     In certain aspects, coupling the catheter attachment to a portion of the robotic surgical system may include coupling a motor disposed within a portion of the robotic surgical system to the drive mechanism of the catheter attachment. 
     In accordance with yet another aspects of the present disclosure, a system for performing surgery includes a catheter housing including a catheter operably coupled to, and distally extending from, a portion of the catheter housing, a control handle selectively coupled to a portion of the catheter housing and configured to receive inputs to effectuate reactions of the catheter of the catheter housing, and a robotic surgical system, apportion of the robotic surgical system configured to be operably coupled to the catheter housing when the catheter housing is separated from the control handle. 
     In aspects, the catheter housing may include a drive mechanism, the drive mechanism disposed within a portion of the catheter housing and configured to effectuate articulation of a distal portion of the catheter. 
     In other aspects, the control handle may include a motor, the motor disposed within a portion of the control handle and configured to be operably coupled to the drive mechanism when the catheter housing is coupled to the control handle. 
     In certain aspects, the robotic surgical system may include a motor, the motor disposed within a portion of the robotic surgical system and configured to be operably coupled to the drive mechanism when the catheter housing is coupled to the robotic surgical system. 
     In aspects, the control handle may be configured to directly control articulation of the distal portion of the catheter when the catheter housing is coupled to the control handle and is configured to remotely control articulation of the distal portion of the catheter when the catheter housing is coupled to the robotic surgical system. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various aspects and embodiments of the disclosure are described hereinbelow with references to the drawings, wherein: 
         FIG.  1    is a schematic view of a surgical system provided in accordance with the present disclosure; 
         FIG.  2    is a schematic view of a workstation of the surgical system of  FIG.  1   ; 
         FIG.  3    is an elevation view of an endoscope provided in accordance with the present disclosure; 
         FIG.  4    is a rear, perspective view of a catheter housing of the endoscope of  FIG.  3   ; 
         FIG.  5    is a schematic view of a distal portion of the catheter of the catheter housing of  FIG.  4   , shown with the distal portion of the catheter articulating in a left and right direction; 
         FIG.  6    is an exploded view of a drive mechanism of the catheter housing of  FIG.  4   ; 
         FIG.  7    is a rear, perspective view of a proximal portion of the catheter housing of  FIG.  4   ; 
         FIG.  8    is an elevation view of a control handle of the endoscope of  FIG.  3   ; 
         FIG.  9    is a rear, perspective view of the control handle of  FIG.  8   ; 
         FIG.  10    is a plan view of the control handle of  FIG.  8   ; 
         FIG.  11    is an elevation view of the control handle of  FIG.  8   , showing a trigger associated therewith; 
         FIG.  12    is an enlarged view of the area of detail indicated in  FIG.  10   ; 
         FIG.  13    is a perspective view of a robotic surgical system of the surgical system of  FIG.  1   ; 
         FIG.  14    is a perspective view of a distal portion of the catheter of the catheter housing of  FIG.  4   ; 
         FIG.  15    is a perspective view of the catheter of the catheter housing of  FIG.  4    advanced within a body cavity of a patient; and 
         FIG.  16    is a flow diagram of a method of performing a surgical procedure provided in accordance with the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure is directed to a surgical system having a workstation operably coupled to an endoscope, which in turn, is selectively couplable to a robotic surgical system. The endoscope is formed from two sections; a catheter housing and a control handle. The catheter housing and the control handle are configured to be selectively coupled to one another, such that the catheter housing may be controlled either manually, when the control handle is coupled thereto, or remotely via the robotic surgical system, when the catheter housing is coupled to the robotic surgical system. 
     The catheter housing includes a recess formed in an outer surface thereof adjacent a proximal portion that is configured to mate to a corresponding recess formed in an outer surface of a distal portion of the control handle and to a cradle of the robotic surgical system. In this manner, the recesses of each of the catheter housing and the control handle enable the catheter housing to be releasably engaged to the control housing. The catheter housing includes a catheter operably coupled thereto which terminates at a distal end portion having a camera or any other suitable sensor or sensors or device or devices disposed therein. To manipulate the catheter, the catheter housing includes a drive mechanism disposed therein which may include one or more pull wires to control articulation of the distal portion of the catheter in a left, right, up, or down direction, or combinations thereof. In embodiments, the drive mechanism may include one or more motors which when actuated, effectuate movement of the pull wires and rotation of the catheter relative to the catheter housing. It is envisioned that the drive mechanism may not include a motor, and rather, motors may be disposed in the control handle and a portion of the robotic surgical system. In this manner, the catheter housing may be disposable whereas the control handle may be reusable. 
     The control handle includes a user interface disposed on an outer surface thereof which enables a user to control articulation of the distal portion of the catheter in a single plane (e.g., left and right) when the catheter housing is coupled to the control handle, and enables a user to control articulation of the distal portion of the catheter in two planes (e.g., left, right, up, and down) when the catheter housing is coupled to the cradle of the robotic surgical system. As can be appreciated, when the catheter housing is coupled to the control handle, rotation of the catheter is effectuated by manually rotating the control handle, and thereby the catheter. When the catheter housing is coupled to the cradle of the robotic surgical system, the catheter is rotationally fixed, thereby inhibiting rotation of the catheter relative to the cradle. 
     As can be appreciated, when the catheter housing is coupled to the cradle of the robotic surgical system and the distal portion of the catheter is articulated in a 180-degree hemisphere (e.g., two planes), the view captured by the camera and displayed to the user no longer corresponds to what the user was expecting. For example, when the user rotates their hand to effectuate rotation of the catheter housing when the catheter housing is coupled to the control handle, what the user expects to be up or down corresponds to up or down on the display. However, when the catheter housing is coupled to the cradle of the robotic surgical system, the catheter is inhibited from rotating and therefore, the view captured by the camera and displayed to the user is rotated from what the user would expect. An application associated with the workstation interprets the data received from the catheter (e.g., orientation, position, image data, etc.) and automatically rotates the view before being displayed to the user. In this manner, the view displayed to the user corresponds to the view in which the user was expecting. These and other aspects of the present disclosure are described in further detail herein. 
     Turning now to the drawings,  FIG.  1    illustrates a surgical system provided in accordance with the present disclosure and generally identified by reference numeral  10 . The surgical system includes an endoscope  100 , a workstation  20  operably coupled to the endoscope  100 , and a robotic surgical system  50  operably coupled to the workstation  20  and in selective communication with the endoscope  100 . The patient is shown lying on an operating table  60  with the endoscope  100  inserted through the patient&#39;s mouth and into the patient&#39;s airways, although it is contemplated that the endoscope  100  may be inserted into any suitable body cavity of the patient, depending upon the procedure being performed. 
     Continuing with  FIG.  1    and with additional reference to  FIG.  2   , the workstation  20  includes a computer  22  and a display  24  that is configured to display one or more user interfaces  26  and  28 . The workstation  20  may be a desktop computer or a tower configuration with the display  24  or may be a laptop computer or other computing device. The workstation  20  includes a processor  30  which executes software stored in a memory  32 . The memory  32  may store video or other imaging data captured by the endoscope  100  or pre-procedure images from, for example, a computer-tomography (CT) scan, Positron emission tomography (PET), Magnetic Resonance Imaging (MM), Cone-beam CT, amongst others. In addition, the memory  32  may store one or more applications  34  to be executed on the processor  30 . Though not explicitly illustrated, the display  24  may be incorporated into a head mounted display such as an augmented reality (AR) headset such as the HoloLens offered by Microsoft Corp. 
     A network interface  36  enables the workstation  20  to communicate with a variety of other devices and systems via the Internet. The network interface  36  may connect the workstation  20  to the Internet via a wired or wireless connection. Additionally, or alternatively, the communication may be via an ad-hoc Bluetooth® or wireless networks enabling communication with a wide-area network (WAN) and/or local area network (LAN). The network interface  36  may connect to the Internet via one or more gateways, routers, and network address translation (NAT) devices. The network interface  36  may communicate with a cloud storage system  38 , in which further image data and videos may be stored. The cloud storage system  38  may be remote from or on the premises of the hospital such as in a control or hospital information technology room. An input device  40  receives inputs from an input device such as a keyboard, a mouse, voice commands, amongst others. An output module  42  connects the processor  30  and the memory  32  to a variety of output devices such as the display  24 . In embodiments, the workstation  20  may include its own display  44 , which may be a touchscreen display. 
     With reference to  FIGS.  3 - 7   , the endoscope  100  includes a handle portion  102  that is formed from a catheter attachment  200  and a control handle  300  that is selectively couplable to the catheter attachment  200 . The catheter attachment  200  includes a catheter housing  202  and a catheter  210  operably coupled to a distal portion of the catheter housing  202  and extending distally therefrom and terminating at a distal end portion  210   a . It is contemplated that the catheter  210  may include a camera  212 , ultrasound transponder, photoacoustic imager, etc. disposed at the distal end portion  210   a  thereof. In this manner, the catheter  210  may capture images, either white light, infrared, ultrasound, photoacoustic, etc. extending axially from the distal end portion  210   a  of the catheter  210  or in embodiments, in a 360-degree ring about the distal end portion  210   a  of the catheter  210 . 
     The catheter housing  202  defines a generally cylindrical profile defining an outer surface  202   a , which extends between opposed proximal and distal end portions  202   b  and  202   c , respectively. The catheter housing  202  includes an outer dimension that is configured to be operably received within a cradle or other portion of the robotic surgical system  50 , such that the catheter  210  may be controlled manually via the handle portion  102  or remotely via the robotic surgical system  50 , as will be described in further detail hereinbelow. 
     The outer surface  202   a  of the catheter housing  202  defines a recess  204  defined therein adjacent to and extending through the proximal end portion  202   b . The recess  204  defines an upper surface  204   a  and a distal end surface  204   b . As will be described in further detail hereinbelow, the recess  204  includes profile that is complementary to a corresponding feature formed on a portion of the control handle  300  and formed on a portion of the robotic surgical system  50 , such that the catheter housing  202  may be releasably coupled to the control handle  300  or the robotic surgical system  50 . Although generally illustrated as extending halfway through a thickness of the catheter housing  202 , it is envisioned that the recess  204  may include any suitable dimension capable of being releasably engaged to the corresponding feature of the control handle  300  or robotic surgical system  50 . 
     The catheter housing  202  includes a drive mechanism  400  ( FIG.  6   ) disposed within an inner portion thereof that is operably coupled to a proximal portion of the catheter  210 . The drive mechanism  400  effectuates manipulation of a distal portion  210   a  of the catheter  210  in five degrees of freedom (e.g., left, right, up, down, and rotation), although it is contemplated that the drive mechanism may be configured to effectuate movement in greater or fewer degrees of freedom without departing from the scope of the present disclosure. In this manner, the distal portion  210  of the catheter  210  is permitted to articulate through a hemisphere of 180 degrees (e.g., two planes of articulation). It is envisioned that the drive mechanism  400  may be a cable actuated using artificial tendons or pull wires  402  (e.g., metallic, non-metallic, composite, etc.) or may be a nitinol wire mechanism. In embodiments, the drive mechanism  400  may include motors  404  or other suitable devices capable of effectuating movement of the pull wires  402 . In this manner, the motors  404  are disposed within the catheter housing  202  such that rotation of the motors  404  effectuates a corresponding extension or retraction of the pull wires  402 , and therefore, a corresponding articulation of the distal portion  210   a  of the catheter  210 . 
     The catheter housing  202  includes one or more electrical contacts  206  ( FIG.  7   ) disposed on all or a portion of the proximal end portion  202   b , upper surface  204   a  of the recess  204 , or the distal end surface  204   b  of the recess  204 . The electrical contacts  206  are in electrical communication with the camera  212  ( FIG.  1   ), ultrasound transponder, etc. and the motors  404  of the drive mechanism  400 . As can be appreciated, the electrical contacts  206  are configured to engage corresponding contacts disposed on a portion of the control handle  300  and/or robotic surgical system  50  such that inputs received by the control handle  300  effectuate corresponding actions of the motors  404 , camera  212 , etc. Additionally, the electrical contacts  206  may transmit data from the motors  404 , camera  212 , etc. to the control handle  300 , which ultimately transmits the data to the workstation  20 , as will be described in further detail hereinbelow. In embodiments, the catheter housing  202  may include electrical connectors (e.g., plug and socket connectors, amongst others), or may include a combination of electrical connectors and electrical contacts  206  without departing from the scope of the present disclosure. 
     With reference to  FIGS.  8 - 12   , the control handle  300  defines a generally cylindrical profile defining an outer surface  302   a , which extends between opposed proximal and distal end portions  302   b  and  302   c , respectively. The control handle  302  includes an outer dimension that is generally similar to the outer dimension of the catheter housing  202 , although it is contemplated that the outer dimension of the control handle  300  may be any suitable dimension capable of being easily grasped by a user and may be the same or different than that of the catheter housing  202 . Similarly, it is envisioned that the outer profile of the control handle may include any suitable profile for grasping by a user and may be the same or different than the outer profile of the catheter housing  202 . The outer surface  302   a  of the control handle  300  defines a recess  304  therein adjacent to and extending through the distal end portion  302   c . The recess  304  defines a lower surface  304   a  and a proximal end surface  304   b . As can be appreciated, the recess  304  defines a profile that corresponds substantially to the profile of the recess  204  of the catheter housing  202  such that the catheter housing  202  and the control handle  300  may interlock or otherwise have the upper surface  204   a  of the catheter housing  202  be disposed adjacent to the lower surface  304   a  of the control handle  300  when the catheter housing  202  and the control handle  300  are placed in an interlocked condition. In this manner, it is contemplated that the catheter housing  202  and the control housing  300  may include an interlocking feature, such as detents, resilient fingers, magnetic latches, amongst others to selectively couple the catheter housing  202  to the control handle  300 . In one non-limiting embodiment, one of the catheter housing  202  or the control handle  300  may include a socket (e.g., cavity) and the remaining one of the catheter housing  202  or the control handle  300  may include a plug (e.g., boss) such that the socket receives the plug and releasably coupled the catheter housing  202  to the control handle  300 . Although generally described has having recesses, it is contemplated that the catheter housing  202  and the control handle  300  may not include recesses  204  and  304 , respectively, and rather, the catheter housing  202  may be selectively coupled to the control handle  300  using any suitable means, such as clips, fasteners, resilient fingers, amongst others. 
     The lower surface  304   a  of the recess  304  include one or more electrical contacts  306  disposed thereon. As can be appreciated, the number and location of the electrical contacts  306  may correspond to the number and location of the electrical contacts  206  disposed on the upper surface  204   a  of the recess  204  of the catheter housing  202 . In this manner, the electrical contacts  206  and the electrical contacts  306  cooperate to transmit inputs from the control handle  300  and/or the robotic surgical system  50  to the motors  404 , camera  212 , etc. associated with the catheter housing  202 . As can be appreciated, the control handle  300  includes a corresponding type of electrical connection to that of the catheter housing  202 , such that if the catheter housing  202  include electrical connectors, the control handle  300  includes corresponding electrical connectors, etc. such that electrical energy may freely flow between each of the catheter housing  202  and the control handle  300  for both control of the catheter  201  and/or powering the motors, sensors, etc. via an energy storage device (not shown). It is envisioned that the energy storage device may be disposed in the control handle  300 , or in embodiments, may be disposed in the catheter housing  202  and may be charged wirelessly, via a physical cable, or a charging dock or the like, etc. 
     In embodiments, the catheter housing  202  may communicate with the control handle  300  wirelessly via Wi-Fi, Bluetooth®, amongst others. In this manner, each of the catheter housing  202  and the control handle  300  may include a wireless transmitter and receiver  306  to transmit and/or receive inputs and data therebetween. As can be appreciated, wireless communication obviates the need for electrical contacts or electrical connectors, simplifying the construction of each of the catheter housing  202  and control handle  300 , enabling each of the catheter housing  202  or control handle  300  to be reduced in size, and minimizes chances of communication failures, electrical shorts, etc. The control handle  300  communicates with the workstation  20  and/or robotic surgical system  50  to transmit data captured by the camera  212  and various sensors disposed within the catheter  210 . It is contemplated that the control handle  300  may be physically coupled to the workstation  20  and/or robotic surgical system  50  via a control cable (not shown), or in embodiments, may communicate with the workstation  20  and/or robotic surgical system  50  wirelessly. In embodiments, the catheter housing  202  may wirelessly communicate with the robotic surgical system  50  to enable transmission of data captured by the camera  212  or other sensors coupled to the catheter  210  or catheter housing  202 . 
     Continuing with  FIGS.  8 - 12   , the control handle  300  includes a user interface  310  disposed thereon. The user interface  310  enables a user to control articulation of the distal portion  210   a  of the catheter  210 . The user interface  310  includes a joystick  312  protruding from the outer surface  302   a  of the control handle  300  that is configured to be manipulated by a user. In embodiments, the joystick  312  may be manipulated by a user&#39;s thumb and may be manipulated in two-axes (e.g., forward-backward and left-right), although it is contemplated that the joystick  312  may be configured to be manipulated using any suitable means and may be manipulated in any number of axes, and in embodiments, may be manipulated 360-degrees about an axis. It is contemplated that in lieu of a joystick, the user interface  310  may include one or more buttons  314  ( FIG.  10   ) or may include a trigger  316  ( FIG.  11   ) disposed adjacent the recess  304  to effectuate axial (e.g., forward and backward) motion when the catheter housing  202  is removed from the control handle  300  and coupled to the robotic surgical system  50 . In one non-limiting embodiment, the control handle  300  includes a four button-pad  318  ( FIG.  12   ) disposed thereon having a first button  318   a , a second button  318   b , a third button  318   c , and a fourth button  318   d  disposed in a cross or plus-sign configuration such that the first and second buttons  318   a ,  318   b  are longitudinally aligned on the control handle  300  and the third and fourth buttons  318   c ,  318   d  are aligned in a transverse direction to the first and second buttons  318   a ,  318   b . Although generally described as being four separate buttons, it is contemplated that the four-button pad  318  may be a rocker pad or other suitable type of input device without departing from the scope of the present disclosure. As can be appreciated, the first and second buttons  318   a ,  318   b  correspond to forward and backward motions whereas the third and fourth buttons  318   c ,  318   d  correspond to left and right motions. 
     In operation, when the control handle  300  is coupled to the catheter housing  202  (e.g., in a handheld mode), the first and second buttons  318   a ,  318   b  are disabled such that only the third and fourth buttons  318   c ,  318   d  are active to effectuate left and right articulation of the distal end portion  210   a  of the catheter  210  (e.g., a single plane of motion). When the control handle  300  is decoupled from the catheter housing  202  and the catheter housing  202  is coupled to the robotic surgical system  50 , all four of the first, second, third, and fourth buttons  318   a ,  318   b ,  318   c ,  318   d  are active such that the first and second buttons  318   a ,  318   b  effectuate axial movement of the catheter  210  in and out, respectively, and the third and fourth buttons  318   c ,  318   d  effectuate left and right articulation of the distal end portion  210   a  of the catheter  210 , respectively (e.g., two planes of motion). In this manner, the user interface  310  controls articulation of the distal end portion  210   a  of the catheter  210  at all times (e.g., when the catheter housing  202  is coupled to the control handle  300  or to the robotic surgical system  50 ). 
     As can be appreciated, the first and second buttons  318   a ,  318   b  are unnecessary when the catheter housing  202  is coupled to the control handle  300 , as movement of the user&#39;s hand in the forward and backward directions effectuates corresponding insertion and retraction of the catheter  210 . Further, when the catheter housing  202  is coupled to the control handle  300 , articulation of the distal end portion  210   a  of the catheter  210  is limited to a single plane (e.g., left and right) and rotation of the distal end portion  210   a  of the catheter  210  is effectuated by rotation of the entire handle portion  102 . When the catheter housing  202  is coupled to the robotic surgical system  50 , the catheter housing  202  is constrained such that rotation of the catheter housing  202  is not permitted. In this manner, two-plane articulation (e.g., 180-degree hemisphere) is permitted such that the distal end portion  210   a  of the catheter  210  can be articulated left, right, up, down, and all areas therebetween in a 180-degree hemisphere. 
     In embodiments, the control handle  300  may include an inertial measurement unit (IMU)  320  disposed therein to measure movement of the control handle  300  in an axial direction or in a rotational direction (e.g., axial motion and rotational motion). The movement detected by the IMU  320  is interpreted by a processor  322  disposed within the control handle  300 , which then generates electrical signals to cause articulation of the distal end portion  210   a  of the catheter  210  or to cause a portion of the robotic surgical system  50  to axially translate the catheter housing  202 , and therefore, the catheter  210 . In embodiments where the control handle  300  includes a trigger  316 , it is envisioned that the trigger  316  may be utilized as a go-no go button to inhibit axial movement of the catheter housing  202  (e.g., when in a first, undepressed position) or permit axial movement of the catheter housing  202  (e.g., when in a second, depressed position). In embodiments, the trigger  316  may be held in the second, depressed position to enable the control handle  300  to be utilized as a three-dimensional (3D) wand, where the IMU  320  senses movement of the control handle  300  in a 3D environment. The IMU  320  measures the movement of the control handle  300  and translates the measurements into two-plane articulation of the distal end portion  210   a  of the catheter  210  when the catheter housing  202  is coupled to the robotic surgical system  50 . In this manner, the catheter  210  remains stationary while the distal end portion  210   a  is free to move in a 180-degree hemisphere about the axis of the catheter  210 . In this manner, the rotational position of the catheter  210  remains stationary while the distal end portion  210   a  of the catheter  210  is free to rotate about the axis of the catheter  210 . 
     Returning to  FIG.  3   , the outer surface  202   a  of the catheter housing  202  may include one or more apertures  208  defined therethrough that is in open communication with a working channel (not shown) defined through a portion of the catheter  210 . The aperture  208 , and therefore, the working channel, is configured to slidably receive a tool or other suitable device therein to enable a user to perform various operations at the surgical site. 
     Turning to  FIG.  13   , the robotic surgical system  50  includes drive mechanism  52  including a robotic arm  54  operably coupled to a base or cart  56 . The robotic arm  54  includes a cradle  58  that is configured to receive a portion of the catheter housing  202  thereon. The catheter housing  202  is coupled to the cradle  58  using any suitable means (e.g., straps, mechanical fasteners, couplings, amongst others) such that the catheter housing  202  is inhibited from rotating with respect to the cradle  58 . The cradle  58  or other suitable portion of the robotic arm  54  includes electrical contacts  60  disposed thereon corresponding to the electrical contacts  206  of the catheter housing  202  such that the robotic surgical system  50  is permitted to communication with the motors  404 , camera  212 , etc. disposed within the catheter housing  202 . As can be appreciated, the orientation of the distal end portion  210   a  of the catheter  210  may have been rotated from its previous position during the process of placing the catheter housing  202  in the cradle  58 , in that the catheter housing  202  may have been rotated by the user when placing the catheter housing  202  in the cradle  58 . To alleviate this issued, it is contemplated that the robotic arm  54 , the cradle  58 , or the electrical contacts  60  can automatically rotate to the rotational position of the distal end portion  210   a  of the catheter, and therefore, the rotational orientation of the control handle  300  before removal of the control handle  300  from the catheter housing  202  to ensure that the rotational position of the catheter  210  does not inadvertently change when placing the control handle  300  into the cradle  58 . 
     The robotic surgical system  50  includes a wireless communication system  62  disposed therein such that the control handle  300  may wirelessly communicate with the robotic surgical system  50  and/or the workstation  20  via Wi-Fi, Bluetooth®, amongst others. As can be appreciated, the robotic surgical system  50  may omit the electrical contacts  60  altogether and may communicate with the catheter housing  202  wirelessly. In embodiments, the robotic surgical system may utilize both electrical contacts  60  and wireless communication. The wireless communication system  62  is substantially similar to the wireless network interface  36  of the workstation  20 , and therefore, the wireless communication system  62  will not be described in detail herein in the interest of brevity. In embodiments, the robotic surgical system  50  and the workstation  20  may be one in the same or may be widely distributed over multiple location within the operating room. It is contemplated that the computer  22  may be disposed in a separate location and the display  44  may be an overhead monitor disposed within the operating room. 
     The wireless communication system  62  is wirelessly coupled to the wireless transmitter and receiver  306  disposed within the control handle  300  such that inputs on the control handle  300  are wirelessly transmitted to the wireless communication system  62 , which in turn, effectuates a corresponding action by either the catheter housing  202  or the cradle  58  of the robotic arm  54 . In this manner, actuating the first or second buttons  318   a ,  318   b  of the control handle  300  cause the cradle  58  to translate axially forward or backward to insert or retract the catheter  210 . Likewise, actuating the second or third buttons  318   c ,  318   d  of the control handle  300  cause the robotic surgical system  50  to send signals to the catheter housing  202  to cause the distal end portion  210   a  of the catheter  210  to articulate left or right. It is envisioned that the wireless communication system  62  may communicate with a point-to-point, mesh network, etc. such that each of the control handle  300 , the robotic surgical system  50 , the workstation  20 , and the catheter housing  202  are connected to the same network. 
     Although generally described as having the motors  402  disposed within the catheter housing  202 , it is contemplated that the catheter housing  202  may not include motors  402  disposed therein ( FIG.  8   ). In this manner, the drive mechanism  400  disposed within the catheter housing  202  may interface with motors  402  disposed within the control handle  300  and the cradle  58  of the robotic surgical system  50 . In embodiments, the catheter housing  202  may include a motor or motors  402  for controlling articulation of the distal end portion  210   a  of the catheter in one plane (e.g., left/null, right/null, etc.) and the drive mechanism  52  of the robotic surgical system  50  may include at least one motor  404  to effectuate the second axis of rotation and for axial motion. In this manner, the motor  402  of the catheter housing  202  and the motors  404  of the robotic surgical system cooperate to effectuate four-way articulation of the distal end portion  210   a  of the catheter  210  and effectuate rotation of the catheter  210  when the control handle  300  is rotated. As can be appreciated, by removing the motors  402  from the catheter housing  202 , the catheter housing  202  becomes increasingly cheaper to manufacture and may be a disposable unit. In this manner, the control handle  300  may contain the expensive components and be reusable, minimizing cleaning time and reducing capital expenditure. 
     As can be appreciated, the difference in how the distal end portion  210   a  of the catheter  210  rotates when the catheter housing  202  is coupled to the control handle  300  compared to how the distal end portion  210   a  of the catheter  210  rotates when the catheter housing  202  is coupled to the cradle  58  of the robotic surgical system  50  may cause the view by which the user navigates the catheter  210  to behave differently. When coupled to the control handle  300 , rotation of the control handle  300  effectuates a corresponding rotation of the catheter housing  202  and the catheter  210 . In this manner, the view from the camera  212  disposed at the distal end portion  210   a  of the catheter  210  always remains in line with the orientation of the control handle  300  (e.g., up is always up and down is always down). However, when the catheter housing  202  is coupled to the cradle  58  of the robotic surgical system  50 , the catheter housing  202  is inhibited from rotating. Rather, rotation of the control handle  300  effectuates an articulation of the distal end portion  210   a  of the catheter  210  in a 180-degree hemisphere, while the catheter  210  remains stationary. As can be appreciated, with the catheter  210  remaining stationary and only the distal end portion  210   a  of the catheter  210  rotating, the view displayed on the display  24  no longer corresponds to what the user is expecting. For example, as the distal end portion  210   a  of the catheter  210  is rotated, what was up in the displayed view rotates, and therefore, a user input to cause the distal end portion  210   a  of the catheter  210  to articulate up no longer corresponds to up on the display  24 . Therefore, the software application  34  associated with the workstation  20  interprets the data received by the processor  30  to determine the orientation of the distal end portion  210   a  of the catheter  210  relative to the catheter housing  202 . Using this data, the software application  34  causes the displayed view to rotate to or otherwise be manipulated to display a view corresponding to how a user would expect the view to look when rotating the control handle  300  (e.g., as if the catheter  210  itself has been rotated). 
     Turning to  FIGS.  14  and  15   , it is envisioned that the catheter  210  may include a fiber bragg grating  214  disposed therein with an end portion thereof in contact with the distal end portion  210   a  of the catheter  210 . Although generally described as being disposed within the catheter  210 , it is contemplated that a portion of the fiber bragg grating  214  may be exposed at the distal end portion  210   a  of the catheter  210 . In this manner, the fiber bragg grating  214  measures a pressure effectuated on the distal end portion  210   a  of the catheter  210  or upon the fiber bragg grating  214  itself, depending upon the means by which the fiber bragg grating  214  is disposed on the catheter  210 . As the catheter  210  is advanced within the patient&#39;s body, the fiber bragg grating  214  measures the contact pressure effectuated upon the distal end portion  210   a  of the catheter  210  and transmits a signal to a haptic feedback generator  324  ( FIG.  8   ) disposed within a portion of the control handle  300 . As can be appreciated, when the catheter housing  202  is coupled to the cradle  58  of the robotic surgical system  50 , the direct feedback from the distal end portion  210   a  of the catheter  210  being advanced within the portion of the patient&#39;s body is no longer provided, as the control handle  300  is decoupled from the catheter housing  202 , and therefore, the catheter  210 . As such, the fiber bragg grating  214 , and the haptic feedback generator  324 , generate feedback for the user to simulate direct control of the catheter  210 . In embodiments, the fiber bragg grating  214  may measure a pressure caused by the catheter  210  dilating a vessel, and if so, with how much force ( FIG.  15   ). This measurement is transmitted to the haptic feedback generator  324  of the control handle  300  to denote to the user that the catheter  210  is dilating a vessel and provides feedback as to how much force is being applied to the vessel during dilation. Although generally described as transmitting data to the haptic feedback generator  324 , it is contemplated that the sensed data from the fiber bragg grating  214  may be transmitted to the processor  30  of the workstation  20 , which in turn, instructs the haptic feedback generator  324  to generate feedback corresponding the to pressure sensed by the fiber bragg grating  214 . It is contemplated that the haptic feedback generator  324  may be disabled in certain instances to avoid the generation of feedback when it is not wanted, such as when the control handle  300  is placed on a surface and free from the user&#39;s hand. In embodiments, the haptic feedback generator  324  may be toggled on or off using a switch (not shown) or other suitable mechanism. 
     In embodiments, the catheter  210  includes a location sensor, such as an electromagnetic (EM) sensor  218  ( FIG.  3   ) which receives electromagnetic signals from an electromagnetic field generator  220  ( FIG.  1   ) which generates three or more electromagnetic fields. The application  34  stored in the memory  32  associated with the workstation  20  and/or the robotic surgical system  50  is executed by the processor  30  to determine the position of the EM sensor  218  in the EM field generated by the electromagnetic field generator  220 . Although generally described as being an EM sensor, it is contemplated that other position sensors may be utilized, such as ultrasound sensor, flex sensors, fiber Bragg grating (FBG), robotic position detection sensors, amongst others. 
     With reference to  FIGS.  1 - 15  and  16   , a method of utilizing the surgical system  10  to perform a surgical procedure is illustrated. Initially, in step  500 , the endoscope  100  is placed in a unitary configuration having the catheter housing  202  and the control handle  300  coupled to one another. In step  502 , the catheter  210  is advanced into a body cavity of a patient. At this point, in step  504 , the camera  212  may begin acquiring images, which are then displayed on the display  24  of the workstation  20 , and the electromagnetic field generator  220  may begin sensing the location of the EM sensor  218  within the magnetic field and the location of a distal portion of the catheter  210  may be displayed on the display  24 . Once inserted within the body cavity of the patient, the catheter  210  is further advanced within the body cavity of the patient in step  506  by manipulating the handle portion  102 , which includes the catheter attachment  200  coupled to the control handle  300 , such that movement of the control handle  300  in a proximal direction causes the catheter  210  to retract from the body cavity whereas movement of the control handle  300  in a distal direction causes the catheter  210  to advance into the body cavity. As can be appreciated, rotating the control handle  300  in step  508  about a longitudinal axis effectuates a corresponding rotation of the catheter  210  within the body cavity. In step  510 , inputs are made on the user interface  310  to cause the distal portion  210   a  of the catheter  210  to articulate the distal portion  210   a  in a single plane, either left or right. 
     As can be appreciated, the clinician is adept at navigating a catheter or endoscope to or near target tissue or a surgical site within a body cavity of a patient. Specifically, the clinician is able to quickly and accurately navigate a liminal network of the patient and advance/retract or articulate the distal portion  210   a  of the catheter  210 . However, as the distal portion  210   a  of the catheter  210  approaches the target tissue, finer control of the advancement, retraction, and articulation of the catheter is beneficial in order to more accurately place the distal portion  210   a  of the catheter proximate the target tissue or surgical site. As such, in step  512 , the control handle  300  may be detached or otherwise removed from the catheter housing  202  and the catheter housing  202  may be placed within a portion of the cradle  58  of the robotic surgical system  50  such that the catheter housing  202  is operably coupled to the cradle  58 . As can be appreciated, once coupled to the cradle  58 , rotation of the catheter  210  is constrained and otherwise inhibited. Thus, in step  514 , inputs made on the user interface  310  of the control handle  300  effectuate articulation of the distal portion  210   a  of the catheter  210  in two axes, about a 180-degree hemisphere. Further, in step  516 , inputs made on the user interface  310  of the control handle  300  cause the cradle  58  to advance or retract along a longitudinal axis, thereby effectuating advancement or retraction of the distal portion  210   a  of the catheter  210  in the body cavity of the patient. In embodiments, the inertial measurement unit  320  measures movement of the control handle  300  in a longitudinal direction or a rotational direction, which then causes the distal portion  210   a  of the catheter  210  to advance or retract or articulate corresponding with the measured movement. 
     As the distal portion  210   a  of the catheter  210  is rotated, the images captured by the camera  212  and displayed on the display  24  no longer correspond to the view in which the user was expecting to see. In other words, what the user expects to be an upward motion will no longer correspond to the articulation of the distal portion  210   a  of the catheter  210  as the distal portion  210   a  rotates. In this manner, in step  518 , the workstation  20  receives data corresponding to the location and orientation of the distal portion  210   a  of the catheter  210  within the body cavity of the patient. In step  520 , the workstation  20  interprets the received data and causes the view presented to the user on the display  24  to correspond to the view the user expects to see. In this manner, the workstation rotates or otherwise repositions the view displayed to the user to correspond to the view the user expects to see. As can be appreciated, by manipulating the view presented to the user on the display  24  as the distal portion  210   a  of the catheter  210  rotates, the user is not required to retrain or otherwise interpret the view differently when manually operating the endoscope  100  (e.g., when the catheter housing  202  is coupled to the control handle  300 ) and when operating the endoscope  100  remotely (e.g., when the catheter housing  202  is coupled to the cradle  58  of the robotic surgical system  50 ). 
     As can be appreciated, the use of the robotic surgical system  50  to control movement of the catheter  210  provide finer control over the catheter  210  and enables the clinician to rely on the cradle  58  of the robotic surgical system  50  to maintain the position of the catheter relative to the target tissue or surgical site. In this manner, the clinician may release the control handle  300  and have both hands available to manipulate a tool (not shown) or other device inserted within the aperture  208  of the catheter housing  202 . Additionally, if the position of the catheter  210  needs to be adjusted, the clinician can regrasp the control handle  300  to causes the robotic surgical system  500  to advance, retract, or otherwise articulate the catheter  210  to place the distal portion  210   a  of the catheter  210  in the desired location, at which point the clinician may once again release the control handle  300  to free up the use of both hands. 
     In step  522 , as the distal portion  210   a  of the catheter  210  is further advanced within the body cavity of the patient, the fiber bragg grating  214  senses or otherwise measures contact pressure between the distal portion  210   a  of the catheter  210  and an interior portion of the body cavity of the patient. In step  524 , the signal generated by the fiber bragg grating  214  is interpreted and haptic feedback is generated within the control handle  300  to mimic the pressure a user feels as the catheter  210  is advanced within the body cavity of the patient or when the catheter  210  is causing the body cavity of the patient to dilate. In step  526 , a tool is inserted into the aperture  208  of the catheter housing  202  and advanced within a working channel of the catheter  210  until the tool is navigated to a surgical site. At this point, the tool may be utilized to take a biopsy, resect tissue, etc. 
     Although described generally hereinabove, it is envisioned that the memory  32  may include any non-transitory computer-readable storage media for storing data and/or software including instructions that are executable by the processor  30  and which control the operation of the workstation  20  and, in some embodiments, may also control the operation of the endoscope  100  and/or robotic surgical system  50 . In an embodiment, the memory  32  may include one or more storage devices such as solid-state storage devices, e.g., flash memory chips. Alternatively, or in addition to the one or more solid-state storage devices, the memory  32  may include one or more mass storage devices connected to the processor  30  through a mass storage controller (not shown) and a communications bus (not shown). 
     Although the description of computer-readable media contained herein refers to solid-state storage, it should be appreciated by those skilled in the art that computer-readable storage media can be any available media that can be accessed by the processor  30 . That is, computer readable storage media may include non-transitory, volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media may include RAM, ROM, EPROM, EEPROM, flash memory or other solid-state memory technology, CD-ROM, DVD, Blu-Ray or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which may be used to store the desired information, and which may be accessed by the workstation  20 . 
     While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.