Patent Description:
Various accessory devices may be used with an endoscopic device to perform various diagnostic and treatment procedures in the imaged cavity. However, the accessory devices may not always be compatible with the endoscopic device. For example, the physical configurations of the devices may be difficult to use in conjunction, or the devices may not be programmatically compatible. Document <CIT> describes an example of a drive mechanism for inserting and removing a treatment tool to be inserted from a treatment instrument insertion port, and a drive mechanism for inserting and removing a treatment instrument inserted from a treatment instrument insertion port.

In accordance with the invention, an endoscopic deployment device includes a body mountable on an endoscopic device, the body having a movable carrier couplable to an elongated end effector device, the elongated end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped for insertion through a working channel of an endoscopic shaft of the endoscopic device, the body having a carrier channel sized for the carrier to slide therein, wherein the end effector is actuatable between an extended open position and a retracted closed position by sliding the carrier in the carrier channel which in turn slides the outer sheath over the end effector shaft to uncover or cover the end effector; a communication interface extending from the body and configured to be mated with a corresponding communication interface on the endoscopic device on which the body is mounted to receive power therefrom and exchange data therewith; and a motor having a drive shaft coupled to the carrier, the motor configured to actuate in response to a signal, the actuation of the motor rotates the drive shaft and slides the carrier in the carrier channel to actuate the end effector. An endoscopic system in accordance with the invention includes the aforementioned endoscopic deployment device as well as the endoscopic device and the elongated end effector device.

In an embodiment, the signal is generated based on actuation of an actuator on the endoscopic device.

In an embodiment, the actuator is a button pad controlling the motor via the mated communication interfaces of the endoscopic deployment device and the endoscopic device.

In an embodiment, the signal is generated in response to an endoscopic sensor reading.

In an embodiment, the motor is a stepper motor.

In an embodiment, the drive shaft has an arm extending orthogonally therefrom coupled to a slot in the carrier and the arm has a pin at an end of the arm opposite the drive shaft, the pin being coupled to the slot so that, when the drive shaft rotates, the pin slides in the slot in a direction orthogonal to the carrier channel and the carrier slides in the carrier channel.

In an embodiment, the drive shaft is a lead screw coupled to a threaded through-hole extending through a portion of the carrier parallel to the carrier channel so that, when the drive shaft rotates, the carrier slides in the carrier channel.

In an embodiment, a pinion gear is coupled to the drive shaft and to a rack that is an integral portion of the carrier so that, when the drive shaft rotates, the pinion gear drive the rack and the carrier slides in the carrier channel.

In an embodiment, the end effector device is a retrieval device for capturing objects at a distal end of the endoscopic shaft.

In an embodiment, the end effector device is a laser fiber or energy fiber for fragmenting or cauterizing objects at a distal end of the endoscopic shaft.

In an embodiment, the end effector device has a Segura™ handle for coupling to the carrier of the endoscopic deployment device, wherein the carrier and a slide of the Segura™ handle are positioned fully proximally prior to attaching the Segura™ handle to the endoscopic deployment device.

In an embodiment, the endoscopic device has a proximal communication interface and a distal communication interface and the communication interface of the endoscopic deployment device is compatible with the proximal communication interface of the endoscopic device.

In addition, the present disclosure relates to a non-claimed endoscopic device which includes an elongated flexible endoscopic shaft including a working channel and a deflectable distal tip, the flexible endoscopic shaft being sized and shaped for insertion to a target site within a living body, the distal tip including a camera; a handle from which the endoscopic shaft extends distally, the handle including a pull wire wheel comprising pull wire attachments from which first and second pull wires extend distally through the endoscopic shaft to the distal tip, rotation of the pull wire wheel deflecting the distal tip by tensioning a first one of the first and second pull wires and slacking a second one of the first and second pull wires, the handle including an actuator, a proximal end of the handle including a communication interface for connecting an accessory device; and a motor including a rotatable drive shaft coupled to and configured to rotate the pull wire wheel in response to a signal.

In an embodiment, the deflection knob operates as a switch so that deflecting the deflection knob in a first direction rotates the pull wire wheel a predefined angular extent to apply tension to the first one of the first and second pull wires and deflecting the deflection knob in a second direction rotates the pull wire wheel a predefined angular extent to apply tension to the second one of the first and second pull wires.

In an embodiment, the signal is generated by a button pad on an exterior of the handle.

Furthermore, the present disclosure relates to a non-claimed method which includes attaching an endoscopic deployment device to an endoscopic device, the endoscopic deployment device comprising a body mountable on the endoscopic device, the body having a movable carrier couplable to an elongated end effector device, the elongated end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped for insertion through a working channel of an endoscopic shaft of the endoscopic device, the body having a carrier channel sized for the carrier to slide therein, wherein the end effecter is actuatable between an extended open position and a retracted closed position by sliding the carrier in the carrier channel which in turn slides the outer sheath over the end effector shaft to uncover or cover the end effector, the endoscopic deployment device further comprising a communication interface extending from the body and configured to be mated with a corresponding communication interface on the endoscopic device on which the body is mounted to receive power therefrom and exchange data therewith, the endoscopic deployment device further comprising a motor having a drive shaft coupled to the carrier; and actuating the motor in response to a signal, the actuation of the motor rotating the drive shaft and sliding the carrier in the carrier channel to actuate the end effector.

In an embodiment, the actuator is a button pad on the endoscopic device, the button pad being operated with a thumb of a grip hand of a user.

In an embodiment, the button pad further actuates a deflection of a distal end of the endoscopic shaft.

The present disclosure may be further understood with reference to the following description and the appended drawings, wherein like elements are referred to with the same reference numerals. The exemplary embodiments describe an endoscope having a scope handle with one or more external communication interfaces (e.g., USB ports) and accessory devices compatible with the endoscope and pluggable thereinto. For example, the accessory devices may include a pressure sensor, a temperature sensor, a flow sensor, an additional camera, an additional light, an optical sensor, a catheter, a laser time-of-flight distance sensor, a deployment device, other sensors or combinations thereof.

In another embodiment, an accessory device is described that is a motorized deployment device for controlling an elongated end effector device to capture e.g. kidney stones or the like. The motorized deployment device is compatible with the endoscope or may be integrated with the endoscope in a monolithic handle. The elongated end effector device refers to any one of a number of devices compatible with and actuated by the motorized deployment device. For example, the elongated end effector device may be the retrieval device for capturing kidney stones, a laser fiber device, a therapy needle, snares, forceps, band ligation devices, etc. Any of the elongated end effector devices may be fitted with, for example, a Segura™ or Dakota™ handle sized and shaped to be used with the motorized deployment device. Thus, any elongated end effector device compatible with and fitted with a Segura™/Dakota™ handle (or a similar device) may also be used with the motorized deployment device.

In still another embodiment, the endoscope handle has an motor for controlling the articulation of the distal tip of the endoscopic shaft. The motor may be, e.g., a stepper motor allowing for precise positioning and holding of the shaft tip and/or precise control of the end effector feature of the elongated device. The motor may be internal to the handle or may be externally coupled to the handle, e.g., connected to a pull wire wheel by a flexible drive shaft extension or the like.

In each of the embodiments, the communication interfaces between the scope handle and the accessory device(s), whether internal or via external communication interfaces, are arranged so that an operating physician may operate the articulation of the distal shaft tip and control the accessory device in an ergonomic manner. For example, in one embodiment, where the motorized deployment device is connected to the scope handle via an external communication interface, the deflection knob for the distal shaft tip and the button control for the motorized deployment device are arranged so that both may be operated simultaneously or independently without overstressing the physician's hand.

In another embodiment, where the motorized deployment device is monolithic with or otherwise compatible with the scope handle, a button pad may be used to operate both the shaft tip and the elongated device. The button pad may include, for example, four momentary buttons located on the bottom side of the scope handle and may be operated by the physician's grip hand thumb. Depressing a button causes a movement to occur to the scope shaft or the end effector, and releasing the button causes the stepper motor to stop and hold the current position. In another embodiment, a non-momentary button may be used such as a typical on/off switch. In still another embodiment, control is fully implemented remotely from the devices via, e.g., a console.

The present embodiments have a data bus in the scope handle where data may be received via the various accessory devices and control for the devices may be implemented. The handle may be coupled to an endoscopic console or the like via a cable, with data from the devices being sent thereto or control of the devices being implemented therefrom. In some embodiments, data from one of the accessory devices and/or the endoscope may be used to control the operation of another one of the accessory devices and/or the endoscope. For example, a reading from a pressure sensor may trigger an operation of an irrigation mechanism. In another example the output from a laser-distance sensor may adjust/optimize the distance from a laser fiber tip to a ureteral stone via the stepper motor to maximize laser efficiency during stone fragmentation. In another embodiment the data from an accessory device is displayed on e.g. a monitor screen for the physician to evaluate and react accordingly.

<FIG> show a front view and a rear view of an endoscopic device <NUM> compatible with powered and data accessories according to various exemplary embodiments of the present disclosure. The endoscopic device <NUM> may be specific to a particular endoscopic procedure, such as, e.g., ureteroscopy, or may be a general-purpose device suitable for a wide variety of procedures. The device <NUM> includes a handle <NUM> connected to an endoscopic shaft <NUM> with a deflecting distal tip <NUM> at a distal end <NUM>. The distal tip <NUM> has a camera and may, for example, have full <NUM>° deflection capabilities in more than one direction for viewing patient anatomy as would be understood by those skilled in the art.

The handle <NUM> of the endoscopic device <NUM> has a plurality of elements configured to facilitate the endoscopic procedure. A cable <NUM> extends from the handle <NUM> and is configured for attachment to an electronic device (not pictured) such as e.g. a computer system, a console, a microcontroller, etc. for providing power, analyzing endoscopic data, controlling the endoscopic intervention, or performing other functions. The electronic device to which the cable <NUM> is connected may have functionality for recognizing and exchanging data with other endoscopic accessories, to be described in detail below. The handle <NUM> has a grip area <NUM> for the operating physician to grasp while performing the endoscopic procedure. A deflection knob <NUM> at a proximal end <NUM> of the device may be actuated to control the deflection of the distal tip <NUM> as would be understood by those skilled in the art. Even when an endoscope has a motorized deflection means, to be described in detail below, a short handle version of the deflection knob <NUM> is present, in this embodiment, for manually straightening the distal tip <NUM> and removing the shaft <NUM> from the patient anatomy in case of e.g. power failure.

The handle <NUM> further has at least one communication interface for attaching accessory devices. In the present embodiment, the handle <NUM> has a first communication interface <NUM> and second communication interface <NUM> that are, in this embodiment, Universal Serial Bus type-C (USB-C) ports. However, more or less communication interface of various types, including, for example, custom interfaces, may be used. In other embodiments, the handle <NUM> has only one communication interface but may receive e.g. a USB hub with multiple ports for connecting multiple accessories. The communication interfaces <NUM>, <NUM> may provide power to the accessory devices in addition to exchanging data therewith. Thus, the accessory devices need not have separate cables running to the console or a battery that adds additional weigh to the handle <NUM>. The accessory device may be uniquely associated with the device <NUM> and recognized by the console through "plug and play" functionality without any user setup required.

A T-connector <NUM> extends from a distal portion of the handle <NUM> and provides two ports <NUM>, <NUM> for accessing the working channel of the endoscopic shaft <NUM>. In this embodiment, the first and second ports <NUM>, <NUM> are arranged perpendicularly to one another with the first port <NUM> facing distally and the second port <NUM> facing proximally. An accessory device or an elongated end effector device may be passed through either one of the first and second ports <NUM>, <NUM>, however, the second port <NUM> may be preferred when the device is proximal to the T-connector <NUM>. In another embodiment, a Y-connector is used with first and second ports both facing proximally, such that two devices may be passed into the working channel of the endoscopic shaft <NUM> from a position proximal to the Y-connector.

Various accessory devices may be mated with either of the two communication interfaces <NUM>, <NUM>, however, certain of the accessory devices are more compatible with either one of the two interfaces <NUM>, <NUM>. The first communication interface <NUM> is located distally on the handle <NUM>. Certain of the accessory devices have corresponding communication interfaces, e.g., male USB-C ports, extending from the devices that lend themselves to spatial compatibility with the first communication interface <NUM>.

For example, <FIG> shows a pressure sensor device <NUM> configured for compatibility with the endoscopic device <NUM>, particularly with the first communication interface <NUM> of the endoscopic device <NUM>. The pressure sensor device <NUM> has a communication interface <NUM> that may be mated with, e.g., inserted into, the first communication interface <NUM> of the endoscopic device <NUM>. The pressure sensor device <NUM> has a shaft <NUM> extending from a proximal end <NUM> of the device <NUM> to a distal end <NUM> of the device <NUM>. The shaft <NUM> has a through-lumen, i.e., channel, extending through its length. The proximal end of the shaft <NUM> has a female Luer hub <NUM> extending therefrom and the communication interface <NUM> adjacent thereto. The communication interface <NUM> of the endoscopic device <NUM> is angled so that when the pressure sensor device <NUM> is attached to the endoscopic device <NUM>, the Luer hub <NUM> is oriented in a manner similar to the second port <NUM> of the T-connector <NUM>. Thus, the pressure sensor device <NUM> is more easily coupled with a male Luer port for e.g. fluid communication during use.

The pressure sensor device <NUM> has a pressure sensor <NUM> at a distal end of the shaft <NUM> and a plurality of clips <NUM> adjacent thereto for securing the shaft <NUM> of the pressure sensor device <NUM> to the endoscopic shaft <NUM>. Although the present embodiment uses the clips <NUM>, the shaft <NUM> may be secured to the endoscopic shaft <NUM> by other means such as, e.g., holders or the like.

As noted above, the pressure sensor device <NUM> may also be mated with the second communication interface <NUM> of the endoscopic device <NUM>. However, in the presently described embodiment, mating with the first communication interface <NUM> is preferable in view of the ease with which the shaft <NUM> of the pressure sensor device <NUM> may be clipped to the shaft <NUM> of the endoscopic device <NUM> as well as the positioning of the medical luer hub <NUM>.

In another example, <FIG> shows a flow sensor device <NUM> configured for compatibility with the endoscopic device <NUM>, particularly with the first communication interface <NUM> of the endoscopic device. Similar to the pressure sensor device <NUM>, the flow sensor device <NUM> has a communication interface <NUM> that may be mated with the first communication interface <NUM> of the endoscopic device <NUM>. The flow sensor device <NUM> has a shaft <NUM> extending from a proximal end <NUM> of the device <NUM> to a distal end <NUM> of the device <NUM>. The shaft <NUM> has a through-lumen extending through its length. The proximal end of the shaft <NUM> has a female Luer hub <NUM> extending therefrom, the communication interface <NUM> adjacent thereto and a handle <NUM>. Similar to the pressure sensor device <NUM>, the flow sensor device <NUM> is easily coupled with a male Luer port for fluid communication or any other reason.

The flow sensor device <NUM> has a flow sensor <NUM> adjacent to the handle <NUM> and a plurality of clips <NUM> adjacent to a distal end of the shaft <NUM> for securing the shaft <NUM> of the flow sensor device <NUM> to the endoscopic shaft <NUM>. Similar to the pressure sensor device <NUM>, the flow sensor device <NUM> may use attachment means other than the clips <NUM> such as, e.g. holders or the like. The pressure sensor device <NUM> may also be mated with the second communication interface <NUM> of the endoscopic device <NUM>, however, mating with the first communication interface <NUM> is preferable in view of the spatial benefits discussed above.

The second communication interface <NUM> is positioned proximally on the handle <NUM> and is compatible with accessory devices configured for insertion through a working channel of the endoscopic shaft <NUM> via, for example, the second port <NUM>. For example, an accessory device such as an additional camera, an additional light, an optical sensor, or other device may be mated with the second communication interface <NUM> and inserted into the working channel. In this way, the cables/shafts of the devices are out of the way of the operating physician and can be used without significant bending of the accessory.

However, these devices may also have a flexible cable that is inserted into the first communication interface <NUM> and flexed into the working channel without damaging the cable. Because the second communication interface <NUM> is proximal to the T-connector <NUM>, with the second port <NUM> of the T-connector <NUM> directed proximally, there may be instances where a fluid being used during a ureteroscopic procedure leaks and/or splashes proximally. Thus, the proximal second communication interface <NUM> may have a fluid seal such as a Tuohy borst adapter, a UroLok™ or a Gateway™. The console cable <NUM> of the endoscopic device <NUM> may be associated with one of the communication interfaces <NUM>, <NUM> such that an interface on the handle <NUM> is not necessary. For example, the cable <NUM> may be bifurcated and have an interface, e.g., USB port, extending from the bifurcated part of the cable <NUM>.

The handle <NUM> of the endoscopic device <NUM> in the present embodiment has two mount holes <NUM>, <NUM> positioned to couple to, for example, a motorized deployment device <NUM> compatible with an elongated end effector device. The elongated end effector device may be any one of a number of devices having a variety of purposes such as, e.g., capturing and removing objects such as kidney stones, to be explained in further detail below.

<FIG> shows a transparent side view and <FIG> shows a transparent perspective view of the motorized deployment device <NUM>. The motorized deployment device <NUM> may be coupled to the endoscopic device <NUM> at the mount holes <NUM>, <NUM> with corresponding mount pins <NUM>, <NUM>. The deployment device <NUM> has a communication interface <NUM> that may be mated with, e.g., inserted into, the second communication interface <NUM> of the endoscopic device <NUM>. The communication interface <NUM> may be, e.g., a male USB-C port. The communication interface <NUM> is connected via a flexible cable <NUM> to a control board <NUM> for a motor <NUM>. The control board <NUM> includes an electrical port, in this case for connecting a USB, driver circuitry and motor terminals for connecting the motor <NUM>. The motor <NUM> may be, e.g., a stepper motor.

The motor <NUM> may be actuated by a signal provided by e.g. the button pad <NUM> shown in <FIG>. In another embodiment, the signal is generated in response to an endoscopic sensor reading. If the flexible cable <NUM> is sufficiently long the communication interface <NUM> may be mated with the first communication interface <NUM> of the endoscopic device <NUM>, however, in the presently described embodiment, the motorized deployment device <NUM> is particularly suited for connection via the second communication interface <NUM>. The connection to the deployment device <NUM> via one of the communication interfaces <NUM>, <NUM> allows for actuation of the deployment device <NUM> via controls on the handle <NUM>.

The motorized deployment device <NUM> has a handle coupler <NUM> extending from a distal end <NUM> of the device <NUM> to a proximal end <NUM> of the device <NUM>. The handle coupler <NUM> is configured to receive a handle of the elongated end effector device, to be described below with respect to <FIG>. The elongated end effector device comprises a pull wire and an outer sheath to be fed through the working channel of the shaft <NUM> via the T-connector <NUM> of the endoscopic device <NUM> or other embodiments of the endoscopic device. The elongated end effector device includes a handle at the proximal end and an end effector at the distal end of the pull wire, the end effector being actuatable by a slide on the handle between an extended open and a retracted closed state for, for example, grasping objects or extending/retracting a laser fiber or a therapy needle during the endoscopic procedure.

In an alternate embodiment, the elongated end effector device and the motorized deployment device <NUM> are fashioned in a single monolithic unit. The end effector is actuatable via linear motion of a carrier <NUM> coupled to the slide of the elongated end effector device handle, to be described in detail below. For example, when the elongated device handle is inserted into the handle coupler <NUM>, distal movement of the carrier <NUM> may cause the slide of the elongated end effector device to close the end effector, while proximal movement of the carrier <NUM> may cause the end effector to open. The motion of the carrier <NUM> is implemented via the motor <NUM> via an actuation linkage internal to the deployment device <NUM>, to be described below.

The carrier <NUM> of the deployment device <NUM> is configured to slide within a channel <NUM> of the device <NUM>. The channel <NUM> prevents any movement other than the proximal/distal sliding. The carrier <NUM> has a slot <NUM> where a pin <NUM> is configured to slide, the pin <NUM> being connected to the motor <NUM> via an arm <NUM>. When the motor <NUM> is actuated the arm <NUM> is caused to rotate about a predefined arc <NUM>. The linkage of the pin <NUM> with the slot <NUM> translates the angular motion of the arm <NUM> into linear motion of the carrier <NUM>. The slot <NUM> allows the pin <NUM> to translate slightly in a direction orthogonal to the proximal/distal direction while driving the carrier <NUM> in the proximal/distal direction. When the carrier <NUM> is brought to its most distal position the end effector is fully closed, and when the carrier <NUM> is brought to its most proximal position the end effector is fully open, with varying degrees of openness/closedness between its most distal and most proximal positions.

In an alternate embodiment, as shown in <FIG>, a deployment device <NUM> extends from a distal end <NUM> to a proximal end <NUM> and may drive a carrier <NUM> using a lead screw in lieu of the linkage described with respect to the deployment device <NUM>. Similar to the first deployment device <NUM>, the second deployment device <NUM> has mount pins <NUM>, <NUM> for attaching the second deployment device <NUM> to the endoscopic device <NUM>. Additionally, a communication interface <NUM>, a flexible cable <NUM>, a driver and control board <NUM>, a handle coupler <NUM>, the carrier <NUM> and a channel <NUM> are substantially similar to those described with respect to the deployment device <NUM>. However, the deployment device <NUM> has two location options for a motor, both of which are coupled to lead screws, i.e. screws used as a linkage to translate rotational motion into linear motion.

In a first embodiment, a motor <NUM> is disposed at a location adjacent to and oriented parallel to the channel <NUM> housing the carrier <NUM>. When the motor <NUM> is actuated, a lead screw <NUM> extending from the motor is rotated. The lead screw <NUM> is coupled to a threaded through-hole <NUM> extending through a portion of the carrier <NUM>. Thus, as the lead screw <NUM> is rotated, the carrier <NUM> is driven in a proximal/distal direction. In a second embodiment, a motor <NUM> is disposed at a location proximal to the channel <NUM> housing the carrier <NUM>. A lead screw <NUM> extends from the motor <NUM> and is coupled to a threaded through-hole <NUM> extending through a proximal portion of the carrier <NUM>. The second motor <NUM> drives the carrier <NUM> in a substantially similar manner as the first motor <NUM>.

In an alternate embodiment, the devices <NUM>, <NUM> may implement a rack and pinion mechanism to drive the linear motion of the carrier <NUM>, <NUM>. A pinion gear may be attached to the stepper motor shaft and the rack may be an integral portion of the carrier.

<FIG> shows an exemplary Segura™ handle <NUM> that may be fitted to any of the aforementioned elongated end effector devices. In another embodiment, a Dakota™ handle may be used, which is similar to the Segura™ handle but is modified to have a sure open trigger. Thus, the handle <NUM> may be either of a Segura™ or a Dakota™ handle, depending on the elongated end effector device to which it is fitted, or may be a similar device for actuating an end effector device.

The Segura™ handle <NUM> has a body <NUM> over which a slide <NUM> may slide. A male luer <NUM> is attached to a distal end of the slide <NUM>, while a shaft, i.e. pull wire of the elongated end effector device is held by a jaw vise <NUM> at a proximal end <NUM> of the body <NUM>. A cap <NUM> forces the jaws <NUM> closed around the shaft of the end effector device as the cap <NUM> is screwed onto the body <NUM>. The body <NUM> has a through-lumen (not pictured) for the shaft of the elongated end effector device. Thus, it may be seen that the slide <NUM> may move relative to the body <NUM> and the shaft of the elongated end effector device.

An outer sheath of the end effector device is connected vis a female luer to the male luer <NUM> and extends to cover the end effector at the distal end of the end effector device. When the slide <NUM> is moved distally it in turn moves the outer sheath distally over the end effector to close the end effector, and when the slide <NUM> is moved proximally it in turn moves the outer sheath proximally to uncover the distal end of the end effector, causing the self-opening, memory set end effector to open. A stroke-limiter in the Segura™ handle <NUM> governs the travel of the slide <NUM> relative to the end effector size, where T is the travel length of the slide <NUM>.

As discussed previously, the carriers <NUM>, <NUM> of the deployment devices <NUM>, <NUM> are, in these embodiments, sized and shaped for compatibility with the slide <NUM> of the Segura™/Dakota™ handle <NUM>. Thus, when the deployment device <NUM> is actuated to move the carrier <NUM> in a proximal or distal direction, the slide <NUM> is correspondingly moved with respect to the body <NUM> and the end effector of the end effector device is moved towards open or moved towards closed.

<FIG> shows examples of elongated end effector devices compatible with the Segura™/Dakota™ handle <NUM>, including a stone/particle retrieval basket. <FIG> show a Zero Tip™ retrieval basket <NUM>, a laser fiber device <NUM>, a therapy needle <NUM>, a snare <NUM>, forceps <NUM> and a band ligator <NUM>, respectively. Each of the elongated end effector devices may be fitted with a Segura™/Dakota™ handle and may be operated by the deployment device <NUM> or <NUM>.

The motors described with respect to deployment devices <NUM> and <NUM> may be, e.g., a DC motor, a Servo motor, a stepper motor, or the like. The preferred embodiment for the motor is the stepper motor. A stepper motor is a brushless electromechanical device that converts the train of electric pulses applied at their excitation windings into precisely defined step-by-step mechanical shaft rotation. The shaft of the motor rotates through a fixed angle for each discrete pulse, which may be translated to linear motion in any of the aforementioned ways. Each pulse provides one step of motion, i.e., the angle through which the stepper motor shaft turns for each pulse is referred to as the step angle, generally expressed in degrees.

The position of motor shaft is controlled by controlling the number of pulses. This feature makes the stepper motor to be well suited for an open-loop control system wherein the precise position of the shaft is maintained with an exact number of pulses without using a feedback sensor. If the step angle is smaller, the greater will be the number of steps per revolution and the higher will be the accuracy of the position obtained. The step angles can be as large as <NUM> degrees and as small as <NUM> degrees, however, the commonly used step angles are <NUM> degrees, <NUM> degrees, <NUM> degrees and <NUM> degrees.

The direction of the shaft rotation depends on the sequence of pulses applied to the stator. The speed of the shaft or the average motor speed is directly proportional to the frequency (the rate of input pulses) of input pulses being applied at excitation windings. Therefore, if the frequency is low, the stepper motor rotates in steps and for high frequency, it continuously rotates like a DC motor due to inertia. Stepper motors continue to generate holding torque even at standstill. This means that the motor can be held at a stopped position without using a mechanical brake. The built-in pulse generation function (controller) allows the stepper motor to be driven via a directly connected personal computer, programmable controller or console. The stepper motor may achieve precise positioning via digital control, such control to be explained in further detail below.

<FIG> shows a stepper motor control board <NUM>. The control board <NUM> comprises a USB port <NUM> for connecting a USB cable and motor terminals <NUM> for connecting a stepper motor. The stepper motor control board <NUM> may be used in either of the deployment devices <NUM>, <NUM> as the control boards <NUM> or <NUM> for motors <NUM>, <NUM> or <NUM>, when those motors are stepper motors. However, if a stepper motor is not used, the corresponding control board is configured to drive whichever motor is used. For example, if the motor <NUM> is a Servo motor, the control board <NUM> is a Servo motor control board. The motor control board may be custom built. The motor may be powered via the USB port <NUM>, however, in another embodiment, the motor may be powered by batteries.

The deployment device <NUM> has buttons <NUM> for controlling the carrier movement via the control board <NUM> and motor <NUM>. The deployment device <NUM> preferably has at least two buttons <NUM>. For example, a first button may be depressed to advance the carrier in the distal direction and stop when the button is released. A second button may be depressed to advance the carrier in the proximal direction and stop when the button is released. A double tap of either button may bring the carrier to its most distal or most proximal position. Other button depression configurations may, for example, increase or decrease a speed of the carrier motion.

In the embodiment shown in <FIG>, the most proximal button <NUM> is for scope shaft up direction (US) and the most distal button <NUM> is for scope shaft down direction (US). In other countries the proximal button is for down and the distal button is for up. The two side buttons <NUM>, <NUM> on the button pad may be programmed by a user to either move the carrier distally or proximally when pressed since the microprocessor is executing the stepper motor's direction of movement via a program, when a conditional statement in the program is true. The up and down scope shaft buttons may also be switched by modifying a conditional statement without switching the pull wires of the pull wire wheel.

The placement of the buttons <NUM> adjacent to the grip area <NUM> and deflection knob <NUM> of the endoscopic device <NUM> (when the endoscopic device <NUM> and the deployment device <NUM> are attached) provides ergonomic benefits to the user of the devices. For example, a typical user may have difficulty operating a deployment device and scope deflection simultaneously, especially when the thumb is extended on the deflection knob <NUM> at full deflection, and especially if the user has a small hand. The spatial configuration of the devices <NUM>, <NUM> allow for ease of use due to the proximity of the buttons <NUM> and deflection knob <NUM>. The retrieval device <NUM> similarly has buttons <NUM> for controlling the carrier movement in a similar manner as that described above.

In an alternate embodiment, voice commands may be implemented for controlling the end effector, such as, but not limited to, "open," "close," "stop," "faster," "slower," "load," etc..

Different elongated end effector devices may be implemented in the deployment device <NUM>, each one having a distinct data set for controlling the end effector. For example, each end effector device may have different stop limits or stroke lengths for the carrier. However, through the "plug-and-play" functionality of the endoscopic device <NUM>, the data sets may be automatically loaded to the controller.

Alternately, a type of elongated end effector device may be selected through a drop-down menu on the console. To assemble the Segura™ handle to the deployment device <NUM> the carrier is moved to the most proximal position, e.g. by depressing the button <NUM> of <FIG>, and the slide of the Segura™ handle is also moved to the most proximal position. This would match the contours of the slide and carrier such that the Segura™ handle is aligned and can be snapped into the deployment device. Button <NUM>, for example, is depressed to close or retract the end effector before the end effector is inserted into the working channel of the scope. To remove the elongated end effector device the end effector is closed by depressing e.g. button <NUM>. The shaft of the end effector is withdrawn and the Segura™ handle can be unclipped from the deployment device and put aside for later use. Another elongated device can be quickly exchanged for the previous elongated device to perform its function
In an alternate embodiment, the endoscopic device <NUM> and deployment devices <NUM> or <NUM> may be implemented in a single monolithic unit. In such an embodiment, instead of using mount holes and mount pins to connect the respective devices, the deployment device is built into the handle of the endoscopic device and all associated wiring is within the device.

In still another embodiment, the deflection of the distal tip <NUM> of the endoscopic device <NUM> may be motorized/wired using the same control board, such as the control board <NUM>, as the deployment device <NUM>. In such an embodiment, a second driver and a second motor would be implemented in the handle <NUM> for controlling the distal tip <NUM>.

<FIG> shows a handle <NUM> of an endoscopic device with a motor <NUM> for controlling the deflection of a distal tip. The endoscopic device in this embodiment has two pull wires (not shown) for deflecting the distal tip in either of two directions. A pull wire wheel <NUM> has a first pull wire attachment <NUM> and a second pull wire attachment <NUM>. The motor <NUM> is mounted in the handle <NUM> with its drive shaft mounted in the center of the pull wire wheel <NUM>. A deflection knob <NUM> may be keyed to the rotation of the pull wire wheel <NUM> via a controller/driver and wiring (not shown). Thus, the deflection knob <NUM> may operate as a switch and rotate independently from the pull wire wheel <NUM>.

When pressure is applied on the deflection knob <NUM> in a first direction the motor <NUM> will rotate the pull wire wheel <NUM> such that one of the two pull wires, e.g. the pull wire attached to the first pull wire attachment <NUM>, pulls the distal tip of the endoscopic device in one of the two directions. Similarly, when pressure is applied on the deflection knob <NUM> in the second direction the motor <NUM> will rotate the pull wire wheel <NUM> such that the second of the two pull wires, e.g., the pull wire attached to the second pull wire attachment <NUM>, pulls the distal tip of the endoscopic device in the second of the two directions. Release of the deflection knob <NUM> may stop the motor <NUM>, allowing the position of the deflected distal tip to be maintained. The maximum angular travel of the motor <NUM> will be set to the limitations of the distal tip deflection.

A gear train may be used in the handle <NUM> in lieu of the motor <NUM> driving the pull wire wheel <NUM> directly. <FIG> show a simple two gear train <NUM> where a smaller gear <NUM> drives a larger gear <NUM> that rotates the pull wire wheel <NUM>. The larger gear <NUM> and the pull wire wheel <NUM> may be fashioned as a single part where the gear teeth extend from the circumference/perimeter of the pull wire wheel <NUM>, as shown in <FIG>. <FIG> shows a two-gear train <NUM> with a smaller gear <NUM> and a larger gear <NUM> comprising a pulley belt <NUM>. The mechanical advantage of the aforementioned embodiments is to use a less powerful/expensive motor. In the device <NUM>, driving the pull wire wheel <NUM> directly will require a higher torque specification for the motor than would be needed using the gear train systems shown in <FIG>.

The aforementioned aspects of the present disclosure may be combined in various ways. In a first example, both the scope tip and the deployment device are motorized. <FIG> shows an ergonomic button pad <NUM> for controlling the scope tip and the deployment device. The button pad <NUM> has a first button <NUM>, a second button <NUM>, a third button <NUM> and a fourth button <NUM>. The button pad <NUM> is also adjacent to a shortened deflection knob <NUM>. The deflection knob <NUM> is shortened to allow the placement of the button pad <NUM> adjacent to the deflection knob <NUM>. In other embodiments, the deflection knob <NUM> may be eliminated completely, with the deflection of the scope tip being controlled by the button pad <NUM>. In another embodiment, the shortened deflection knob may be used as a safety/bailout feature in case of e.g. power failure, considering the deflected scope shaft has to be straightened before it can be removed from the body without injuries.

The button pad <NUM> is connected to a controller programmed for all aspects of the intervention. The button pad <NUM> is located on the bottom side of the scope handle and may be operated, for example, by the thumb of the scope handle grip hand. For example, the first and second buttons <NUM>, <NUM> (opposite one another) may be used to deflect the scope tip in either of the two directions. The third and fourth buttons <NUM>, <NUM> (opposite one another) may be used to control the opening/closing of the elongated end effector device. A fifth button may be implemented, such that when the fifth button is "on," the third and fourth buttons <NUM>, <NUM> are used to turn on/off the fluid management system to flush the imaged cavity.

In another embodiment, the buttons are implemented on a console, tablet (e.g., iPad) or the like and controlled remotely. Thus, the endoscopic device may be fashioned without control features implemented directly thereon, and may instead be controlled via Bluetooth, infrared remote, etc..

Claim 1:
An endoscopic deployment device (<NUM>; <NUM>), comprising:
a body mountable on an endoscopic device (<NUM>), the body having a movable carrier (<NUM>; <NUM>) couplable to an elongated end effector device, the elongated end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped for insertion through a working channel of an endoscopic shaft (<NUM>) of the endoscopic device (<NUM>), the body having a carrier channel (<NUM>; <NUM>) sized for the movable carrier (<NUM>; <NUM>) to slide therein, wherein the end effector is actuatable between an extended open position and a retracted closed position by sliding the movable carrier (<NUM>; <NUM>) in the carrier channel (<NUM>; <NUM>) which in turn slides the outer sheath over the end effector shaft to uncover or cover the end effector;
a communication interface (<NUM>; <NUM>) extending from the body and configured to be mated with a corresponding communication interface (<NUM>, <NUM>) on the endoscopic device (<NUM>) on which the body is mounted to receive power therefrom and exchange data therewith; and
a motor (<NUM>; <NUM>) having a drive shaft coupled to the movable carrier (<NUM>; <NUM>), the motor (<NUM>; <NUM>) is configured to actuate in response to a signal, the actuation of the motor rotates the drive shaft and slides the movable carrier (<NUM>; <NUM>) in the carrier channel (<NUM>; <NUM>) to actuate the end effector.