HK1226287B

HK1226287B - Endoscopic systems, devices, and methods for performing in vivo procedures

Info

Publication number: HK1226287B
Application number: HK17100044.7A
Authority: HK
Inventors: 杨重光; 罗伟伦; 郭嘉威
Original assignee: iEMIS (HK) Limtied
Priority date: 2015-09-28
Filing date: 2017-01-03
Publication date: 2023-07-28

Description

Endoscopic systems, devices, and methods for performing an in vivo procedure

Technical Field

This application claims 2015, 9/28, priority and interest for U.S. provisional application No.62/233,828, which is hereby incorporated by reference in its entirety.

The present disclosure relates generally to endoscopic systems, devices, and methods, and more particularly, to systems and devices for performing endoluminal procedures, including diagnostic and therapeutic procedures, and methods of configuring and using such systems and devices.

Background

More recently, colorectal cancer is the third most frequently diagnosed cancer and also the third leading cause of cancer-related death worldwide. However, if diagnosed at a sufficiently early stage, the survival rate of patients with colorectal cancer can reach over 90%.

Conventional optical colonoscopy is the most widely accepted and used procedure for colorectal screening. In general, conventional optical colonoscopy involves inserting the colonoscope through the patient's colon and requires forceful manual pushing of the colonoscope against the wall of the lumen at the flexed or circulatory/curved portion of the colon during insertion, which generally results in significant patient discomfort and pain. The flexing and/or retraction and/or removal of the colonoscope from the patient's colon and/or circulatory/curved portion may also cause significant discomfort and/or pain to the patient.

Disclosure of Invention

Despite recent developments in modern medical science and technology, it is recognized in this disclosure that one or more problems are encountered in colonoscope-related diagnostic and treatment techniques and methods, including those described above and in this disclosure.

The present example embodiments relate generally to systems, devices, and methods for addressing one or more problems in diagnostic and therapeutic systems, devices, and methods, including those described above and herein.

In an exemplary embodiment, an endoscopic system is described. The endoscopic system may be configured to be provided in a cavity of a patient. The endoscopic system may include a body. The main body may be an elongated body having a first end. The system may also include an anchor assembly attached to the body near the first end of the body. The anchor assembly may include a first extendable member. The first extendable member may be configurable to extend radially away from the body. The anchor assembly may further include a second extendable member provided between the first extendable member and the first end of the body. The second extendable member may be configured to extend radially away from the body. The anchor assembly may be operable to secure the body relative to the inner wall forming the patient's lumen by extending the first extendable member to contact the inner wall forming the patient's lumen and extending the second extendable member to contact the inner wall forming the patient's lumen.

In another exemplary embodiment, an endoscopic system is described. The endoscopic system may be configured to be provided in a cavity of a patient. The endoscope system may include a body. The main body may be an elongated body having a first end. The endoscope system may also include a head assembly. The head assembly may have a first end portion and a second end portion opposite the first end portion. The first end portion may be attachable to a first end of the body. The second end portion may be selectively configurable to actuate in a plurality of directions relative to the first end portion. The head assembly may also include an image capture assembly provided in the second end portion. The image capture component may be configurable to capture images. The head assembly may further include an instrument portion provided in the second end portion. The instrument portion may be configurable to provide an instrument. The instrument may include at least two degrees of freedom of movement for performing an in vivo procedure in a cavity of a patient.

In another exemplary embodiment, a method is described. The method may be used to configure an endoscopic system to perform diagnostic and/or therapeutic/surgical actions and/or procedures in a lumen of a patient, such as a colon lumen. The method may include providing an endoscopic system. An endoscopic system may include a first body. The first body may be an elongated body having a first end. The endoscopic system may further comprise a second body. The second body may include a first end and a main cavity. The main cavity may house at least a portion of the first body. The first body and the second body may be slidable relative to each other. The endoscope system may also include an anchor assembly attached to the first body near the first end of the first body. The anchor assembly may include a first extendable member. The first extendable member may be configured to extend radially away from the first body. The anchor assembly may further comprise a second extendable member provided between the first extendable member and the first end of the first body. The second extendable member may be configured to extend radially away from the first body. The endoscopic system may also include a second anchor assembly attached to the second body near the first end of the second body. The second anchor assembly may include a third extendable member. The third extendable member may be configurable to extend radially away from the second body. The second anchor assembly may further comprise a fourth extendable member provided between the third extendable member and the first end of the second body. The fourth extendable member may be configurable to extend radially away from the second body. The endoscope system may also include a head assembly. The head assembly may include a first end portion and a second end portion opposite the first end portion. The first end portion may be attachable to a first end of the first body. The second end portion may be selectively configurable to actuate in a plurality of directions relative to the first end portion. The head assembly may also include an image capture assembly provided in the second end portion. The image capture component may be configurable to capture images. The head assembly may further include an instrument portion provided in the second end portion. The instrument portion may be configurable to provide an instrument. The instrument may have at least two degrees of freedom of movement for performing an endoluminal procedure in a patient. The method may further include advancing the head assembly through a cavity of a patient. The first end portion of the head assembly may be fixedly attached to the first end of the first body, and at least a portion of the first body may be received in the main cavity of the second body. The method may further include identifying a direction of a cavity of the patient via an image captured by the image capture assembly. The method may further include advancing the head assembly in the direction of the identity of the cavity of the patient by actuating a direction of the second end portion of the head assembly based on the direction of the identity of the cavity of the patient.

Drawings

For a more complete understanding of the present disclosure, example embodiments, and advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which like reference numbers indicate like features, and:

FIG. 1 is an illustration of a perspective view of an exemplary embodiment of an endoscope system;

FIG. 2A is an illustration of a perspective view of an example embodiment of a head assembly;

FIG. 2B is an illustration of a side view of an exemplary embodiment of an endoscopic system;

FIG. 2C is an illustration of a side view of an exemplary embodiment of an endoscopic system in a lumen of a patient, such as a colon lumen;

FIG. 2D is an illustration of a side view of an exemplary embodiment of an endoscopic system;

FIG. 2E is an illustration of a side view of an exemplary embodiment of an endoscopic system having a head assembly controlled to extend outward as compared to the head assembly of FIG. 2D;

FIG. 3A is an illustration of a side view of an exemplary embodiment of an endoscope system;

FIG. 3B is an illustration of a side view of an exemplary embodiment of an endoscope system;

FIG. 3C is an illustration of a side view of an exemplary embodiment of an endoscope system;

FIG. 3D is an illustration of an endoscopic system in a patient's cavity and a side view of an example embodiment of a head assembly that curves based on a curved portion in the patient's cavity;

FIG. 3E is an illustration of a side view of an endoscopic system and an example embodiment of a first body that curves based on a curved portion in a cavity of a patient;

FIG. 3F is an illustration of a side view of an example embodiment of an endoscopic system and a second body that curves based on a curved portion in a patient's cavity;

FIG. 3G is an illustration of a side view of an exemplary embodiment of an endoscopic system and straightening of a flexed and/or circulated/bent portion in a cavity of a patient;

fig. 3H is an illustration of a cross-sectional view of an example embodiment of a first body;

FIG. 3I is an illustration of a cross-sectional view of an example embodiment of a second body;

fig. 4A is an illustration of a side view of an exemplary embodiment of a first and/or second anchor assembly;

FIG. 4B is an illustration of a side view of another exemplary embodiment of the first and/or second anchor assemblies;

fig. 4C is an illustration of a side view of another exemplary embodiment of a first and/or second anchor assembly;

FIG. 4D is an illustration of a side view of an example embodiment of a suction opening;

fig. 5 is a diagrammatic illustration of an example embodiment of a method for performing diagnostic and/or therapeutic/surgical actions and/or procedures in a cavity of a patient;

FIG. 6 is a diagrammatic illustration of an exemplary embodiment of an endoscopic system with an exemplary embodiment of a controller;

FIG. 7A is an illustration of an example embodiment of a first controller; and

fig. 7B is an illustration of an example embodiment of a second controller.

Although for purposes of convenience, like reference numerals may be used in the drawings to refer to like components, it is to be appreciated that each of the various exemplary embodiments can be considered to be a disparate variation.

Example embodiments will now be described with reference to the accompanying drawings, which form a part of the disclosure and which illustrate example embodiments that may be practiced. As used in this disclosure and the appended claims, the terms "example embodiment," "example embodiment," and "the present embodiment" do not necessarily refer to a single embodiment, although they may, and various example embodiments may, be readily combined and/or interchanged without departing from the scope or spirit of the example embodiments. Furthermore, the terminology as used in the present disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limiting. In this regard, as used in this disclosure and the appended claims, the terms "in 8230 \8230; (in)" may include "in 8230; \8230in (in)" and "in 8230; \8230; (on)" above, and the terms "a, an" and "the" may include both singular and plural references. Furthermore, as used in this disclosure and the appended claims, the term "by" may also mean "from", depending on the context. Furthermore, as used in this disclosure and the appended claims, the term "if" may also mean "when 8230; \8230;" when "or" once, "depending on the context. Furthermore, as used in this disclosure and the appended claims, the word "and/or" may refer to and encompass any and all possible combinations of one or more of the associated listed items.

Detailed Description

It is recognized in the present disclosure that one or more problems are encountered in colonoscope-related diagnostic and therapeutic techniques and methods, including those described above and in the present disclosure. For example, conventional optical colonoscopy generally involves inserting the colonoscope through the patient's colon and requiring forceful manual pushing of the colonoscope during insertion against the luminal wall forming the lumen wall at the flex or circulatory/curved portion of the colon, which generally results in significant patient discomfort and/or pain. In addition, retraction and/or removal of the colonoscope (including flexing and/or circulation/curvature of the colonoscope across the colon of the patient) may also cause patient discomfort and/or pain.

Recent developments in diagnostic procedures and devices have attempted to solve the aforementioned problems by using miniaturized wireless capsules with integrated cameras. To perform a diagnostic procedure, the miniaturized capsule is introduced orally into a patient, and passively advanced along the gastrointestinal tract by peristalsis in a painless manner. However, it is recognized in the present disclosure that while such recent developments address the problems of patient discomfort and pain, such recent developments are not without their own problems and limitations. For example, in vivo monitoring of the gastrointestinal tract by such miniaturized capsules is in fact performed in an uncontrolled, very slow manner, since the advancement of the miniaturized capsules through the gastrointestinal tract occurs by peristaltic movements. Furthermore, while miniaturized capsules typically take about 20 to 36 hours to travel through the entire gastrointestinal tract, the current power capacity and consumption of such miniaturized capsules can only operate approximately for about 8 hours. Thus, not all of the gastrointestinal tract may be imaged and/or monitored using such techniques. Furthermore, such miniaturized capsules are only capable of performing imaging/diagnostic procedures, and not therapeutic/surgical procedures, such as removing polyps, obtaining biopsy specimens, and the like.

Systems, devices, and methods are described in this disclosure for addressing one or more problems of known systems, devices, and methods, including those described above and in this disclosure, including those used in endoscopy and colonoscopy. It is to be understood that the principles described in this disclosure may be applied beyond the context of endoscopy and colonoscopy, such as to perform diagnostic procedures, surgical or therapeutic procedures, scientific experiments, and/or other procedures in the same and/or other environments, cavities, and/or organs not described in this disclosure, without departing from the teachings of this disclosure.

Endoscope system (e.g., endoscope system 100)

Fig. 1 illustrates a perspective view of an exemplary embodiment of an endoscopic system 100. The endoscope system 100 may include a head assembly 110. The endoscopic system 100 may also include a body 130. The body 130 may be attachable to the head assembly 110. For example, the first end 130a of the body 130 may be fixedly attached to the first end portion 110a of the head assembly 110. The endoscopic system 100 may also include an anchor assembly 120. Anchor assembly 120 may be attachable to body 130. For example, anchor assembly 120 may be fixedly attached to body 130 near first end 130a of body 130. The endoscopic system 100 may further include a second body 150. The second body 150 may receive at least a portion of the body 130, and the body 130 and the second body 150 may be slidable relative to each other. In this regard, the second body 150 may include a main cavity that may perform the noted housing of the body 130. The endoscopic system 100 may also include a second anchor assembly 140. Second anchor assembly 140 may be attachable to second body 150. For example, second anchor assembly 140 may be fixedly attached to second body 150 near first end 150a of second body 150. The endoscopic system 100 may also include a controller 160. These and other elements of the endoscope system 100 will now be described with reference to fig. 1-5.

Head assembly (e.g., head assembly 110)

Fig. 1 and 2A-C illustrate an exemplary embodiment of a head assembly 110 of an endoscopic system 100. The head assembly 110 may include a first end portion 110a and a second end portion 110b opposite the first end portion 110a. In an example embodiment, the first end portion 110a of the head assembly 110 may be attachable to the first end 130a of the body 130. During a diagnostic and/or therapeutic/surgical procedure, as shown in at least fig. 1-3, the first end portion 110a may be fixedly attached to the first end 130a of the body 130. It is understood in the present disclosure that in addition to or instead of the head system 110 attached to the first end 130a of the body 130, example embodiments of the endoscope system 100 may include one or more other head assemblies fixedly attached to one or more other portions of the endoscope system 100, such as the head assembly 110' shown in fig. 2B.

As shown in at least fig. 1 and 2A, the head assembly 110 may include one or more image capture assemblies 111. Each image capture component 111 can be any image capture device, such as a digital and/or analog camera, a digital and/or analog video camera, a three-dimensional (3-D) digital and/or analog camera, a 3-D digital and/or analog video camera, a holographic camera, an x-ray based device, an infrared based device, and so forth. Each image capture component 111 may include one or more lenses, etc., and may be configurable to zoom in and/or out optically and/or digitally. Further, each image capture assembly 111 may be configurable to move in one or more directions and/or positions relative to the head assembly 110, and may also protrude outward and/or retract inward relative to the head assembly 110. In an example embodiment, the image capture assembly 111 may be partially or wholly housed in one or more portions of the endoscope system 100 (such as the head assembly 110).

Each image capture assembly 111 may also include one or more illumination or light sources, such as LED light sources, optical fibers, and the like. It is understood in the present disclosure that in an example embodiment, each illumination source may be disposed with and/or separate from the image capture assembly 111 in order to improve illumination of the internal cavity of the patient. For example, in an example embodiment, each illumination source may be provided as one or more illumination sources on the surface 110c of the head assembly 110, one or more illumination sources distributed and/or continuously shaped around the perimeter of the surface 110c of the head assembly 110 (such as an annular illumination source when the surface 110c of the head assembly 110 has a circular shape), and so forth.

Each image capture assembly 111 and/or each light source may receive power from a power source (not shown) or the like, such power may be received via a wire and/or wirelessly. In example embodiments, the power source can be partially or entirely contained within one or more portions of the endoscopic system 100 (such as the head assembly 110, the body 130, and/or the second body 150), and/or provided external to the patient (such as a separate power source 180 and/or power obtained from the controller 160).

Each image capture component 111 may be configurable to provide captured/recorded images (such as still images and/or video images, hereinafter "captured images") to the controller 160, the computer readable medium 162, and/or the like, such captured images may be received by the controller 160 and/or the computer readable medium 162 via wires and/or wirelessly. An operator/surgeon performing diagnostic, therapeutic, and/or surgical procedures using the endoscopic system 100 may be operable to receive and view captured images via the controller 160 in real-time and/or near real-time, such captured images may also be stored in the computer readable medium 162 for viewing at a later time. In an example embodiment, the operator/surgeon may use the captured images of the image capture component 111 to perform one or more of the following operations, among other operations: inserting a portion of the endoscopic system 100 into a patient's cavity one or more times; one or more times anchoring anchor assembly 120 and/or second anchor assembly 140; advancing the body 130 and/or the second body 150 one or more times; straightening one or more flexed or circulated/curved portions of the patient's cavity (straight); illuminating one or more portions of the patient's cavity via the light source of the head assembly 110; performing one or more diagnostic, therapeutic, and/or surgical procedures using one or more of the instruments 112; one or more other procedures and operations of the endoscope system 100 or portions thereof; and so on.

In an example embodiment, the controller 160 and/or the computer-readable medium 162 may be housed, in whole or in part, in one or more portions of the endoscopic system 100, such as the head assembly 110, the body 130, and/or the second body 150, and/or provided external to the patient (as shown in at least fig. 1, 6, and 7A-B). The controller 160 can be any device or system operable to communicate with one or more elements of the endoscopic system 100, and can include a computing device, a communication device, a processor, a virtual machine, a computer, a node, an instance, a host, a server, a client, a chip/microchip, and/or a machine, including combinations thereof and/or those in a networked computing environment. The controller 160 may include logic stored in a non-transitory computer-readable medium, such as computer-readable medium 162, that when executed by the controller 160 and/or a processor of the controller 160 or associated with the controller 160 is operable to perform one or more actions, operations, configurations and/or communications with one or more elements of the endoscopic system 100, including those described above and in the present disclosure. For example, the controller 160 may be operable to communicate with and/or configure one or more of the following, among other operations: a computer readable medium 162, an image capture assembly 111, an instrument 112, a motion control lumen 113, an irrigation lumen 114, an insufflation lumen 115, a second end portion 110b, a first end portion 110a, a head assembly 110, a first end 130a, a body 130, a motion control lumen 133, an irrigation lumen 134, an insufflation lumen 135, an anchor lumen 136, a first end 150a, a second body 150, an anchor lumen 154, a first extendable member 124, a second extendable member 122, a first anchor assembly 120, a third extendable member 144, a fourth extendable member 142, a second anchor assembly 140, a first aspiration opening 126, a second aspiration opening 146, a pressure control subsystem 170, a power source 180, an irrigation subsystem 190, an insufflation subsystem 192, an extension source subsystem 194, and the like. Example embodiments of the controller 160 will be further described in this disclosure, including in the section "controller (e.g., controller 160)" below.

As shown in at least fig. 2C, the head assembly 110 may also include one or more instruments 112. Each instrument 112 may be any one or more surgical instruments or the like for performing diagnostic, therapeutic, and/or surgical procedures and/or obtaining specimens. For example, each instrument 112 may include one or more biopsy forceps, miniaturized manipulators, snares, and the like. In an example embodiment, the one or more instruments 112 can be housed in one or more portions of the endoscopic system 100, such as in the head assembly 110, the body 130, the second body 150, and/or outside of the cavity of the patient. The one or more instruments 112 may be provided through an instrument lumen or channel 112A (see fig. 1 and 2A) when desired, and may also be provided outwardly (as shown in at least fig. 2C) and/or retracted inwardly relative to the head assembly 110. In an example embodiment, the instrument 112 may be configurable to have one or more degrees of freedom of motion (DOF). In an example embodiment, the one or more instruments 112 may be configured and/or controlled manually by the controller 160 and/or an operator/surgeon and/or via the controller 160. Further, one or more motions and/or positions of the instrument(s) 112 may be stored in the computer-readable medium 162.

At least a portion of the head assembly 110, such as the second end portion 110b, may be selectively configurable to actuate (including bend, turn, pivot, twist, move, etc., hereinafter "actuate") in one or more of a plurality of directions (and/or positions, locations, etc.) relative to one or more points/regions, such as the first end portion 110a and/or other portions of the head assembly 110 and/or the endoscopic system 100. For example, the second end portion 110b may be selectively configured and/or controlled to actuate (bend) in multiple directions, such as at least the bends shown in fig. 3D and fig. 2A and 2C. As shown in at least fig. 2D and 2E, the second end portion 110b may also be selectively configured and/or controlled to actuate (extend outward and/or retract inward) relative to one or more points/regions, such as the first end portion 110a of the head assembly 110 and/or other portions of the head assembly 110 and/or the endoscopic system 100. In addition, the head assembly 110 may be capable of at least two degrees of freedom of motion (DOF), including pitch and yaw motions. In an example embodiment, each degree of freedom may have a bend angle of at least 110 degrees.

It is recognized in the present disclosure that actuation of at least a portion of the head assembly 110 can help enable the endoscope system 100 to advance around the flexing and/or circulating/bending portion of a patient's lumen (such as a colon lumen) without forceful manual pushing against the inner walls forming the patient's lumen. It is further recognized in the present disclosure that actuation of at least a portion of the head assembly 110 (including those described above and in the present disclosure) may enable the one or more image capture assemblies 111 to improve image capture capabilities. Further, actuation of at least a portion of the head assembly 110 (including those described above and in the present disclosure) may enable the one or more illumination sources to provide improved illumination to specific areas within the cavity of the patient. Further, actuation of at least a portion of the head assembly 110 (including those described above and in the present disclosure) may enable the one or more instruments 112 to more easily access and/or perform diagnostic, therapeutic, and/or surgical procedures, including obtaining specimens, within the patient's cavity and/or the inner wall forming the patient's cavity.

The at least one portion of the head assembly 110 may be selectively configurable to be actuated in one or more of a plurality of directions using one or more elements of the endoscopic system 100 and/or one or more methods described below and in the present disclosure. In an example embodiment, the head assembly 110 may include one or more motion control cavities 113 or the like. Each motion control cavity 113 may be operable to receive and/or contain a filler or the like. The filler may be any substance or material, including a gas (such as air, carbon dioxide, nitrogen), a liquid (such as water, oil), and/or a solid (such as microparticles). The predetermined selection and/or combination of one or more of the motion-control cavities 113 may be selectively configured and controlled when it is desired to actuate the movement, control and/or positioning of a portion of the head assembly 110, such as the second end portion 110b of the head assembly 110, in a particular desired direction and/or position. For example, one or more of the motion control cavities 113 may contain one or more types of fillers that may be manually manipulated by an operator/surgeon and/or manipulated via the controller 160 to actuate the portion of the head assembly 110. As another example, one or more of the motion control cavities 113 may be provided with a predetermined amount of one or more types of filler when the portion of the head assembly 110 requires actuation. As another example, the properties of the filler material contained in one or more of the motion control cavities 113 may be selectively configured to change, such as change in volume (extend and/or retract), harden, become softer, change from a gas phase to a liquid phase (or vice versa), change from a liquid phase to a solid phase (or vice versa), change in pressure, change in temperature, change in shape, change in size, change in tensile strength, and so forth. To effect one or more such changes, the one or more fillers may be a material (or combination of materials) selected in such a way that the introduction, application, and/or removal of the application of current, voltage potential, resistance, pressure, temperature, magnetic field, etc., each if applicable, causes and/or controls one or more of the above-mentioned property changes. For example, the filler may be a shape memory metal or other material, or the like.

In an example embodiment, actuation of the head assembly 110 (including the second end portion 110b of the head assembly 110) as described above and in the present disclosure may be performed and/or controlled manually by the controller 160 and/or an operator/surgeon and/or via the controller 160. Further, the amount of filler, the change in the amount of filler, and/or the change in the properties of filler in the one or more motion control cavities 113 may be stored in the computer readable medium 162.

It is understood in the present disclosure that very small/micro, precise/accurate, fast, and robust movements of the second end portion 110b of the head assembly 110, as well as the instrument(s) 112, the image capture assembly 111, and/or other portions of the endoscope system 100, may be achieved using the aforementioned elements and/or methods of the endoscope system 100. It is also understood in this disclosure that other elements and/or methods for actuating the movement, control and/or positioning of a portion of the head assembly 110, such as one or more sensors (such as a motion sensor, proximity sensor, distance sensor, etc.), are contemplated without departing from the teachings of this disclosure. Moreover, it is recognized in the present disclosure that in example embodiments, the movement, positioning, and/or control of other elements of the endoscope system (including one or more of the instrument 112, the body 130, the second body 150, the head assembly 110', and/or other elements of the endoscope system 100) may also be performed and/or controlled in a manner similar and/or substantially the same as that described above for the head assembly 110.

As shown in at least fig. 1 and 2A, the head assembly 110 may also include one or more irrigation lumens 114. Each irrigation lumen 114 may be configurable to provide movement of fluids and/or solids into and out of the patient's lumen via irrigation subsystem 190. For example, each irrigation cavity 114 in communication with the irrigation subsystem 190 may be operable to introduce a liquid into the patient's cavity, and each irrigation cavity 114 in communication with the irrigation subsystem 190 may be operable to remove a liquid (such as water) and/or a solid (such as a polyp) from the patient's cavity. In an example embodiment, movement of fluids and/or solids into and out of the patient's cavity via the one or more irrigation lumens 114 may be performed and/or controlled manually by controller 160 and/or an operator/surgeon and/or via controller 160. Further, the amount of such movement of fluid and/or solids into and out of the patient's cavity via the one or more irrigation cavities 114 may be stored in the computer readable medium 162.

The head assembly 110 can also include one or more insufflation cavities 115. Each insufflation cavity 115 may be configured to provide gas for performing insufflation of the cavity of the patient via an insufflation subsystem 192. In an example embodiment, insufflation of the patient's cavity via the one or more insufflation lumens 115 may be performed and/or controlled manually by the controller 160 and/or an operator/surgeon and/or via the controller 160. Further, the amount of such insufflation via the one or more insufflation cavity 115 can be stored in the computer readable medium 162.

It is understood in this disclosure that the head assembly 110 (including one or more of the image capture assembly 111, the illumination source, the instrument 112, the motion control chamber 113, the irrigation chamber 114, the irrigation subsystem 190, the insufflation chamber 115, and/or the insufflation subsystem 192) may be provided in the same, similar, different, or configuration based on the configuration shown in the example embodiment of fig. 1 and 2A without departing from the teachings of this disclosure. Further, one or more of the image capture assembly 111, the illumination source, the instrument 112, the motion control chamber 113, the irrigation chamber 114, and the insufflation chamber 115 may or may not be provided in the head assembly 110 without departing from the teachings of the present disclosure.

The head assembly 110 and/or its cross-section may be formed in any of a number of shapes, sizes, and/or dimensions. For example, as shown in fig. 1 and 2A, the head assembly 110 may be an elongated cylinder. The cross-sectional shape of the head assembly 110 may also be one or more of rectangular, square, pentagonal, hexagonal, etc., or a combination of one or more geometric shapes without departing from the teachings of the present disclosure.

In an example embodiment where the shape of the head assembly 110 is cylindrical with a circular cross-sectional shape, the outer diameter of the cross-section of the head assembly 110 may be between about 5 to 30 mm. The length of the head assembly 110 may be between about 10 to 100 mm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and, as such, dimensions may be less than or greater than those noted above without departing from the teachings of this disclosure.

The head assembly 110 may be formed using any one or more of a variety of materials, such as surgical grade plastics, rubber, and the like. Instrument 112 may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steel (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti ₆ Al ₄ V, niTi), cobalt chromium alloys, and the like. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is understood in this disclosure that the above materials are merely illustrative of example embodiments, and that these and other materials and compositions can be used without departing from the teachings of this disclosure.

Body (e.g., body)130)

Fig. 1, 2A-C, and 3A-H illustrate an example embodiment of a body 130 of an endoscope system 100. As used in this disclosure, the body 130 may also be referred to as a first body 130, an inner body 130, a first tube 130, an inner tube 130, and the like. The main body 130 may include a first end 130a and an exposed end portion 130b. In an example embodiment, the first end 130a of the body 130 may be attachable to the first end portion 110a of the head assembly 110. During diagnostic and/or therapeutic/surgical procedures, as shown in at least fig. 1-3, the first end 130a may be fixedly attached to the first end portion 110a of the head assembly 110.

At least a portion of the body 130 can be selectively configurable to actuate (and/or bend, rotate, pivot, twist, move, etc.) in one or more of a plurality of directions (and/or positions, locations, etc.) relative to the second body 150 and/or the body 130 and/or other portions of the endoscopic system 100. Such actuation of a portion of the body 130 may be similar to, the same as, different from, or based on the actuation described above for the head assembly 110. For example, as shown in at least fig. 3E and 1, a portion of the body 130 closer to the first end 130a may be selectively configured and/or controlled to bend in multiple directions. As shown in fig. 3B, in an example embodiment, the portion of the body 130 closer to the first end 130a may also be selectively configured and/or controlled to slide, that is, extend outward and/or retract inward, relative to the second body 150. It is recognized in the present disclosure that sliding and/or actuation of at least a portion of the body 130 can enable the endoscopic system 100 to advance around the flexing and/or circulating/bending portion of the patient's cavity without forcefully manually pushing against the inner walls forming the patient's cavity. Further, actuation of at least a portion of the body 130 may enable the one or more illumination sources of the head assembly 110 to provide improved illumination to a particular region within the cavity of the patient. Further, actuation of at least a portion of the body 130 may enable the one or more instruments 112 of the head assembly 110 to more easily enter and perform diagnostic, therapeutic, and/or surgical procedures, including obtaining specimens, within the cavity of the patient.

As described below and in the present disclosure, at least a portion of the body 130 can be selectively configurable to slide (as shown in fig. 3B-C) and/or actuate in one or more of a plurality of directions relative to the second body 150 using one or more elements and/or one or more methods of the endoscopic system 100. In the example embodiment shown in fig. 3H, the body 130 may include one or more motion control cavities 133 or the like. Each motion control cavity 133 may be operable to receive and/or contain a filler or the like. The filler may be any substance or material, including a gas (such as air, carbon dioxide, nitrogen), a liquid (such as water, oil), and/or a solid (such as microparticles). A predetermined selection and/or combination of one or more of the motion-control cavities 133 may be selectively configured and controlled when it is desired to actuate the movement, control and/or positioning of a portion of the body 130 (such as a portion of the body 130 closer to the first end 130 a) in a particular desired direction and/or position. For example, one or more of the motion control cavities 133 may contain one or more types of fillers, such as gas, which may be operated manually by an operator/surgeon and/or via the controller 160 to actuate the portion of the body 130, such as via the pressure control subsystem 170, the extension source subsystem 194, and so forth. As another example, one or more of the motion control cavities 133 may be provided with a predetermined amount of one or more types of filler when the portion of the body 130 requires actuation. As another example, the properties of the filler material contained in one or more of the motion control cavities 133 may be selectively configured to change, such as change in volume (extend and/or retract), harden, become softer, change from a gas phase to a liquid phase (or vice versa), change from a liquid phase to a solid phase (or vice versa), change in pressure, change in temperature, change in shape/size, change in tensile strength, and so forth. To effect one or more such changes, the one or more fillers may be a material (or combination of materials) selected in such a way that the introduction, application, change, and/or removal of the application (each if applicable) of current, voltage potential, resistance, pressure, temperature, magnetic field, etc., causes one or more of the above-mentioned property changes. For example, the filler may be a shape memory metal or other material, a spring-based or spring-like material, or the like.

In an example embodiment, actuation of the body 130 (including the portion of the body 130 closer to the first end 130 a) as described above and in the present disclosure may be performed and/or controlled manually by the controller 160 and/or an operator/surgeon and/or via the controller 160. Further, the amount of filler, the change in the amount of filler, and/or the change in the properties of filler in the one or more motion control cavities 133 may be stored in the computer readable medium 162.

It is understood in the present disclosure that very small/micro, precise/accurate, rapid, and robust movements of the portion of the body 130 closer to the first end 130a may be achieved using the aforementioned elements and/or methods of the endoscopic system 100. It is also understood in this disclosure that other elements and/or methods for actuating the movement, control and/or positioning of a portion of the body 130 and/or other elements of the endoscopic system 100 are contemplated without departing from the teachings of this disclosure. Moreover, it is recognized in the present disclosure that in example embodiments, the movement, positioning, and/or control of other elements of the endoscopic system (including one or more of the instrument 112, the head assembly 110, the second body 150, and/or other elements of the endoscopic system 100) may also be performed and/or controlled in a manner similar to and/or substantially the same as that described above for the body 130.

As shown in at least fig. 3H, in an example embodiment, the body 130 may also include one or more image capture cavities 131. The image capture cavity 131 may be operable to enable the image capture assembly 111 and/or other image capture assemblies (such as those in the head assembly 110 ') to move relative to the head assembly 110, and/or to enable the cables (if any) of the image capture assembly 111 and/or other image capture assemblies (such as those in the head assembly 110') to be connected to the controller 160 and/or the computer readable medium 162.

As shown in at least fig. 3H, in an example embodiment, the body 130 may also include one or more instrument cavities 132. The instrument cavity 132 may be operable to enable movement of the instrument 112 and/or other instruments (not shown) relative to the head assembly (i.e., connected to the instrument cavity 112 a), and/or to enable cables (if any) and/or connections (if any) of the instrument 112 to be used by an operator/surgeon and/or connected to the controller 160 and/or computer readable medium 162.

As shown in at least fig. 3H, in an example embodiment, the body 130 can also include one or more irrigation cavities 134. Irrigation lumen 134 may be operable to enable movement of fluids and/or solids into and out of the patient's lumen. Irrigation cavity 134 may be connected to irrigation cavity 114 and/or other irrigation cavities and/or openings (not shown). In an exemplary embodiment, the irrigation lumen 134 may also be connected to an irrigation subsystem 190.

As shown in at least fig. 3H, in an exemplary embodiment, the body 130 can further include one or more gas injection cavities 135. Insufflation lumen 135 may be operable to provide gas for performing insufflation of the cavity of a patient. The insufflation cavity 135 may or may not be connected to the insufflation cavity 115. In exemplary embodiments, the insufflation cavity 135 can also be coupled to the insufflation subsystem 192 or a different subsystem.

As shown in at least fig. 3H, in an example embodiment, the body 130 can further include one or more anchor cavities 136, the anchor cavities 136 operable to configure, control, and/or assist in configuring and/or controlling the anchor assembly 120. Anchoring cavity 136 may be operable to provide a gas, liquid, and/or solid and/or combinations thereof for expanding one or more of first extendable member 122 and second extendable member 124, such as radially from body 130. An anchor lumen 136 may be connected to one or more of first extendable member 122 and second extendable member 124. In an exemplary embodiment, the anchor cavity 136 may also be connected to the expansion source subsystem 194. Anchor assembly 120 is further described below.

As shown in at least fig. 3H, in an example embodiment, the body 130 may further include one or more suction cavities 137. The suction cavity 137 may be operable to provide a negative pressure (or perform removal of gas). For example, suction lumen 137 may be operable to apply negative pressure to first extendable member 122 (when extended), second extendable member 124 (when extended), the area between the inner wall of the lumen forming patient 102 and body 130. The suction cavity 137 may be connected to the suction opening 126. In an example embodiment, the suction cavity 137 may also be connected to a pressure control subsystem 170. The suction opening 126 will be further described below.

It is understood in this disclosure that the body 130 (including one or more of the image capture cavity 131, the instrument cavity 132, the motion control cavity 133, the irrigation cavity 134, the irrigation subsystem 190, the insufflation cavity 135, the insufflation subsystem 192, the anchor cavity 136, the extension source subsystem 194, the suction cavity 137, and the pressure control subsystem 170) may be provided in the same, similar, different, or a configuration based thereon as that shown in the example embodiment of fig. 3H without departing from the teachings of this disclosure. Further, one or more of the image capture cavity 131, the instrument cavity 132, the motion control cavity 133, the irrigation cavity 134, the insufflation cavity 135, the anchor cavity 136, and the suction cavity 137 may or may not be provided in the body 130 without departing from the teachings of the present disclosure. It is also understood in the present disclosure that in example embodiments, one or more of the irrigation subsystem 190, insufflation subsystem 192, extension source subsystem 194, and pressure control subsystem 170 may be the same or different subsystems.

The body 130 and its cross-section may be formed in any of a number of shapes, sizes and/or dimensions. For example, as shown in fig. 1-3, the body 130 may be an elongated cylinder. The cross-sectional shape of the body 130 may also be one or more of rectangular, square, pentagonal, hexagonal, etc., or a combination of one or more geometric shapes without departing from the teachings of the present disclosure.

In an example embodiment in which the cross-sectional shape of the body 130 is a cylindrical shape having a circular cross-sectional shape, the outer diameter of the body 130 may be between about 5 to 30 mm. The length of the body 130 may extend/retract between about 50 to 100 cm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and as such dimensions may be smaller or larger than those noted above without departing from the teachings of this disclosure.

The body 130 may be formed using any one or more of a variety of materials, such as surgical grade plastics, rubber, and the like. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is understood in this disclosure that the above materials are merely illustrative of example embodiments, and that these and other materials and compositions can be used without departing from the teachings of this disclosure.

Anchor assemblies (e.g., anchor assembly 120)

A perspective view of an exemplary embodiment of an extended anchor assembly 120 (e.g., anchor assembly 120 extending radially from body 130) is illustrated in at least fig. 1 and 2A; illustrated in at least fig. 2B-C, 3A, 3D, and 3F-G are side views of an exemplary embodiment of an extended anchor assembly 120 (e.g., anchor assembly 120 extending radially from body 130); and a side view of an exemplary embodiment of an unextended anchor assembly 120 (e.g., an anchor assembly 120 that is not radially extended from the body 130) is illustrated in at least fig. 3B-C. Anchor assembly 120 may be attachable to body 130. The anchor assembly 120 may be fixedly attached to the body 130 near the first end 130a of the body 130 during diagnostic and/or therapeutic/surgical procedures.

Anchor assembly 120 may be configured to perform fixation of the position and/or location of body 130, among other operations. In an example embodiment, when the endoscopic system 100 is inserted into a cavity of a patient, as shown in at least fig. 2C, 3D, and 3F-G, the anchor assembly 120 may be configured to secure the body 130 relative to an inner wall forming the cavity of the patient. The anchor assembly 120 can secure the body 130 relative to the inner walls forming the patient's cavity in one or more of a variety of ways. In an example embodiment, one or more extendable members 122, 124 may be extended to contact an inner wall forming a cavity of a patient. The anchor assembly 120 may also fix the body 130 relative to the inner walls forming the patient's cavity by applying negative pressure through one or more suction openings 126. The anchor assembly 120 can also secure the body 130 relative to the inner walls forming the patient's cavity via one or more surface patterns, roughened portions, protruding portions, etc., formed on the surface of one or more of the extendable members 122, 124, or portion(s) thereof. The anchor assembly 120 may also use magnetic elements and corresponding external magnetic elements provided external to the patient to secure the body 130 relative to the inner wall forming the patient's cavity. The anchor assembly 120 secures the body 130 relative to the inner wall forming the patient's cavity as will now be described further below.

Anchor assembly 120 may include one or more extendable members 122, 124. The one or more extendable members 122, 124 may be fixedly attached to the body 130 near the first end 130a of the body 130 during diagnostic and/or therapeutic/surgical procedures. In an exemplary embodiment, anchor assembly 120 may include an extendable member 122. As used in this disclosure, extendable member 122 may also be referred to as a first extendable member 122, a first inflatable ball 122, or the like. Anchor assembly 120 may also include a second extendable member 124. Second extendable member 124 may be provided between first extendable member 122 and first end 130a of body 130. As used in this disclosure, second extendable member 124 may also be referred to as extendable member 124, second inflatable ball 124, or the like. It is understood in this disclosure that anchor assembly 120 may include other numbers of extendable members, such as one or more additional extendable members, without departing from the teachings of this disclosure.

Each extendable member 122, 124 may be configurable to change its volume/size to a minimum volume/size, a maximum volume/size, and a volume/size between the minimum volume/size and the maximum volume/size. For example, each extendable member 122, 124 may be configured to extend radially away from body 130.

In an exemplary embodiment, each extendable member 122, 124 may be a hollow member such as an inflatable ball, tire, or the like. In this regard, each extendable member 122, 124 may be operable to extend (i.e., secure body 130) by receiving a gas (or positive pressure), a liquid, a solid, and/or combinations thereof. Extension of the extendable members 122, 124 may occur partially, substantially, or entirely in a direction away from the body 130 (i.e., radially away from the body 130). Further, each extendable member 122, 124 may be operable to decrease in size (or retract or release body 130) by removing gas (or removing positive or applying negative pressure), liquid, solid, and/or combinations thereof received in the extendable member 122, 124. To secure the body 130 relative to the inner wall forming the patient's cavity, the one or more extendable members 122, 124 may be extended to contact the inner wall forming the patient's cavity. It is recognized in the present disclosure that the extension and contact of the one or more extendable members 122, 124 with the inner walls forming the patient's cavity may provide sufficient securement or anchoring of the body 130 to resist forces of at least 0.1 to 20N.

One or more of the extendable members 122, 124 may comprise one or more surface patterns, roughened portions, protrusions, or the like, formed on the surface of the one or more extendable members 122, 124 or portion(s) thereof. Such surface patterns, roughness, protrusions, etc., formed on the surface of one or more extendable members 122, 124 that contact the inner wall forming the patient's cavity may further improve the fixation or anchoring of the body 130 during diagnostic and/or therapeutic/surgical procedures where fixation or anchoring of the body 130 relative to the inner wall forming the patient's cavity is desired or required. For example, the surface pattern, roughness, protrusions, etc. may provide or contribute to providing resistance to movement of one or more of the extendable members 122, 124 contacting the inner wall of the patient's lumen relative to the inner wall of the patient's lumen. It is recognized in the present disclosure that such securing or anchoring of the body 130 may be operable to resist forces of at least 0.1 to 30N.

It is understood in this disclosure that anchor assembly 120 (including one or more of first and second extendable members 122, 124) may or may not be a hollow member like an inflatable ball, tire, or the like. For example, one or more of first extendable member 122 and second extendable member 124 may be only partially hollow. As another example, one or more of first extendable member 122 and second extendable member 124 may be formed in part, substantially, and/or entirely of an extendable solid and/or liquid. In this regard, the properties of such materials forming one or more of first extendable member 122 and second extendable member 124 may be selectively configured to change, such as change in volume (extend and/or retract), stiffen, become softer, change from a gas phase to a liquid phase (or vice versa), change from a liquid phase to a solid phase (or vice versa), change from a gas phase to a solid phase (or vice versa), change in pressure, change in temperature, change in shape, change in size, change in tensile strength, and the like. To effect one or more such changes, such materials forming one or more of first extendable member 122 and second extendable member 124 may be materials (or combinations of materials) selected in such a way that the introduction, application, change, and/or removal of the application of an electrical current, voltage potential, resistance, pressure, temperature, magnetic field, etc., each if applicable, causes one or more of the above-mentioned property changes. For example, such materials may be shape memory metals or other materials, spring-based or spring-like materials, and the like.

In some example embodiments, the anchor assembly 120 may include one or more extendable members that extend in one or more other directions in addition to extending radially away from the body 130, such as the example shown in fig. 4B. In other example embodiments (such as the example shown in fig. 4A), anchor assembly 120 may include integrated first and second extendable members 122, 124, and so forth. In other example embodiments (such as the example shown in fig. 4C), the anchor assembly 120 may include a magnetic element 126' or the like that is operable to secure to a corresponding magnetic element provided external to the patient.

The anchor assembly 120 may also include one or more suction openings 126. As used in this disclosure, the suction opening 126 may also be referred to as a first suction opening 126. The suction openings 126 may be formed in one or more of various shapes, and provided in one or more numbers. Fig. 4D illustrates an example embodiment of the one or more suction openings 126. The one or more suction openings 126 may further improve the fixation or anchoring of the body 130 during diagnostic and/or therapeutic/surgical procedures where fixation or anchoring of the body 130 relative to the inner walls forming the cavity of the patient is desired or required. For example, suction opening 126 can be operable to apply negative pressure to the area between first extendable member 122 (when extended), second extendable member 124 (when extended), the inner wall of the lumen forming patient 102 (as shown in at least fig. 3F), and body 130. In an example embodiment, the suction opening 126 may be configured to apply a negative pressure and vary the applied negative pressure to between about-10 kPa to vacuum. It is recognized in the present disclosure that body 130 may provide improved securement or anchoring through the use of the extended first and second extendable members 122, 124 and such securement or anchoring of the one or more suction openings 126, and may be operable to resist forces of at least 0.1 to 40N.

In an example embodiment, applying negative pressure through suction opening 126 (i.e., drawing or removing gas from the area between first extendable member 122 (when extended), second extendable member 124 (when extended), the inner wall forming the cavity of patient 102, and body 130) may be performed before, simultaneously (or in unison) with, and/or after extension of extendable members 122, 124. Further, in an example embodiment, application of negative pressure through suction opening 126 (i.e., suction or removal of gas from the area between first extendable member 122 (when extended), second extendable member 124 (when extended), the inner wall forming the cavity of patient 102, and body 130) may be operable to provide or assist in providing extension of one or more of extendable members 122, 124. For example, when gas in the area between the first extendable member 122 (when extended), the second extendable member 124 (when extended), the inner wall forming the cavity of the patient 102, and the body 130 is being aspirated or removed, the aspirated or removed gas may be provided into one or more of the extendable members 122, 124. In such examples, a filter or the like may be provided to remove unwanted particles, liquids, and/or gases from entering and/or exiting the extendable members 122, 124.

It will be understood in this disclosure that in example embodiments where anchor assembly 120 includes more than two extendable members, suction openings 126 may be provided between some or all of the extendable members. For example, if anchor assembly 120 includes three extendable members, suction openings 126 may be provided between each of the three extendable members.

Each extendable member 122, 124 and its cross-section may be formed in any of a number of shapes, sizes, and/or dimensions. For example, the extendable members 122, 124 may be shaped like tablets or donuts having a circular cross-section. The cross-sectional shape of the extendable members 122, 124 may also be one or more of rectangular, square, pentagonal, hexagonal, etc., or a combination of one or more geometric shapes without departing from the teachings of the present disclosure.

In example embodiments where the cross-sectional shape of extendable members 122, 124 is circular, the outer diameter of extendable members 122, 124 may be between about 3 to 100 mm. The distance that the extendable members 122, 124 may be extended radially away from the body 130 and retracted toward the body 130 may be between about 0.05 and 50 mm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and, as such, dimensions may be less than or greater than those noted above without departing from the teachings of this disclosure.

The extendable members 122, 124 may be formed using any one or more of a variety of materials, such as surgical grade plastics, rubber, and the like. It is understood in this disclosure that the surface pattern, roughened portions, and/or protruding portions forming the surface of the extendable member 122, 124 may be the same or different material than the remainder of the extendable member 122, 124. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is understood in this disclosure that the above materials are merely illustrative of example embodiments and that these materials and composites, as well as other materials and composites, may be used without departing from the teachings of this disclosure.

Second body (e.g., second body 150)

Fig. 1, 2B-C, 3A-G, and 3I illustrate an example embodiment of a second body 150 of an endoscope system 100. As used in this disclosure, the second body 150 may also be referred to as an outer body 150, a second tube 150, an outer tube 150, and the like. The second body 150 may include a first end 150a and an exposed end portion 150b.

A portion of the body 130 near the first end 150a may or may not be selectively configured to actuate (and/or bend, rotate, pivot, twist, move, etc.) in one or more of a plurality of directions (and/or positions, locations, etc.) relative to other portions of the second body 150. Such actuation of a portion of the second body 150 may be similar to, the same as, different from, or based on the actuation described above for the body 130. As shown in fig. 3C, in an example embodiment, the second body 150 may be selectively configured and/or controlled to slide, that is, extend outward and/or retract inward, relative to the body 130. It is recognized in the present disclosure that sliding and/or actuation of at least a portion of the second body 150 relative to the body 130 can enable the endoscope system 100 to be advanced around the flexed and/or circulated/curved portion of a patient's lumen (such as a colon lumen) without forceful manual pushing against an inner wall forming the patient's lumen.

In the example embodiment shown in fig. 3I, the second body 150 may include one or more motion control cavities 153 or the like. Each motion control cavity 153 may be operable to receive and/or contain a filler or the like. The filler may be any substance or material, including a gas (such as air, carbon dioxide, nitrogen), a liquid (such as water, oil), and/or a solid (such as microparticles). A predetermined selection and/or combination of one or more of the motion-control cavities 153 may be selectively configured and controlled when it is desired to actuate the motion, control and/or positioning of a portion of the second body 150 (such as a portion of the second body 150 closer to the first end 150 a) in a particular desired direction and/or position. For example, one or more of the motion control cavities 153 may contain one or more types of fillers, such as gas, which may be manipulated manually by an operator/surgeon and/or via controller 160 to actuate the portion of the second body 150, such as via pressure control subsystem 170, extension source subsystem 194, and so forth. As another example, one or more of the motion control cavities 153 may be provided with a predetermined amount of one or more types of filler when the portion of the second body 150 requires actuation. As another example, the properties of the filler material contained in one or more of the motion control cavities 153 may be selectively configured to change, such as change in volume (extend and/or retract), harden, become softer, change from a gas phase to a liquid phase (or vice versa), change from a liquid phase to a solid phase (or vice versa), change in pressure, change in temperature, change in shape/size, change in tensile strength, and so forth. To achieve one or more such changes, the one or more fillers may be a material (or combination of materials) selected in such a way that the introduction, application, change, and/or removal of the application of current, voltage potential, resistance, pressure, temperature, magnetic field, etc., each if applicable, causes one or more of the above-mentioned property changes. For example, the filler may be a shape memory metal or other material, a spring-based or spring-like material, or the like.

In an example embodiment, actuation of the second body 150 (including the portion of the second body 150 closer to the first end 150 a) as described above and in the present disclosure may be performed and/or controlled manually by the controller 160 and/or an operator/surgeon and/or via the controller 160. Further, the amount of filler, the change in the amount of filler, and/or the change in the properties of filler in the one or more motion control cavities 153 may be stored in the computer readable medium 162.

It is understood in this disclosure that other elements and/or methods for actuating the movement, control and/or positioning of a portion of the second body 150 and/or other elements of the endoscope system 100 are contemplated without departing from the teachings of this disclosure.

As shown in at least fig. 3I, in an exemplary embodiment, the second body 150 can also include one or more main cavities 152. The main body 152 may be operable to enable the body 130 to move relative to the second body 150, and vice versa. In example embodiments, other primary cavities 152 may be provided having other bodies, such as one or more intermediate bodies (not shown) between the main body 130 and the secondary body 150 or adjacent to the main body 130 and the secondary body 150. Further, as shown in fig. 2B, in an example embodiment, an additional main cavity 152 having one or more head assemblies 110' may be provided.

In an example embodiment, the second body 150 may also include one or more instrument cavities (not shown). Such instrument cavities of the second body 150 may be operable to enable instruments, such as the instrument 112 and/or other instruments (not shown), to move relative to the second body 150, and/or to enable cables (if any) and/or connections (if any) of such instruments to be used by an operator/surgeon and/or to the controller 160 and/or computer readable medium 162. For example, such an instrument cavity of the second body 150 may be operable to enable an instrument to perform a therapeutic/surgical procedure on a portion of an inner wall forming a cavity of a patient between the first anchor assembly 120 and the second anchor assembly 140.

The second body 150 may also include one or more flushing chambers (not shown). Such an irrigation lumen of the second body 150 may be operable to enable movement of fluids and/or solids into and out of the lumen of the patient. Such rinsing cavities of the second body 150 may be connected to the rinsing cavities 114, 134 and/or other rinsing cavities and/or openings (not shown). Furthermore, in an example embodiment, such a flushing cavity of the second body 150 may also be connected to a flushing subsystem 190. In an example embodiment, such an irrigation lumen of the second body 150 may be operable to enable fluid and/or solid movement into and out of the patient's lumen in the region between the first anchor assembly 120 and the second anchor assembly 140.

In example embodiments, the second body 150 may also include one or more insufflation/aspiration lumens (not shown). Such an insufflation/aspiration lumen of the second body 150 may be operable to provide and/or remove gas for performing insufflation or aspiration of the lumen of the patient (i.e., to provide positive and/or negative pressure, respectively). Such insufflation/aspiration lumens of the second body 150 may or may not be connected to the insufflation lumens 115, 135. Further, in example embodiments, such insufflation/aspiration lumens of the second body 150 may also be connected to an insufflation subsystem 192, a pressure control subsystem, and/or a different subsystem. In an exemplary embodiment, such an insufflation/suction lumen of the second body 150 can be operable to provide insufflation and/or suction in the region between the first anchor assembly 120 and the second anchor assembly 140.

As shown in at least fig. 3I, in an example embodiment, the second body 150 may further include one or more anchor cavities 154, the anchor cavities 154 operable to configure, control, and/or assist in configuring and/or controlling the second anchor assembly 140. The anchoring lumen 154 can be operable to provide gas, liquid, and/or solid and/or combinations thereof for expanding one or more of the third extendable member 142 and the fourth extendable member 144, such as radially from the body 130. The anchor lumen 154 may be connected to one or more of the third extendable member 142 and the fourth extendable member 144. In an exemplary embodiment, the anchor cavity 154 may also be connected to the extended source subsystem 194. Second anchor assembly 140 is described further below.

As shown in at least fig. 3H, in an example embodiment, the second body 150 may also include one or more suction cavities 157. The suction lumen 157 may be operable to provide negative pressure (or perform removal of gas). For example, the suction lumen 157 can be operable to apply negative pressure to the third extendable member 142 (when extended), the fourth extendable member 144 (when extended), the area between the inner wall of the lumen forming the patient 102 and the second body 150. The suction cavity 157 may be connected to the suction opening 146. In an example embodiment, the suction lumen 157 may also be connected to a pressure control subsystem 170. The suction opening 146 will be described further below.

It is understood in this disclosure that the second body 150 (including one or more of the instrument lumen (not shown), motion control lumen 153, irrigation lumen (not shown), irrigation subsystem 190, insufflation/aspiration lumen (not shown), insufflation subsystem 192, anchor lumen 154, extended source subsystem 194, aspiration lumen 157, and pressure control subsystem 170) may be provided in the same, similar, different, or configuration based on the configuration shown in the example embodiment of fig. 3I without departing from the teachings of this disclosure. Further, one or more of an instrument lumen (not shown), a motion control lumen 153, an irrigation lumen (not shown), an irrigation subsystem 190, an insufflation/aspiration lumen (not shown), an insufflation subsystem 192, an anchor lumen 154, an extension source subsystem 194, an aspiration lumen 157, and a pressure control subsystem 170 may or may not be provided in the second body 150 without departing from the teachings of the present disclosure.

The second body 150 and its cross-section may be formed in any of a number of shapes, sizes and/or dimensions. For example, as shown in fig. 1-3, the second body 150 may be an elongated cylinder. The cross-sectional shape of the second body 150 may also be one or more of rectangular, square, pentagonal, hexagonal, etc., or a combination of one or more geometric shapes without departing from the teachings of the present disclosure.

In an example embodiment in which the sectional shape of the second body 150 is a cylinder shape having a circular sectional shape, the outer diameter of the second body 150 may be between about 6 to 35 mm. The length of the second body 150 may be extended/retracted between about 50 to 200 cm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and as such dimensions may be smaller or larger than those noted above without departing from the teachings of this disclosure.

The second body 150 may be formed using any one or more of a variety of materials, such as surgical grade plastic, rubber, and the like. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is understood in this disclosure that the above materials are merely illustrative of example embodiments and that these materials and composites, as well as other materials and composites, may be used without departing from the teachings of this disclosure.

Second anchor assembly (e.g., second anchor assembly 140)

A perspective view of an exemplary embodiment of an extended second anchor assembly 140 (e.g., second anchor assembly 140 extending radially from second body 150) is illustrated in at least fig. 1; illustrated in at least fig. 2B-C, 3A, 3D-E, and 3G is a side view of an exemplary embodiment of an extended second anchor assembly 140 (e.g., second anchor assembly 140 extending radially from second body 150); a side view of an exemplary embodiment of an unextended second anchor assembly 140 (e.g., a second anchor assembly 140 that is not radially extended from the second body 150) is illustrated in at least fig. 3B-C. Second anchor assembly 140 may be attachable to second body 150. During diagnostic and/or therapeutic/surgical procedures, the second anchor assembly 140 may be fixedly attached to the second body 150 near the first end 150a of the second body 150.

Second anchor assembly 140 may be configured to perform, among other operations, fixation of the position and/or location of second body 150. In an example embodiment, when the endoscopic system 100 is inserted into a patient's cavity, as shown in at least fig. 2C, 3D-E, and 3G, the second anchor assembly 140 may be configurable to secure the second body 150 relative to an inner wall forming the patient's cavity. Second anchor assembly 140 may secure second body 150 relative to an inner wall forming a cavity of a patient in one or more of a variety of ways. In an example embodiment, one or more extendable members 142, 144 may be extended to contact an inner wall forming a cavity of a patient. The second anchor assembly 140 may also secure the second body 150 relative to the inner wall forming the patient's cavity by applying negative pressure through the one or more second suction openings 146. The second anchor assembly 140 can also secure the second body 150 relative to the inner walls forming the patient's cavity via one or more surface patterns, roughened portions, protruding portions, etc., formed on the surface of one or more of the extendable members 142, 144 or portion(s) thereof. Second anchor assembly 140 may also use magnetic elements and corresponding external magnetic elements provided external to the patient to secure second body 150 relative to the inner walls forming the patient's cavity. The fixation of the second anchor assembly 140 relative to the inner wall of the cavity forming the patient will now be described further below.

Second anchor assembly 140 may include one or more extendable members 142, 144. The one or more extendable members 142, 144 may be fixedly attached to the second body 150 near the first end 150a of the second body 150 during diagnostic and/or therapeutic/surgical procedures. In an exemplary embodiment, second anchor assembly 140 can include a third extendable member 142. As used in this disclosure, the third expandable member 142 may also be referred to as an expandable member 142, a third inflatable ball 142, or the like. Second anchor assembly 140 may further comprise a fourth extendable member 144. A fourth extendable member 144 may be provided between the third extendable member 142 and the first end 150a of the second body 150. As used in this disclosure, the fourth extendable member 144 may also be referred to as an extendable member 144, a fourth inflatable ball 144, or the like. It is understood in this disclosure that second anchor assembly 140 may include other numbers of extendable members, such as one or more additional extendable members, without departing from the teachings of this disclosure.

Each extendable member 142, 144 may be configured to change its volume/size to a minimum volume/size, a maximum volume/size, and a volume/size between the minimum volume/size and the maximum volume/size. For example, each extendable member 142, 144 may be configured to extend radially away from the second body 150.

In an example embodiment, each extendable member 142, 144 may be a hollow member such as an inflatable ball or the like. In this regard, each extendable member 142, 144 may be operable to extend (i.e., secure second body 150) by receiving a gas (or positive pressure), a liquid, a solid, and/or combinations thereof. Expansion of the extendable members 142, 144 may occur partially, substantially, or completely in a direction away from the second body 150 (i.e., radially away from the second body 150). Further, each extendable member 142, 144 may be operable to decrease in size (or retract or release body 130) by removing gas (or removing positive or applying negative pressure), liquid, solid, and/or combinations thereof received in extendable member 142, 144. To secure the second body 150 relative to the inner wall forming the patient's lumen, the one or more extendable members 142, 144 may be extended to contact the inner wall forming the patient's lumen. It is recognized in the present disclosure that the extension and contact of the one or more extendable members 142, 144 with the inner walls forming the patient's cavity may provide sufficient securement or anchoring of the second body 150 so as to resist forces of at least 0.1 to 20N.

One or more of the extendable members 142, 144 may include one or more surface patterns, roughened portions, protrusions, or the like formed on the surface of the one or more extendable members 142, 144 or portion(s) thereof. Such surface patterns, roughness, protrusions, etc. formed on the surface of one or more extendable members 142, 144 in contact with the inner wall forming the patient's lumen may further improve the securement or anchoring of the second body 150 during diagnostic and/or therapeutic/surgical procedures where securement or anchoring of the second body 150 relative to the inner wall forming the patient's lumen is desired or required. For example, the surface pattern, roughened portion, protruding portion, etc. may provide or contribute to providing resistance to movement of one or more of the extendable members 142, 144 contacting the inner wall of the patient's lumen relative to the inner wall of the patient's lumen. It is recognized in the present disclosure that such securing or anchoring of the second body 150 may be operable to resist forces of at least 0.1 to 30N.

It is understood in this disclosure that second anchor assembly 140 (including one or more of third extendable member 142 and fourth extendable member 144) may or may not be a hollow member such as an inflatable ball, tire, or the like. For example, one or more of the third extendable member 142 and the fourth extendable member 144 may be only partially hollow. As another example, one or more of the third extendable member 142 and the fourth extendable member 144 may be formed partially, substantially, and/or entirely of an extendable solid and/or liquid. In this regard, the properties of such materials forming one or more of the third extendable member 142 and the fourth extendable member 144 may be selectively configured to change, such as change in volume (extend and/or retract), harden, become softer, change from a gas phase to a liquid phase (or vice versa), change from a liquid phase to a solid phase (or vice versa), change from a gas phase to a solid phase (or vice versa), change in pressure, change in temperature, change in shape, change in size, change in tensile strength, and so forth. To effect one or more such changes, such materials forming one or more of the third extendable member 142 and the fourth extendable member 144 may be materials (or combinations of materials) selected in such a way that the introduction, application, change, and/or removal of the application of an electrical current, voltage potential, resistance, pressure, temperature, magnetic field, etc., each if applicable, causes one or more of the above-mentioned property changes. For example, such materials may be shape memory metals or other materials, spring-based or spring-like materials, and the like.

In some example embodiments, the second anchor assembly 140 may include one or more extendable members extending radially away from the second body 150 and extending in other directions, such as the example shown in fig. 4B. In other example embodiments (such as the example shown in fig. 4A), second anchor assembly 140 may include integrated third and fourth extendable members 142, 144, etc. In other example embodiments (such as the example shown in fig. 4C), the second anchor assembly 140 may include a magnetic element 146' or the like operable to secure to a corresponding magnetic element provided external to the patient.

The second anchor assembly 140 may also include one or more second suction openings 146. As used in this disclosure, the second suction opening 146 may also be referred to as a suction opening 146. The second suction opening 146 may be formed in one or more of various shapes, and provided in one or more numbers. Fig. 4D illustrates an example embodiment of the one or more second suction openings 146. The one or more second suction openings 146 may further improve the fixation or anchoring of the second body 150 during diagnostic and/or therapeutic/surgical procedures where fixation or anchoring of the second body 150 relative to the inner wall forming the cavity of the patient is desired or required. For example, the second suction opening 146 can be operable to apply negative pressure to a region between the third extendable member 142 (when extended), the fourth extendable member 144 (when extended), an inner wall forming a cavity of the patient 104 (as shown in at least fig. 3E), and the second body 150. In an example embodiment, the second suction opening 146 may be configured to apply a negative pressure and change the applied negative pressure to between about-10 kPa to vacuum. It is recognized in the present disclosure that the second body 150 may provide improved securement or anchoring through the use of the extended third and fourth extendable members 142, 144 and such securement or anchoring of the one or more second suction openings 146, and may be operable to resist forces of at least 0.1 to 40N.

In an example embodiment, applying negative pressure through second suction opening 146 (i.e., suctioning or removing gas from the area between third extendable member 142 (when extended), fourth extendable member 144 (when extended), the inner wall forming the cavity of patient 104, and second body 150) may be performed before, simultaneously (or uniformly) and/or after extension of extendable members 142, 144. Further, in an example embodiment, application of negative pressure through second suction opening 146 (i.e., suction or removal of gas from the area between third extendable member 142 (when extended), fourth extendable member 144 (when extended), the inner wall forming the cavity of patient 104, and second body 150) may be operable to provide or assist in providing extension of one or more of extendable members 142, 144. For example, when gas in the third extendable member 142 (when extended), fourth extendable member 144 (when extended), the area between the inner wall forming the cavity of the patient 104 and the second body 150 is being aspirated or removed, the aspirated or removed gas may be provided into one or more of the extendable members 142, 144. In such examples, filters or the like may be provided to remove unwanted particles, liquids, and/or gases from entering and/or exiting the extendable members 142, 144.

It will be understood in this disclosure that in example embodiments where second anchor assembly 140 includes more than two extendable members, second suction openings 146 may be provided between some or all of the extendable members. For example, if second anchor assembly 140 includes three extendable members, a second suction opening 146 may be provided between each of the three extendable members.

Each extendable member 142, 144 and its cross-section may be formed in any of a number of shapes, sizes, and/or dimensions. For example, the extendable members 142, 144 may be shaped like tablets or donuts having a circular cross-section. The cross-sectional shape of the extendable members 142, 144 may also be one or more of rectangular, square, pentagonal, hexagonal, etc., or a combination of one or more geometric shapes without departing from the teachings of the present disclosure.

In example embodiments where the cross-sectional shape of the extendable members 142, 144 is circular, the outer diameter of the extendable members 142, 144 may be between about 5 to 100 mm. The distance that extendable members 142, 144 may be extended radially away from second body 150 and retracted toward second body 150 may be between about 0.05 and 50 mm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and as such dimensions may be smaller or larger than those noted above without departing from the teachings of this disclosure.

The extendable members 142, 144 may be formed using any one or more of a variety of materials, such as surgical grade plastics, rubber, and the like. It is understood in this disclosure that the surface pattern, roughened portions, and/or protruding portions forming the surface of the extendable members 142, 144 may be the same or different material than the remainder of the extendable members 142, 144. It is understood in this disclosure that other materials may also be used without departing from the teachings of this disclosure. It is understood in this disclosure that the above materials are merely illustrative of example embodiments and that these materials and composites, as well as other materials and composites, may be used without departing from the teachings of this disclosure.

Controller (e.g., controller 160)

00123 as shown in at least fig. 6, 7A, and 7B, an exemplary embodiment of the endoscopic device 100 may include a controller system (e.g., controller 160). The controller 160 may be provided and configured in one or more of a variety of ways. For example, the controller 160 can be housed in whole or in part in one or more portions of the endoscopic system 100 (such as the head assembly 110, the body 130, and/or the second body 150), and/or provided at the second end 150b. The controller 160 can include logic stored in a non-transitory computer-readable medium that, when executed by a processor associated with or in communication with the controller 160, can be operable to perform one or more actions, operations, configurations, and/or communications (such as monitoring and/or controlling) with one or more elements of the endoscopic system 100. The controller 160 can also be operable to receive commands and/or instructions wirelessly or via a lead from an operator (such as a surgeon) and respond by performing the one or more actions, operations, configurations, and/or communications with one or more elements of the endoscopic system 100.

The controller 160 can be any device, apparatus, processor, etc., or combination thereof operable to communicate (including monitoring and/or control) wirelessly or via a wire with one or more elements of the endoscopic system 100, including, but not limited to, the head assembly 110, the first end portion 110a, the second end portion 110b, the image capture assembly 111, the instrument assembly 112, the motion control lumen 113, the irrigation lumen 114, the insufflation lumen 115, the first anchor assembly 120, the second extendable member 122, the first extendable member 124, the first suction opening 126, the body 130, the first end 130a, the second end 130b, the motion control lumen 133, the irrigation lumen 134, the insufflation lumen 135, the anchor lumen 136, the suction lumen 137, the second anchor assembly 140, the fourth extendable member 142, the third extendable member 144, the second suction opening 146, the second body 150, the first end 150a, the second end 150b, the main lumen 152, the motion control lumen 153, the anchor lumen 154, the suction lumen 157, the pressure control subsystem 170, the power source 180, the irrigation subsystem 190, the insufflation subsystem 192, the irrigation subsystem, and/or other control devices (shown and/or computing subsystems).

As shown in fig. 6, 7A, and 7B, example embodiments of the controller 160 may include a first controller (e.g., a body controller) 160a and a second controller (e.g., a second body controller) 160B, the first controller 160a being configured to perform one or more actions, operations, configurations, and/or communications with those elements of the first body 130 and/or associated with the first body 130, and the second controller 160B being configured to perform one or more actions, operations, configurations, and/or communications with those elements of the second body 150 and/or associated with the second body 150. Although these figures may illustrate that the controller 160 includes a first controller 160a and a second controller 160b, it is understood in this disclosure that the controller 160 may include more or fewer subsystems without departing from the teachings of this disclosure. It is also to be understood in this disclosure that the actions, operations, configurations, and/or communications of the first controller 160a need not be limited to only those elements of the first body 130 and/or associated with the first body 130. For example, in an example embodiment, the first controller 160a may also be used to perform actions, operations, configurations, and/or communications with elements of the second body 150 and/or associated with the second body 150. Likewise, it is understood in this disclosure that the actions, operations, configurations, and/or communications of the second controller 160b need not be limited to only those elements of the second body 150 and/or associated with the second body 150. For example, in an example embodiment, the second controller 160b may also be used to perform actions, operations, configurations, and/or communications with elements of the first body 130 and/or associated with the first body 130.

First controller (e.g., first controller 160 a)

In an example embodiment, the first controller 160a may be operable to control the forward movement of the first body 130 by automatic control of a processor and/or manual control of an operator. For example, interaction with the first controller 160a and/or an element (e.g., 161 a) associated with the first controller 160a, such as a button, joystick, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of the first controller 160a (such as an outer body, grip portion, etc.), may be used to advance the first body 130 forward relative to the second controller 160b (and/or the outer body, grip portion, etc., of the second body 150 and/or the second controller 160 b). In this regard, the second controller 160b (and/or the second body 150 and/or an outer body, gripping portion, etc. of the second controller 160 b) may be fixed and/or anchored in place relative to the patient (and/or the operating bed) (such as via the second anchor assembly 140, an anchoring tool (not shown), and/or an operator) so as to enable the first body 130 to be advanced inwardly/forwardly.

In an example embodiment, the first controller 160a may also be operable to control the rearward movement of the first body 130 through automatic control of the processor and/or manual control of the operator. For example, interaction may be with the first controller 160a and/or an element (e.g., 161 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, tactile feedback, etc., or a physical element of the first controller 160a, such as an outer body, grip portion, etc., to move the first body 130 toward the second body 150. In this regard, the second controller 160b (and/or the second body 150 and/or an outer body, gripping portion, etc. of the second controller 160 b) may be fixed and/or anchored in place relative to the patient (and/or the surgical bed) (such as via the second anchor assembly 140, an anchoring tool (not shown), and/or an operator).

In an example embodiment, the first controller 160a may also be operable to control actuation (such as bending, straightening, turning, pivoting, twisting, movement, etc.) of the first body 130 in one or more of a plurality of directions (such as bending, straightening, turning, pivoting, twisting, movement, etc. of the first end portion 130 a) by automatic control of a processor and/or manual control of an operator. For example, the first controller 160a and/or an element (e.g., 161 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of the first controller 160a (such as an outer body, grip portion, etc.) may be controlled by an operator to enable the first body 130 to be actuated by the operator as desired. In this regard, the pressure control subsystem 170, the extension source subsystem 194, etc., associated with or connected to the one or more motion control cavities 133 of the first body 130 as described above and in the present disclosure, may be controllable by the first controller 160a and/or elements (e.g., 161 a) associated with the first controller 160a (such as buttons, levers, control rods, touch pads, etc. of the first controller 160 a) to enable actuation of the first body 130 as desired.

In an example embodiment, first controller 160a may also be operable to control the extension and/or retraction of first anchor assembly 120 through automatic control of a processor and/or manual control of an operator. For example, the first controller 160a and/or elements (e.g., 165 a) associated with the first controller 160a, such as buttons, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, etc., or physical elements of the first controller 160a (such as an outer body, grip portion, etc.) may be controlled by an operator to enable the first anchor assembly 120 to be extended and/or retracted as desired by the operator. In this regard, the extension source subsystem 194 or the like associated with or connected to the first anchor assembly 120 of the first body 130 as described above and in the present disclosure may be controllable by the first controller 160a and/or elements (e.g., 165 a) associated with the first controller 160a (such as buttons, levers, control rods, touch pads, motion controls, voice controls, accelerometers, tactile feedback, or the like, or physical elements (such as an outer body, grip portion, or the like) of the first controller 160 a) to enable extension and/or retraction of the first anchor assembly 120 as desired.

In an example embodiment, the first controller 160a may also be operable to control the extension and/or retraction of one or more of the second extendable member 122 and the first extendable member 124 through automatic control of a processor and/or manual control of an operator. For example, the first controller 160a and/or an element (e.g., 165 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of the first controller 160a (such as an outer body, gripping portion, etc.), may be controlled by an operator to enable one or more of the second extendable member 122 and the first extendable member 124 to be extended and/or retracted as desired by the operator. In this regard, an extension source subsystem 194 or the like associated or connected with one or more of the second extendable member 122 and the first extendable member 124 as described above and in the present disclosure may be controllable by the first controller 160a and/or an element (e.g., 165 a) associated with the first controller 160a, such as a button, lever, control rod, touch pad, motion control, voice control, accelerometer, haptic feedback, or the like, or a physical element (such as an outer body, grip portion, or the like) of the first controller 160a, so as to enable one or more of the second extendable member 122 and the first extendable member 124 to be extended and/or retracted as desired.

In an example embodiment, the first controller 160a may also be operable to control the application and/or non-application of suction (or application of negative pressure) via the first suction opening(s) 126 by automatic control of the processor and/or manual control by an operator. For example, the first controller 160a and/or an element (e.g., 166 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, tactile feedback, etc., or a physical element of the first controller 160a, such as an outer body, grip portion, etc., may be controlled by the operator in order to enable the first suction opening(s) 126 to be used by the operator to apply suction (or negative pressure) and/or apply no suction (or no pressure or positive pressure) as desired. In this regard, the pressure control subsystem 170 or the like associated with or connected to the first suction opening(s) 126 of the first body 130 as described above and in the present disclosure may be controllable by the first controller 160a and/or elements (e.g., 166 a) associated with the first controller 160a, such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, or the like, or physical elements of the first controller 160a, such as an outer body, grip portion, or the like, so as to enable the first suction opening(s) 126 to apply and/or not apply suction as desired. It is understood in this disclosure that first controller 160a may be operable to control the extension and retraction of first anchor assembly 120 (and/or each of first and second extendable members 124, 122) simultaneously with the application of suction through first suction opening(s) 126 and without the application of suction through first suction opening(s) 126, respectively (e.g., by using a single control, interaction, action and/or command that performs both). For example, the first suction opening(s) 126 may be controlled to apply suction when the first anchor assembly 120 is controlled to extend. Similarly, when the first anchor assembly 120 is controlled to retract, the first suction opening(s) 126 may be controlled to not apply suction.

In an example embodiment, the first controller 160a may also be operable to control the forward movement of the head assembly 110 through automatic control of the processor and/or manual control by the operator. For example, first controller 160a and/or an element (e.g., 163 a) associated with first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of first controller 160a (such as an outer body, grip portion, etc.), may be interacted with to advance head assembly 110 forward relative to first body 130. In this regard, the first body 130 may be fixed and/or anchored in position relative to the patient (and/or the operating bed) (such as via the first anchor assembly 120, the second anchor assembly 140, an anchor tool (not shown), and/or an operator) so as to enable the head assembly 110 to be advanced forward.

In an example embodiment, the first controller 160a may also be operable to control the rearward movement of the head assembly 110 through automatic control of the processor and/or manual control by an operator. For example, interaction may be with the first controller 160a and/or an element (e.g., 163 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, tactile feedback, etc., or a physical element of the first controller 160a, such as an outer body, grip portion, etc., to move the head assembly 110 rearward (i.e., toward the first body 130). In this regard, the first body 130 may be fixed and/or anchored in position relative to the patient (and/or the operating bed) (such as via the first anchor assembly 120, the second anchor assembly 140, an anchoring tool (not shown), and/or an operator) so as to enable the head assembly 110 to be pulled rearwardly (i.e., toward the first body 130).

In an example embodiment, the first controller 160a may also be operable to control actuation (such as bending, straightening, turning, pivoting, twisting, movement, etc.) of the head assembly 110 in one or more of a plurality of directions (such as bending, straightening, turning, pivoting, twisting, movement, etc. of the second end portion 110 b) through automatic control of a processor and/or manual control of an operator. For example, the first controller 160a and/or an element (e.g., 163 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of the first controller 160a (such as an outer body, grip portion, etc.), may be controlled by an operator to enable the head assembly 110 to be actuated as desired by the operator. In this regard, the pressure control subsystem 170, the extension source subsystem 194, etc., associated with or connected to the one or more motion control cavities 113 of the head assembly 110 as described above and in the present disclosure may be controllable by the first controller 160a and/or elements (e.g., 163 a) associated with the first controller 160a (such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, haptic feedback, etc., or physical elements (such as an outer body, grip portion, etc.) of the first controller 160 a) to enable actuation of the head assembly 110 as desired.

In an example embodiment, the first controller 160a may also be operable to control forward movement of the instrument assembly 112 through automatic control of the processor and/or manual control by the operator. For example, first controller 160a and/or an element (e.g., 164 a) associated with first controller 160a, such as a button, lever, control bar, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of first controller 160a, such as an outer body, grip portion, etc., may be interacted with in order to advance instrument assembly 112 away from head assembly 110, such as via instrument cavity 131. In this regard, the head assembly 110 may be fixed and/or anchored in position relative to the patient (and/or the surgical bed) (such as via the first anchor assembly 120, the second anchor assembly 140, an anchor tool (not shown), and/or an operator) to enable forward advancement of the instrument assembly 112.

In an example embodiment, the first controller 160a may also be operable to control the rearward movement of the instrument assembly 112 through automatic control of the processor and/or manual control by the operator. For example, first controller 160a and/or an element (e.g., 164 a) associated with first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of first controller 160a, such as an outer body, grip portion, etc., may interact to move instrument assembly 112 (i.e., toward head assembly 110). In this regard, the head assembly 110 may be fixed and/or anchored in place relative to the patient (and/or the operating bed) (such as via the first anchor assembly 120, the second anchor assembly 140, an anchor tool (not shown), and/or an operator) so as to enable the instrument assembly 112 to be pulled rearwardly (i.e., toward the head assembly 110).

In an example embodiment, the first controller 160a may also be operable to control the operating instrument assembly 112 (such as to perform cutting and/or grasping actions while in operation) through automated control of the processor and/or manual control of the operator. For example, first controller 160a and/or an element (e.g., 164 a) associated with first controller 160a, such as a button, joystick, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of first controller 160a, such as an outer body, gripping portion, etc., may interact to perform an action, such as cutting, gripping, etc., using instrument assembly 112, such as via instrument cavity 131.

In an example embodiment, the first controller 160a may also be operable to control the recording, image capturing, zooming, and/or rolling operations of the image capturing component 111 through automatic control of the processor and/or manual control by the operator. For example, the first controller 160a and/or an element (e.g., 169 a) associated with the first controller 160a, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of the first controller 160a, such as an exterior body, grip portion, etc., can interact to perform an action (such as recording, image capture, zooming, rolling, illuminating, etc.) using the image capture component 111 via the image capture cavity 131.

In an example embodiment, the first controller 160a may also be operable to control the movement of solids and/or liquids through the flush chamber 134 by automatic control of the processor and/or manual control of an operator. For example, interaction may be with the first controller 160a and/or elements (e.g., 168 a) associated with the first controller 160a, such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, etc., or physical elements of the first controller 160a (such as an outer body, a grip portion, etc.) to enable movement of solids and/or liquids using the irrigation cavity 134 via the irrigation cavity 114 and the irrigation system 190.

In an exemplary embodiment, the first controller 160a can also be operable to control enabling insufflation through the insufflation cavity 135 by automatic control of the processor and/or manual control of an operator. For example, the first controller 160a and/or an element (e.g., 167 a) associated with the first controller 160a, such as a button, lever, control rod, touch pad, motion control, voice control, accelerometer, haptic feedback, etc., or a physical element of the first controller 160a (such as an outer body, grip portion, etc.), can interact to enable insufflation of the patient's cavity using the insufflation cavity 135 via the insufflation cavity 115 and insufflation system 192.

Second controller (e.g., second controller 160 b)

With respect to the second controller 160b, in example embodiments, the second controller 160b may be operable to control the forward movement of the second body 150 through automatic control of a processor and/or manual control of an operator. For example, second body 150 may be advanced forward relative to (or toward) first controller 160a (and/or first body 130 and/or an outer body, gripping portion, etc. of first controller 160 a) in interaction with second controller 160b and/or an element (e.g., 161 b) associated with second controller 160b, such as a button, joystick, control bar, touch pad, motion control, voice control, accelerometer, tactile feedback, etc., or a physical element of second controller 160b (such as an outer body, gripping portion, etc.). In this regard, the first controller 160a (and/or the first body 130 and/or an outer body, grip portion, etc. of the first controller 160 a) may be fixed and/or anchored in place relative to the patient (and/or the operating bed) (such as via the first anchor assembly 120, an anchoring tool (not shown), and/or an operator) so as to enable the second body 150 to be advanced inwardly/forwardly.

In an example embodiment, the second controller 160b may be operable to control the rearward movement of the second body 150 through automatic control of a processor and/or manual control of an operator. For example, second body 150 may be interacted with second controller 160b and/or an element (e.g., 161 b) associated with second controller 160b, such as a button, a joystick, a control stick, a touch pad, motion control, voice control, an accelerometer, tactile feedback, etc., or a physical element of second controller 160b (such as an outer body, a grip portion, etc.) to move second body 150 away from first body 130. In this regard, the first controller 160a (and/or the first body 130 and/or an outer body, gripping portion, etc. of the first controller 160 a) may be fixed and/or anchored in place relative to the patient (and/or the surgical bed) (such as via the first anchor assembly 120, an anchoring tool (not shown), and/or an operator).

In an example embodiment, the second controller 160b may be operable to control actuation (such as bending, straightening, turning, pivoting, twisting, moving, etc.) of the second body 150 in one or more of a plurality of directions (such as bending, straightening, turning, pivoting, twisting, moving, etc. of the first end portion 150 a) by automatic control of a processor and/or manual control of an operator. For example, the second controller 160b and/or an element (e.g., 161 b) associated with the second controller 160b, such as a button, a joystick, a control stick, a touch pad, motion control, voice control, an accelerometer, haptic feedback, or the like, or a physical element of the second controller 160b (such as an outer body, a grip portion, or the like), may be controlled by an operator to enable the second body 150 to be actuated as desired by the operator. In this regard, the pressure control subsystem 170, the extension source subsystem 194, etc., associated with or connected to the one or more motion control cavities 153 of the second body 150 as described above and in the present disclosure, may be controllable by the second controller 160b and/or elements (e.g., 161 b) associated with the second controller 160b (such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, haptic feedback, etc., or physical elements (such as an outer body, grip portion, etc.) of the second controller 160 b) so as to enable actuation of the second body 150 as desired.

In an example embodiment, second controller 160b may be operable to control extension and/or retraction of second anchor assembly 140 via automatic control of a processor and/or manual control of an operator. For example, the second controller 160b and/or elements (e.g., 165 b) associated with the second controller 160b, such as buttons, levers, control rods, touch pads, motion controls, voice controls, accelerometers, tactile feedback, etc., or physical elements of the second controller 160b (such as the outer body, grip portion, etc.) may be controlled by the operator to enable the second anchor assembly 140 to be extended and/or retracted as desired by the operator. In this regard, an extension source subsystem 194 or the like associated with or connected to the second anchor assembly 140 of the second body 150 as described above and in the present disclosure may be controllable by the second controller 160b and/or elements (e.g., 165 b) associated with the second controller 160b (such as buttons, levers, control rods, touch pads, motion controls, voice controls, accelerometers, tactile feedback, or the like, or physical elements (such as an outer body, grip portion, or the like) of the second controller 160 b) to enable extension and/or retraction of the second anchor assembly 140 as desired.

In an example embodiment, the second controller 160b may be operable to control the extension and/or retraction of one or more of the fourth extendable member 142 and the third extendable member 144 via automatic control of a processor and/or manual control of an operator. For example, the second controller 160b and/or an element (e.g., 165 b) associated with the second controller 160b, such as a button, lever, control stick, touch pad, motion control, voice control, accelerometer, haptic feedback, or the like, or a physical element of the second controller 160b (such as an outer body, gripping portion, or the like), may be controlled by an operator to enable one or more of the fourth extendable member 142 and the third extendable member 144 to be extended and/or retracted as desired by the operator. In this regard, an extension source subsystem 194 or the like associated or connected with one or more of the fourth extendable member 142 and the third extendable member 144 as described above and in the present disclosure may be controllable by the second controller 160b and/or an element (e.g., 165 b) associated with the second controller 160b, such as a button, lever, control rod, touch pad, motion control, voice control, accelerometer, haptic feedback, or the like, or a physical element (such as an outer body, grip portion, or the like) of the second controller 160b, to enable one or more of the fourth extendable member 142 and the third extendable member 144 to be extended and/or retracted as desired.

In an example embodiment, the second controller 160b may be operable to control the application and/or non-application of suction (or negative pressure) via the second suction opening(s) 146 by automatic control of the processor and/or manual control of the operator. For example, the second controller 160b and/or an element (e.g., 166 b) associated with the second controller 160b, such as a button, joystick, control stick, touch pad, motion control, voice control, accelerometer, tactile feedback, or the like, or a physical element of the second controller 160b, such as an exterior body, grip portion, or the like, may be controlled by the operator in order to enable the second suction opening(s) 146 to apply suction (or negative pressure) and/or apply no suction (or no pressure or positive pressure) as desired by the operator. In this regard, the pressure control subsystem 170 or the like associated with or connected to the second suction opening(s) 146 of the second body 150 as described above and in the present disclosure can be controllable by the second controller 160b and/or elements (e.g., 166 b) associated with the second controller 160b (such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, or the like, or physical elements (such as an outer body, grip portion, or the like) of the second controller 160 b) so as to enable the second suction opening(s) 146 to apply and/or not apply suction as desired. It is understood in this disclosure that second controller 160b may be operable to control the extension and retraction of second anchor assembly 140 (and/or each of third extendable member 144 and fourth extendable member 142) simultaneously with the application of suction through second suction opening(s) 146 and without suction through second suction opening(s) 146, respectively (e.g., by using a single control, interaction, action, and/or command that performs both). For example, the second suction opening(s) 146 may be controlled to apply suction when the second anchor assembly 140 is controlled to extend. Similarly, when the second anchor assembly 140 is controlled to retract, the second suction opening(s) 146 may be controlled to not apply suction.

In embodiments where a second instrument assembly 110' (as shown in fig. 2B) is provided, the second controller 160B and/or elements (not shown) associated with the second controller 160B, such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, etc., or physical elements of the second controller 160B, such as an outer body, a grip portion, etc., may be operable to perform one or more actions, operations, configurations and/or communications with the second instrument assembly 110' or using the second instrument assembly 110' in a manner similar or substantially the same as described above for instrument assembly 110. In embodiments where a second image capture assembly (not shown) is provided for capturing images between the first anchor assembly 120 and the second anchor assembly 140, the second controller 160b and/or elements (not shown) associated with the second controller 160b, such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, or the like, or physical elements of the second controller 160b, such as an outer body, grip portion, or the like, may also be operable to perform one or more actions, operations, configurations, and/or communications with the second image capture assembly or using the second image capture assembly in a manner similar or substantially the same as described above for the image capture assembly 111. In embodiments where a second irrigation cavity (not shown) is provided for enabling movement of solids and/or liquids between the region between the first anchor assembly 120 and the second anchor assembly 140, the second controller 160b and/or elements (not shown) associated with the second controller 160b, such as buttons, levers, control rods, touch pads, motion controls, voice controls, accelerometers, tactile feedback, etc., or physical elements of the second controller 160b, such as an outer body, grip portion, etc., may also be operable to perform one or more actions, operations, configurations and/or communications with or using the second irrigation cavity in a manner similar or substantially the same as described above for the irrigation cavity 134. In embodiments that provide a second insufflation cavity (not shown) for insufflating the area between the first anchor assembly 120 and the second anchor assembly 140, the second controller 160b and/or elements (not shown) associated with the second controller 160b, such as buttons, levers, control rods, touch pads, motion control, voice control, accelerometers, tactile feedback, etc., or physical elements of the second controller 160b, such as the outer body, grip portion, etc., can be operable to perform one or more actions, operations, configurations and/or communications with or using the second insufflation cavity in a manner similar or substantially the same as described above for insufflation cavity 135.

Methods of configuring endoscopic devices (e.g., method 500)

The exemplary embodiment of the endoscopic device 100 may be configurable to perform diagnostic and/or therapeutic/surgical actions and/or procedures in one of a variety of ways. In an example embodiment, as shown in fig. 5, a method 500 of performing and/or configuring an endoscopic system 100 to perform diagnostic and/or therapeutic/surgical actions and/or procedures in a cavity of a patient may include one or more of the following actions. The one or more actions may be performed using example embodiments of the controller 160, the first controller 160a, and/or the second controller 160 b.

In an example embodiment, the method 500 may include providing an endoscopic system 500 (e.g., act 502). The provided endoscopic device may include one or more elements of the endoscopic device 100 described above and in the present disclosure. In an example embodiment, an endoscopic device is provided that may include a first body. The first body may be an elongated body having a first end. The provided endoscopic device may also include a second body. The second body may have a first end and a main cavity. The main cavity may house at least a portion of the first body. The first body and the second body may be slidable relative to each other. The provided endoscopic device may also include an anchor assembly attached to the first body near the first end of the first body. The anchor assembly may include a first extendable member. The first extendable member may be configured to extend radially away from the first body. The anchor assembly may further include a second extendable member provided between the first extendable member and the first end of the first body. The second extendable member may be configured to extend radially away from the first body. The provided endoscopic device may also include a second anchor assembly attached to the second body near the first end of the second body. The second anchor assembly may include a third extendable member. The third extendable member may be configurable to extend radially away from the second body. The second anchor assembly may further include a fourth extendable member provided between the third extendable member and the first end of the second body. The fourth extendable member may be configurable to extend radially away from the second body. The provided endoscopic device may also include a head assembly. The head assembly may have a first end portion and a second end portion opposite the first end portion. The first end portion may be attachable to a first end of the first body. The second end portion may be selectively configurable to actuate in a plurality of directions relative to the first end portion. The head assembly may further include an image capture assembly provided in the second end portion. The image capture component may be configurable to capture images. The head assembly may further include an instrument portion provided in the second end portion. The instrument portion may be configurable to provide an instrument. The instrument may include at least two degrees of freedom of motion for performing an in vivo procedure in a cavity of a patient. The endoscopic system may further comprise a controller.

The method 500 may also include advancing a head assembly of the endoscopic system through a lumen of a patient (e.g., act 504). In this regard, the first end portion of the head assembly may be fixedly attached to the first end of the first body. Further, at least a portion of the first body may be received in the main cavity of the second body. The head assembly may be urged forward via a controller (such as the first controller described above and in this disclosure).

The method 500 may also include identifying a direction of a lumen of the patient via images captured by an image capture component of the endoscopic system (e.g., act 506). For example, as shown in fig. 3D, the image captured by the image capture component may identify an upcoming portion or region of the patient's cavity that includes a curved portion. The step of identifying the direction of the cavity of the patient via the image capture assembly may be performed via a controller (such as the first controller described above and in the present disclosure).

Method 500 may also include advancing the head assembly in a direction of the identity of the patient's cavity (e.g., act 508). For example, the head assembly may continue to move forward in a straight or relatively straight region of the patient's cavity. The head assembly may be urged forward via a controller (such as the first controller described above and in this disclosure).

The method 500 may further include: when a curvature in the patient's cavity, such as the flexion and/or circulation/curvature of the colon, is identified, a direction of the second end portion of the head assembly is actuated based on the identified direction of the curvature in the patient's cavity at the curvature in the patient's cavity (e.g., act 510). For example, as shown in fig. 3D, when the curved portion in the patient's cavity is identified (e.g., act 506), the second end portion (i.e., the tip) of the head assembly may be actuated to move forward (and/or extend outward) and also curve based on the identified direction of the curved portion in the patient's cavity. The step of actuating the direction of the second end portion of the head assembly may be performed via a controller (such as the first controller described above and in the present disclosure).

The method 500 may further include: when a curve in a lumen of a patient, such as a colon lumen, is identified, the head assembly is advanced through the curve (e.g., act 512). The head assembly may be urged forward through the bend portion via a controller (such as the first controller described above and in this disclosure).

The method 500 may further include: when the curved portion in the patient's cavity is identified, after advancing through the curved portion, actuating a direction of the second end portion of the head assembly based on the direction of the patient's cavity identified after the curved portion (e.g., act 514). For example, as shown in fig. 3E, after traversing a curved portion of a cavity of a patient, the second end portion of the head assembly may be straightened (or adjusted) based on a direction of the cavity after the curved portion (which may be identified based on another image captured by the image capture assembly). The step of actuating the direction of the second end portion of the head assembly may be performed via a controller (such as the first controller described above and in this disclosure).

The method 500 may further include: prior to actuating the direction of the second end portion of the head assembly at the curved portion, the second body is secured to the inner wall forming the patient's lumen by extending the third extendable member to contact the inner wall forming the patient's lumen and extending the fourth extendable member to contact the inner wall forming the patient's lumen (e.g., act 516). For example, as shown in fig. 3D, the second body may be secured to the inner wall forming the cavity of the patient by extending the second anchor assembly to secure or anchor to the inner wall forming the cavity of the patient. The fixation of the second body may also be provided using the second suction opening (i.e. applying negative pressure) and/or the surface pattern, roughness and/or protrusions (if provided) of the surfaces of the third and fourth extension members of the second anchor assembly. The step of securing the second body to the inner wall forming the patient's lumen by extending the third and fourth extendable members may be performed via a controller (such as the first controller described above and in this disclosure).

The method 500 may further include: the first body is secured to the inner wall forming the patient's lumen by extending the first extendable member to contact the inner wall forming the patient's lumen and extending the second extendable member to contact the inner wall forming the patient's lumen (e.g., act 518). For example, as shown in fig. 3D, the body may be secured to the inner wall forming the cavity of the patient by extending the anchor assembly to secure or anchor to the inner wall forming the cavity of the patient. The fixation of the body may also be provided using suction openings (i.e. applying negative pressure) and/or surface patterns, roughness and/or protrusions of the surfaces of the first and second extension members of the anchor assembly (if provided). After advancing the head assembly through the bend portion, the first body may be loosened or disengaged from the inner wall forming the patient's cavity. This may be accomplished by not extending (or retracting) the first and second extendable members of the first anchor assembly, and may also include not applying negative pressure through the suction opening. Thereafter, the first body may also be urged to advance through the curved portion by actuating a direction of the first body based on a direction of the curved portion in the cavity of the patient. The step of securing the first body to the inner wall forming the lumen of the patient by extending the first extendable member and the second extendable member may be performed via a controller, such as the first controller described above and in the present disclosure.

The method 500 may further include advancing a second body through the bend portion toward the head assembly, the advancing of the second body operable to reduce bending of the bend portion in the cavity of the patient (e.g., act 520). Prior to doing so, the body may be secured to the inner wall forming the patient's cavity (after the bend portion) by extending the anchor assembly to secure or anchor to the inner wall forming the patient's cavity, as shown in fig. 3F. The fixation of the body may also be provided using suction openings (i.e. applying negative pressure) and/or surface patterns, roughness and/or protrusions of the surfaces of the first and second extension members of the anchor assembly (if provided). Thereafter, the second body may be released or detached from the inner wall forming the cavity of the patient. This may be accomplished by not extending (or retracting) the third and fourth extendable members of the second anchor assembly, and may further include not applying negative pressure through the second suction opening. Once completed, as shown in fig. 3F, the second body may also be urged to advance through the curved portion by actuating a direction of the second body based on a direction of the curved portion in the patient's cavity. Advancement of the second body may be performed via a controller (such as the second controller described above and in this disclosure). The securing and releasing of the body to the inner wall may be performed via a controller (such as the first controller described above and in this disclosure).

In an example embodiment, the identified curvature in the patient's cavity may be straightened (or made less cyclic/curved) by actuating the direction of the second body, as shown in fig. 3G. It is recognized in the present disclosure that such straightening of a curved portion in a patient's lumen may enable easier, faster, and/or more efficient advancement of an endoscopic system into the remainder of the patient's lumen. Moreover, it is recognized in the present disclosure that such straightening of a curved portion in a lumen of a patient (such as a colon lumen) also enables the endoscope system to be more easily, more quickly, and/or more efficiently removed, extracted, and/or retracted from the patient's lumen after completion of a diagnostic and/or therapeutic/surgical procedure. The step of actuating the direction of the second body to straighten the identified curved portion in the patient's cavity may be performed via a controller (such as the second controller described above and in the present disclosure).

The method 500 may further include: the images captured via the image capture component identify a location in the patient's cavity for the instrument to perform a procedure (e.g., act 522). The step of identifying, via the image capture component, a location in the cavity of the patient for the instrument to perform the procedure may be performed via a controller (such as the first controller described above and in the present disclosure).

The method 500 may further include: as shown in fig. 2C, the first body is secured to the inner wall forming the patient's lumen by extending the first extendable member to contact the inner wall forming the patient's lumen and extending the second extendable member to contact the inner wall forming the patient's lumen (e.g., act 524). In this regard, the third extendable member and/or the fourth extendable member may also be extended to contact an inner wall of the lumen forming the patient. The step of extending the first extendable member to an inner wall forming a lumen of a patient may be performed via a controller (such as the first controller described above and in this disclosure).

The method 500 may further include: as shown in fig. 2C, the instrument is actuated to perform a process (e.g., act 526) based on the image captured by the image capture component. Actuation of the instrument may be performed via a controller (such as the first controller described above and in this disclosure).

It is understood in the present disclosure that in an example embodiment, one or more of the foregoing acts of the method 500 may be performed manually, in whole or in part, by an operator/surgeon and/or assisted by the controller 160.

While various embodiments in accordance with the disclosed principles have been described above, it should be understood that they have been presented by way of example only, and not limitation. Thus, the breadth and scope of an exemplary embodiment described in the present disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the claims and their equivalents granted from the present disclosure. Furthermore, the above advantages and features are provided in described embodiments, but such issued claims are not to be limited in their applicability to processes and structures accomplishing any or all of the above advantages.

For example, "assembly," "device," "portion," "segment," "member," "body" or other similar words are to be broadly interpreted as encompassing one portion or more than one portion as may be attached or connected together.

Various terms used herein have specific meanings within the technical field. Whether a particular term should be considered such a "technical term" depends on the context in which the term is used. "connected," attached, "" anchored, "" with respect to \8230; \8230, connected, "" with respect to \823030; associated with \8230; associated with _8230; associated with _823030; or other similar terms should generally be construed broadly to include instances where attachment, connection, and anchoring are direct between the referenced components or through one or more intermediaries between the referenced components. These and other terms will be construed in light of the context in which the disclosure is used, and will be understood by those of ordinary skill in the art in light of the disclosure. The above definitions do not exclude other meanings that may be assigned to those terms based on the disclosed context.

As mentioned in this disclosure, a computing device, processor, and/or system may be a virtual machine, computer, node, instance, host, and/or machine in a networked or non-networked computing environment. A networked computing environment may be a collection of devices connected by a communication channel that facilitates communication between the devices and allows the devices to share resources. As also mentioned in this disclosure, a computing device may be a device deployed to execute a program that operates as a socket listener and may include a software instance.

Resources may encompass any type of resource for running an instance, including hardware (e.g., servers, clients, mainframe computers, networks, network storage, data sources, memory, central processing unit time, scientific instruments, and other computing devices) and software, software licenses, available network services, and other non-hardware resources, or a combination thereof.

The networked computing environment may include, but is not limited to, a computing grid system (computing grid system), a distributed computing environment, a cloud computing environment, and the like. Such networked computing environments include hardware and software infrastructures configured to form virtual organizations including a plurality of resources, which may be geographically dispersed over multiple locations.

Moreover, the scope of coverage of this application, and of any patent issued from this application, can extend to one or more communication protocols, including TCP/IP.

The words of comparison, measurement and timing (timing), such as "at this time", "equivalent form", "during" \8230 ";" during "," complete ", etc., should be understood to mean" substantially at this time "," substantially equivalent form "," substantially at "\8230;". 8230, during "," substantially complete ", etc., wherein" substantially "means that such comparison, measurement and timing is actually feasible to achieve the desired result, whether implicitly or explicitly stated.

In addition, the section headings herein are provided to be consistent with the 37CFR 1.77 recommendations, or to otherwise provide structural clues herein. These headings should not be used to limit or characterize one or more inventions set forth in any claims that may issue from this disclosure. In particular, the description of technology in the "background" is not to be construed as an admission that the technology is prior art to any one or more of the inventions in this disclosure. In addition, any reference in this disclosure to the singular of "an invention" should not be used to prove that there is only one point of novelty in this disclosure. A number of inventions may be set forth according to the limitations of the number of claims issuing from this disclosure, and these claims correspondingly define one or more inventions protected thereby, and equivalents thereof. In all instances, the scope of these claims should be construed in light of the disclosure as being in the nature of the claims themselves and not limited by the headings herein.

Claims

1. An endoscopic system configurable to be provided in a cavity of a patient, the endoscopic system comprising:

a first body that is an elongated body, the first body comprising:

a first end of the first body disposed at a distal end of the first body, the first end of the first body controllable to bend in a plurality of directions;

a first anchor assembly at the first end of the first body, the first anchor assembly comprising:

a first extendable member secured to the first body, the first extendable member being configurable to extend radially away from the first body;

a second extendable member secured to the first body, the second extendable member being configurable to extend radially away from the first body; and

a first negative pressure opening provided on the first body between the first and second extendable members, the first negative pressure opening configurable to apply a negative pressure;

wherein the first and second extendable members and the first negative pressure opening are configured to cooperate to anchor the first body to an inner wall forming a colon lumen sufficiently to resist forces between 0.1N and 40N when the first and second extendable members are extended radially away from the first body and the first negative pressure opening applies negative pressure;

a second body that is an elongated body having a main cavity and a first end, the main cavity receiving at least a portion of the first body and not receiving at least a portion of the first end of the first body, the second body comprising:

a first end of the second body disposed at a distal end thereof, the first end of the second body controllable to bend in a plurality of directions;

a second anchor assembly at the first end of the second body, the second anchor assembly comprising:

a third extendable member secured to the second body, the third extendable member being configurable to extend radially away from the second body;

a fourth extendable member secured to said second body, said fourth extendable member configurable to extend radially away from said second body;

a second negative pressure opening provided on the second body, the second negative pressure opening configurable to apply negative pressure, wherein the second negative pressure opening is positioned between the third extendable member and the fourth extendable member;

wherein when the third and fourth extendable members are extended radially away from the second body and the second negative pressure opening applies negative pressure, the third extendable member, the fourth extendable member and the second negative pressure opening are configured to cooperate to anchor the second body sufficiently to an inner wall forming a colon lumen to resist forces between 0.1N and 40N; and

a head assembly, the head assembly being an elongated body, the head assembly comprising:

a first end portion and a second end portion opposite the first end portion of the head assembly, at least a portion of the first end portion of the head assembly being received in the first end of the first body, wherein the head assembly is between 10mm and 100mm in length; and

a suction/irrigation opening provided at a distal-most portion of the second end portion of the head assembly, the suction/irrigation opening configurable to enable exchange of fluids and/or solids between an exterior of the second end portion of the head assembly and the endoscopic system;

wherein the first end of the first body not received in the main cavity of the second body is independently controllable to bend in multiple directions relative to the first end of the second body and not bend the first end of the second body;

wherein the first end of the second body is independently controllable to bend in a plurality of directions without bending the first end of the first body not received in the main cavity of the second body;

wherein the second end portion of the head assembly is independently controllable to bend in a plurality of directions without bending the first end of the first body and without bending the first end of the second body;

wherein the first and second bodies are configurable to slide relative to each other in such a way that a length of the first body extending outwardly away from the first end of the second body is adjustable; and is provided with

Wherein the head assembly and the first body are configurable to slide relative to each other in such a manner that a length of the head assembly extending outwardly away from the first end of the first body is adjustable.

2. The endoscopic system of claim 1, further comprising a pressure control subsystem configurable to provide the negative pressure through the first negative pressure opening.

3. The endoscopic system of claim 1, wherein expansion of the first extendable member and/or the second extendable member coincides with the negative pressure applied through the first negative pressure opening.

4. The endoscopic system of claim 1, wherein an outer surface of one or more of the first extendable member, the second extendable member, the third extendable member, and the fourth extendable member comprises a surface pattern, roughness, and/or protrusion configured to resist movement of one or more of the first extendable member, the second extendable member, the third extendable member, and the fourth extendable member relative to an inner wall forming a lumen of the patient when the one or more of the first extendable member, the second extendable member, the third extendable member, and the fourth extendable member is in contact with the inner wall forming the lumen of the patient.

5. The endoscopic system of claim 1, wherein the head assembly further comprises a plurality of motion control cavities, each motion control cavity configurable to receive a filler; and is

Wherein the second end portion is actuated in the plurality of directions by selectively controlling the filling in one or more of the plurality of motion control cavities.

6. The endoscopic system of claim 1, wherein the head assembly further comprises an image capture assembly configurable to capture images.

7. The endoscopic system of claim 1, wherein the head assembly is configurable to provide an instrument at the second end portion of the head assembly, the instrument for performing an in vivo procedure in a cavity of the patient.

8. The endoscopic system of claim 2, wherein the first body further comprises a plurality of lumens including a first lumen operable to provide a filler to extend the first extendable member and a second lumen in communication with the pressure control subsystem and the first negative pressure opening.

9. The endoscopic system of claim 1, further comprising a pressure control subsystem configurable to provide the negative pressure through the second negative pressure opening.

10. The endoscopic system of claim 6, further comprising a controller in communication with the head assembly, the controller operable to control the image capture assembly, the controller further operable to actuate a direction of the second end portion of the head assembly.

11. The endoscopic system of claim 10, wherein a direction of actuating the second end portion of the head assembly is based on the image captured by the image capture assembly and/or a sensor provided at the second end portion of the head assembly.

12. The endoscopic system of claim 10, wherein the controller is further operable to control an instrument provided at the second end portion of the head assembly to perform an intracorporeal procedure in a cavity of the patient.

13. The endoscopic system of claim 12, wherein controlling the instrument to perform an in vivo procedure in the patient's cavity is based on the image captured by the image capture assembly and/or a sensor provided at the second end portion of the head assembly.

14. The endoscopic system of claim 1, further comprising a controller in communication with the anchor assembly, the controller operable to control extension of the first, second, third and fourth extendable members.

15. The endoscopic system of claim 1, wherein at least a portion of the head assembly is fixedly secured to the first end of the first body.

16. The endoscopic system of claim 1, wherein the first negative pressure opening is configurable to apply a negative pressure on the order of at least 10 kPa.

17. An endoscopic system configurable to be provided in a cavity of a patient, the endoscopic system comprising:

a first body that is an elongated body, the first body comprising:

a first end of the first body disposed at a distal end of the first body;

a plurality of motion control cavities of the first body, wherein one or more of the plurality of motion control cavities are selectively controllable to actuate motion of the first end of the first body;

a first anchor assembly at the first end of the first body, the first anchor assembly having:

a first extendable member configurable to extend radially away from the first body;

a second extendable member configurable to extend radially away from the first body; and

a first negative pressure opening provided on the first body between the first extendable member and the second extendable member, the first negative pressure opening being configured to apply a negative pressure,

a second body that is an elongated body having a main cavity that receives at least a portion of the first body and that does not receive at least a portion of the first end of the first body, the second body comprising:

a first end of the second body disposed at a distal end of the second body;

a plurality of motion control cavities of the second body, wherein one or more of the plurality of motion control cavities are selectively controllable to actuate motion of the first end of the second body;

a second anchor assembly at the first end of the second body, the second anchor assembly having:

a fourth extendable member configurable to extend radially away from the second body; and

a second negative pressure opening provided on the second body, the second negative pressure opening configurable to apply negative pressure, wherein the second negative pressure opening is positioned between the third expandable member and the fourth expandable member; and

a head assembly, the head assembly comprising:

a first end portion and a second end portion opposite the first end portion of the head assembly, at least a portion of the first end portion of the head assembly being received in the first end of the first body, wherein the head assembly is between 10mm and 100mm in length;

wherein the first end of the first body not received in the main cavity of the second body is independently controllable to bend in a plurality of directions relative to the first end of the second body and not bend the first end of the second body;

wherein the first end of the second body is independently controllable to bend in a plurality of directions without bending the first end of the first body that is not received in the main cavity of the second body;

wherein the second end portion of the head assembly is independently controllable to bend in a plurality of directions without bending the first end of the first body and without bending the first end of the second body.

18. The endoscopic system of claim 17, further comprising a pressure control subsystem configurable to provide the negative pressure through the second negative pressure opening.

19. The endoscopic system of claim 17, wherein:

the fourth extendable member is fixed to the second body and is provided in such a manner that the second negative pressure opening is provided between the third extendable member and the fourth extendable member.

20. An endoscopic system, comprising:

a first body that is an elongated body, the first body comprising:

a first end of the first body disposed at a distal end of the first body;

a first negative pressure opening provided on the first body between the first extendable member and the second extendable member, the first negative pressure opening being configurable to apply a negative pressure;

wherein the first extendable member, the second extendable member, and the first negative pressure opening are configured to cooperate to anchor the first body sufficiently to an inner wall forming a colon lumen to resist a force of at least 0.1N when the first extendable member and the second extendable member are extended radially away from the first body and negative pressure is applied by the first negative pressure opening;

a second body that is an elongated body having a main cavity that receives at least a portion of the first body and does not receive at least a portion of the first end of the first body, the second body comprising:

a first end disposed at a distal end of the second body, wherein at least a portion of the first end of the second body is controllable to bend in a plurality of directions, wherein bending of the first end of the second body is independently controllable from bending of the first end of the first body; and

a second negative pressure opening provided on the second body, the second negative pressure opening configurable to apply negative pressure, wherein the second negative pressure opening is positioned between the third extendable member and the fourth extendable member; and

a first end disposed at a distal end of the head assembly, wherein at least a portion of the first end of the head assembly is controllable to bend in a plurality of directions, wherein a length of the head assembly is between 10mm and 100 mm;

wherein the first end of the head assembly is independently controllable to bend in multiple directions without bending the first end of the first body and without bending the first end of the second body.

21. The endoscopic system of claim 20, further comprising a pressure control subsystem configurable to provide the negative pressure through the first negative pressure opening.

22. The endoscopic system of claim 20, wherein expansion of the first extendable member coincides with the negative pressure applied through the first negative pressure opening.

23. The endoscopic system of claim 20, wherein the head assembly further comprises an image capture assembly configurable to capture images.

24. The endoscopic system of claim 20, wherein the head assembly is configurable to provide an instrument at a second end portion of the head assembly, the instrument for performing an in vivo procedure in a cavity of a patient.

25. The endoscopic system of claim 20, wherein:

the fourth extendable member is fixed to the second body.

26. The endoscopic system of claim 20, further comprising a pressure control subsystem configurable to provide the negative pressure through the second negative pressure opening.