HK40080155B - Systems and methods for modular endoscope - Google Patents

Description

Systems and methods for modular endoscopes

Quote

This application claims priority to U.S. Provisional Patent Application No. 62/950,740, filed December 19, 2019, and U.S. Provisional Patent Application No. 63/091,268, filed October 13, 2020, the entire contents of each of which are incorporated herein by reference.

Background Technology

Endoscopic surgery uses an endoscope to examine the inside of hollow organs or cavities of the body. Unlike many other medical imaging techniques, an endoscope is inserted directly into the organ. Flexible endoscopes, capable of intuitive manipulation and control, are useful for diagnosing and treating diseases that enter through any natural opening in the body. Depending on clinical indications, endoscopes can be designated as bronchoscopes, ureteroscopes, colonoscopes, gastroscopes, otolaryngoscopes, and a variety of others. For example, flexible endoscopy has been used to examine and treat gastrointestinal (GI) disorders without creating an opening in the patient's body. The endoscope is inserted into the upper or lower digestive tract through the mouth or anus, respectively. A miniature camera at the distal end captures images of the GI walls, aiding clinicians in diagnosing GI diseases. Simple surgical procedures, such as polyp removal and biopsies, can be performed by introducing flexible tools through the working channel to reach the distal site of interest.

Endoscopes are typically designed for reusability, which may require thorough cleaning, disinfection, and/or sterilization after each procedure. In most cases, cleaning, disinfection, and sterilization are proactive processes to kill pathogens and/or bacteria. Such procedures can also be demanding on the endoscope itself. Therefore, the design of such reusable endoscopes is often complex, especially to ensure that the endoscope can withstand such rigorous cleaning, disinfection, and sterilization procedures. These reusable endoscopes may frequently require regular maintenance and repair.

Low-cost, single-use medical devices designated for single-use have become popular for instruments that are difficult to clean properly. Single-use devices can be packaged in sterile packaging to avoid the risk of cross-contamination with pathogens such as HIV, hepatitis, and others. Hospitals generally welcome the convenience of single-use products because they no longer need to worry about product aging, overuse, breakage, malfunction, and sterilization. Conventional endoscopes typically include a handle used by the operator to manipulate the endoscope. For single-use endoscopes, the handle often encloses a camera, expensive electronics, and mechanical structures at the proximal end for transmitting video and allowing the user to manipulate the endoscope via a user interface. This can result in the high cost of single-use endoscope handles.

Summary of the Invention

This document recognizes the need for endoscopes, which allow for the performance of surgical or diagnostic procedures with improved performance and cost-effectiveness. It also recognizes devices and systems incorporating endoscopes that can be disposable and may not require extensive cleaning procedures. This disclosure provides low-cost, disposable articulated endoscopes for diagnostic and therapeutic purposes in a variety of applications, such as bronchoscopy, urology, gynecology, articulated endoscopy, orthopedics, otolaryngology, gastrointestinal endoscopy, neurosurgery, and various other applications. It should be noted that the provided endoscopic systems can be used for a variety of minimally invasive surgical, therapeutic, or diagnostic procedures involving various types of tissues, including cardiac, bladder, and lung tissue, as well as other anatomical regions of the patient's body, such as the digestive system, including but not limited to the esophagus, liver, stomach, colon, urinary tract, or respiratory system, including but not limited to the bronchi, lungs, and various other systems.

It should be noted that the various components of the provided modular endoscopic components and devices can be used for a variety of minimally invasive surgical procedures, therapeutic or diagnostic procedures involving various tissue types including the heart, bladder and lung tissue, as well as other anatomical areas of the patient's body, such as the digestive system, including but not limited to the esophagus, liver, stomach, colon, urinary tract or respiratory system, including but not limited to the bronchi, lungs and various other systems.

In one aspect, this article provides an articulating flexible endoscope. The articulating flexible endoscope includes: a distal tip portion that is steerable via a drive mechanism; a curved section connected at a first end to the distal tip portion and connected at a transition interface to a shaft portion, wherein the curved section is articulated by one or more draw wires; and the shaft portion including one or more load transmission tubes for accommodating one or more draw wires, thereby improving the stability of the shaft portion.

In some embodiments, the distal tip portion includes structures for receiving imaging equipment, position sensors, and illumination equipment. In some embodiments, each of one or more draw wires is placed within the lumen of a respective load transfer tube of one or more load transfer tubes. In some embodiments, the bent section is bent in two or more directions by one or more draw wires. In some embodiments, one or more load transfer tubes are anchored to a transition interface and have a length greater than the shaft portion length. In some embodiments, one or more load transfer tubes have a non-linear configuration. In some embodiments, one or more load transfer tubes have a helical configuration.

In some embodiments, the shaft portion includes a tube with a one-piece structure to vary the stiffness of the shaft portion. In some embodiments, the articulated flexible endoscope also includes a deformable working channel. In some embodiments, the articulated flexible endoscope also includes a handle portion, wherein the handle portion includes one or more components configured to process image data, provide power to one or more electronic components located at the distal tip, or establish communication with external devices. In some cases, the handle portion includes an interface configured to couple the handle portion to an instrument drive mechanism. In some cases, the interface is both an electrical and mechanical interface. In some cases, the handle portion includes a mechanical control module for connecting to a flushing or suction system.

On the other hand, this article provides a disposable endoscope. The disposable endoscope includes: a distal tip portion including an imaging device, a position sensor, and an illumination device; a curved section connected at a first end to the distal tip portion and at a second end to a shaft portion, wherein the curved section is hinged by one or more draw wires; and a shaft portion including one or more load transmission tubes for accommodating one or more draw wires, thereby improving the stability of the shaft portion.

In some embodiments, the distal tip portion includes structures for receiving the imaging device, position sensor, and illumination device. In some embodiments, the imaging device, position sensor, and illumination device are arranged in a compact configuration. In some embodiments, one or more load transfer tubes have a length greater than the length of the axial portion.

In some embodiments, each of one or more pull wires is placed within the cavity of a respective load transfer tube of one or more load transfer tubes. In some embodiments, one or more pull wires are movable relative to one or more load transfer tubes. In some embodiments, the bent section is bent in two or more directions by one or more pull wires. In some embodiments, one or more load transfer tubes have a non-linear configuration. In some embodiments, one or more load transfer tubes have a helical configuration.

In some embodiments, the shaft portion includes a tube with a one-piece structure to vary the stiffness of the shaft portion. In some embodiments, the disposable endoscope also includes a deformable working channel. In some embodiments, the disposable endoscope also includes a handle portion, wherein the handle portion includes one or more components configured to process image data, provide power to imaging devices, position sensors, and illumination devices, or establish communication with external devices. In some cases, the handle portion includes an interface configured to couple the handle portion to an instrument drive mechanism. In some cases, the interface includes both electrical and mechanical interfaces. In some examples, the mechanical interface is configured to releasably couple the handle portion to the instrument drive mechanism.

Other aspects and advantages of this disclosure will become readily apparent to those skilled in the art from the following detailed description, in which only illustrative embodiments of the disclosure are shown and described. As will be appreciated, the disclosure is capable of other and different embodiments, and certain details thereof can be modified in various obvious ways, all without departing from the disclosure. Therefore, the drawings and descriptions should be considered illustrative in nature and not restrictive.

Incorporation

All publications, patents, and patent applications mentioned in this specification are incorporated herein by reference to the same extent that each individual publication, patent, or patent application is specifically and individually indicated to be incorporated by reference. To the extent that any publication, patent, or patent application incorporated by reference contradicts the disclosure contained in this specification, the specification is intended to supersede and/or take precedence over any such contradictory material.

Attached Figure Description

The novel features of the invention are particularly set forth in the appended claims. A better understanding of the features and advantages of the invention will be obtained by referring to the following detailed description of illustrative embodiments in which the principles of the invention are utilized, along with the accompanying drawings (also referred to herein as “drawings” and “figures”), wherein:

Figure 1 shows an example of a flexible endoscope according to some embodiments of the present disclosure.

Figure 2 shows an example of an endoscope with a hinged force transmission mechanism according to some embodiments of the present invention.

Figures 3A and 3B show examples of one or more pull wires assembled with one or more load transfer tubes in a curved section.

Figure 4 shows an example of a load transfer tube terminating in the distal and proximal axis regions.

Figure 5 shows an example of a load transfer tube terminating in the distal and proximal axis regions.

Figure 6 shows an example of an existing manipulable catheter structure.

Figure 7 shows an example of an insert shaft design.

Figure 8 shows an example of a robotic bronchoscope according to some embodiments of the present invention.

Figure 9 shows an example of an instrument drive mechanism that provides a mechanical interface for the handle portion of a robotic bronchoscope according to some embodiments of the present invention.

Figure 10 shows an example of the handle portion of a robotic bronchoscope according to some embodiments of the present invention.

Figure 11 shows an example of a maneuverable catheter according to some embodiments of the present invention.

Figure 12 shows an example of the distal portion of a catheter with integrated imaging and illumination devices.

Figure 13 shows an example of a compact configuration of multiple electronic components disposed on the distal portion of a conduit according to some embodiments of the present invention.

Figure 14 shows examples of a conventional configuration of the pull wires attached to the control loop structure and a novel configuration of the present disclosure.

Figure 15 illustrates various configurations of draw wires for robotic conduit systems according to some embodiments of the present invention.

Figure 16 shows an example of a guidewire with an inflatable tip according to some embodiments of the present invention.

Figure 17 shows an example of an endoscope tip design.

Detailed Implementation

Although various embodiments of the invention have been shown and described herein, it will be readily understood by those skilled in the art that these embodiments are provided by way of example only. Many variations, modifications, and substitutions will occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed.

The embodiments disclosed herein can be combined in one or more of a variety of ways to provide improved diagnosis and treatment to patients. The disclosed embodiments can be combined with existing methods and devices to provide improved treatment, such as with known methods for lung diagnosis, surgery, and surgery of other tissues and organs. It should be understood that any one or more structures and steps described herein can be combined with any one or more additional structures and steps of the methods and devices described herein, as described in the accompanying drawings and accompanying text according to the embodiments.

While the exemplary embodiments are primarily directed toward devices or systems for bronchoscopy, those skilled in the art will understand that this is not intended to be limiting, and the devices described herein can be used in other therapeutic or diagnostic procedures and in various anatomical regions of the patient's body. The provided devices or systems can be used in urology, gynecology, rhinology, otology, laryngoscopy, gastroenterology, and endoscopy, including combined devices of endoscopes and instruments, endoscopes with positioning capabilities. Those skilled in the art will understand that this is not intended to be limiting, and the devices described herein can be used in other therapeutic or diagnostic procedures and in other anatomical regions of the patient's body, such as the brain, heart, lungs, intestines, eyes, skin, kidneys, liver, pancreas, stomach, uterus, ovaries, testes, bladder, ear, nose, mouth, such as bone marrow, adipose tissue, muscle, glandular and mucosal tissues, spinal and nerve tissues, and soft tissues such as cartilage. Hard biological tissues such as teeth and bones, as well as body cavities and passages such as sinuses, ureters, colon, esophagus, lung passages, blood vessels, and throat, and various other tissues, in the form of: neuroendoscopy, neuroendoscopy, ophthalmoscope, otoscope, nasal endoscope, laryngoscope, gastroscopy, esophagoscopy, bronchoscope, thoracoscope, pleural endoscope, angioscopy, mediastinoscope, nephroscope, gastroscopy, duodenoscope, cholangioscope, bile duct endoscope, laparoscope, ureteroscope, hysteroscope, cystoscope, rectoscope, colonoscope, articulated (endoscope), salivary gland endoscope, orthopedic endoscope, and other forms, combined with various tools or instruments.

The systems and devices described herein can be combined in one or more of a variety of ways to provide improved diagnosis and treatment to patients. The systems and devices provided herein can be combined with existing methods and devices to provide improved treatment, such as in conjunction with known methods for lung diagnosis, surgery, and surgical procedures for other tissues and organs. It should be understood that any one or more structures and steps described herein can be combined with any one or more additional structures and steps of the methods and devices described herein, as described in the accompanying drawings and accompanying text according to embodiments.

Whenever the terms "at least," "greater than," or "greater than or equal to" precede the first value in a series of two or more values, the terms "at least," "greater than," or "greater than or equal to" apply to each value in the series. For example, greater than or equal to 1, 2, or 3 is equivalent to greater than or equal to 1, greater than or equal to 2, or greater than or equal to 3.

Whenever the terms “not greater than,” “less than,” or “less than or equal to” precede the first value in a series of two or more values, the terms “not greater than,” “less than,” or “less than or equal to” apply to each value in that series. For example, less than or equal to 3, 2, or 1 is equivalent to less than or equal to 3, less than or equal to 2, or less than or equal to 1.

As used herein, the terms distal and proximal can generally refer to the location as cited from the instrument and can be the opposite of the anatomical reference. For example, the distal location of the spindle or catheter can correspond to the proximal location of the patient's elongated member, and the proximal location of the main sheath or catheter can correspond to the distal location of the patient's elongated member.

Modular flexible endoscope

In one aspect of the invention, a flexible endoscope with improved performance and reduced cost is provided. FIG1 illustrates an example of a flexible endoscope 100 according to some embodiments of the present disclosure. As shown in FIG1, the flexible endoscope 100 may include a handle portion 109 and a flexible elongated member to be inserted into an object. In some embodiments, the flexible elongated member may include an axis (e.g., an insertion axis 101), a maneuverable tip (e.g., a tip 105), and a maneuverable portion (bent section 103). The endoscope 100 may also be referred to as a maneuverable catheter assembly as described elsewhere herein. In some cases, the endoscope 100 may be a single-use robotic endoscope. In some cases, the entire catheter assembly may be single-use. In some cases, at least a portion of the catheter assembly may be single-use. In some cases, the entire endoscope may be releasable from an instrument drive mechanism and may be discarded. In some embodiments, the endoscope may include varying degrees of stiffness along its axis to improve functional operation.

The endoscope or maneuverable catheter assembly 100 may include a handle portion 109, which may include one or more components configured to process image data, provide power, or establish communication with other external devices. For example, the handle portion may include circuitry and communication elements that enable electrical communication between the maneuverable catheter assembly 100 and an instrument drive mechanism (not shown) and any other external systems or devices. In another example, the handle portion 109 may include circuitry elements, such as a power source for powering electronics of the endoscope (e.g., a camera, electromagnetic sensors, and LED lights).

One or more components located at the handle can be optimized, allowing expensive and complex components to be distributed to the robot support system, handheld controller, or instrument drive mechanism, thereby reducing costs and simplifying the design of disposable endoscopes. In some cases, the handle portion can be electrically connected to the instrument drive mechanism (e.g., instrument drive mechanism 820, Figure 8) via an electrical interface (e.g., a printed circuit board) so that image/video data and/or sensor data can be received by the communication module of the instrument drive mechanism and transmitted to other external devices/systems. In some cases, the electrical interface can establish electrical communication without cables or wires. For example, the interface may include pins soldered to an electronic board such as a printed circuit board (PCB). For instance, a socket connector (e.g., a female connector) is provided on the instrument drive mechanism as a mating interface. This can advantageously allow the endoscope to be quickly inserted into the instrument drive mechanism or robot support without the need for additional cables. This type of electrical interface can also be used as a mechanical interface, such that both mechanical and electrical coupling is established when the handle portion is inserted into the instrument drive mechanism. Alternatively or additionally, the instrument drive mechanism may provide only a mechanical interface. The handle portion can communicate electrically with modular wireless communication devices or any other user equipment (e.g., portable/handheld devices or controllers) for transmitting sensor data and/or receiving control signals.

In some cases, the handle portion 109 may include one or more mechanical control modules, such as a Luer connector 111 for docking a flushing/suction system. In some cases, the handle portion may include a lever/knob for articulation control. Alternatively, the articulation control may be located at a separate controller attached to the handle portion via an instrument drive mechanism.

The endoscope can be attached to a robot support system or a handheld controller via an instrument drive mechanism. The instrument drive mechanism can be provided by any suitable controller device (e.g., a handheld controller) that may or may not include a robot system. The instrument drive mechanism can provide mechanical and electrical interfaces for the maneuverable catheter assembly 100. The mechanical interface allows the maneuverable catheter assembly 100 to be releasably coupled to the instrument drive mechanism. For example, the handle portion of the maneuverable catheter assembly can be attached to the instrument drive mechanism via a quick-release tool (such as a magnet, a spring-loaded level, etc.). In some cases, the maneuverable catheter assembly can be manually coupled to or released from the instrument drive mechanism without the use of tools. Details regarding the instrument drive mechanism will be described later in this document.

In the illustrated example, the distal tip of the catheter or endoscope axis is configured to hinge/bend with two or more degrees of freedom to provide a desired camera view or control the orientation of the endoscope. As shown in the example, an imaging device (e.g., a camera) and a position sensor (e.g., an electromagnetic sensor) 107 are located at the tip of the catheter or endoscope axis 105. For example, the camera's line of sight can be controlled by controlling the hinge of the bent segment 103. In some cases, the camera angle can be adjustable, allowing the line of sight to be adjusted without hinged distal tip of the catheter or endoscope axis or in addition to hinged distal tip of the catheter or endoscope axis. For example, the camera can be oriented at an angle (e.g., tilt) about the axial direction of the endoscope tip with the aid of optimal components.

The distal tip 105 can be a rigid component that allows for the positioning of sensors, such as electromagnetic (EM) sensors, imaging devices (e.g., cameras), and other electronic components (e.g., LED light sources) embedded in the distal tip.

In real-time EM tracking, an EM sensor, comprising one or more sensor coils, is embedded in one or more locations and orientations within a medical instrument (e.g., the tip of an endoscopic tool) to measure changes in the EM field generated by one or more static EM field generators positioned near the patient. The location information detected by the EM sensor is stored as EM data. The EM field generator (or transmitter) can be placed near the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. For example, the EM field generator can be positioned near the patient's torso during surgery to position the EM sensor in 3D space, or the EM sensor position and orientation can be positioned in 5D or 6D space. This can provide visual guidance to the operator when driving the bronchoscope toward the target site. Details regarding the tip design and the multiple components embedded in the tip will be described later in this document.

Endoscopes can have unique designs in their shaft components. In some cases, the insertion shaft of an endoscope can consist of a single tube containing a series of cuts (e.g., embossing, slits, etc.) along its length to allow for increased flexibility as well as the required rigidity. Details regarding shaft design will be described later in this article.

The bending segment 103 can be designed to allow bending in two or more degrees of freedom (e.g., hinged). The unique construction of the bending segment can achieve greater degrees of bending, such as 180 degrees and 270 degrees (or other hinge parameters for clinical indications). In some cases, the bending segment can be manufactured independently as a modular component and assembled onto the insert shaft. In other cases, the bending segment can be further combined with minimalist features, thereby reducing cost and increasing reliability. For example, the bending segment can incorporate engraved patterns that advantageously allow for a greater degree of tube deformation to achieve the desired tip displacement relative to the insert shaft.

In some embodiments, the bending segment or endoscope may include an articulation force transmission mechanism to ensure endoscope stability and deliver instinctive bending segment responsiveness. Figure 2 illustrates an example of an endoscope with an articulation force transmission mechanism 201 according to some embodiments of the invention. The articulation force transmission mechanism 201 may include a plurality of load transmission tubes located within a bore of the insertion shaft/tube. In some cases, at least one, two, three, four, five, or more load transmission tubes may be included to reduce axial compression/elongation (tension) of the insertion tube 203 during the articulation of the bending segment. The load transmission tubes may transmit at least a portion of the articulated load applied to the bending segment and/or shaft back to the handle (e.g., via an actuator or motor driving one or more articulation cables).

The shaft portion may include one or more load transfer tubes for accommodating one or more draw wires. The transfer tubes counteract the articulated load, allowing for increased stability of the insert shaft. Multiple load transfer tubes 201 may reside within the cavities (i.e., bores) of the shaft tubes and are configured to transfer articulated reaction forces from the bending section to the handle portion. The load transfer tubes are configured to transfer the articulated reaction forces of the bending section back to the handle portion, thereby reducing the articulated forces applied to the insert shaft tube. This design advantageously prevents these articulated forces from being dissipated through the insert shaft tube, thereby providing a stable shaft. The transfer modes described herein ensure that the insert shaft tube experiences minimal axial compressive or tensile forces, thus remaining stable during articulation in the bending section.

In a preferred embodiment of the load transfer mechanism, a plurality of load transfer tubes 201 may be longer than the insertion shaft tube 203. The lengths of the plurality of load transfer tubes 201 may be determined such that, even under axial compression, they remain longer than the insertion shaft tube 203, thereby preventing load transfer through the insertion shaft tube. For example, the length of the load transfer tubes may be at least 0.01%, 0.1%, 0.2%, 0.3%, 1%, 5%, or 10% longer than the length of the insertion shaft. The length of the load transfer tubes may be determined at least in part based on the inner diameter of the shaft. For example, the load transfer tubes may have a helical configuration that provides sufficient stiffness to withstand/transfer the load.

The load transfer tube can have dimensions and configurations capable of accommodating displacement within the shaft tube. For example, when the inserted shaft tube 203 bends, for instance, due to a torsional anatomy, the insertion tube may cause displacement of the component housed within the bore of the inserted shaft tube. In this case, the additional length of the load transfer tube can advantageously accommodate displacement within the bore of the inserted shaft tube while improving shaft stability. Compared to existing technologies that utilize coils and service rings within the handle section, the modular design and assembly of the load transfer tube advantageously reduces costs without compromising shaft performance. Compared to other existing technologies that integrate draw wires within the shaft (as shown in Figure 6), the provided load transfer mechanism advantageously transfers the load from the bent section to the handle without compressing the shaft, thereby improving shaft stability.

Multiple load transfer tubes can be anchored at the proximal end 207 and distal end 205 of the insertion shaft tube 203. As described above, because the load transfer tubes are longer than the insertion shaft tube, they can have a non-linear/linear configuration within the bore of the insertion shaft tube, allowing for flexible adjustment of displacement caused by bending. For example, one or more load transfer tubes can have a non-linear (e.g., helical) configuration, allowing movement within the main lumen of the endoscope to account for geometric changes in shaft length when the endoscope is subjected to torsional configuration while placed in the anatomical structure. This load transfer mechanism can advantageously function as a natural spring to counteract movement from the external insertion shaft.

In some implementations, one or more load transfer tubes may surround one or more draw cables. The articulation of the endoscope can be controlled by applying force to the distal end of the endoscope via one or more draw cables. One or more draw cables may be attached to the distal end of the endoscope. In the case of multiple draw cables, pulling one cable at a time may change the orientation of the distal tip to tilt it up, down, left, right, or in any desired direction. In some cases, the draw cables may be anchored at the distal tip of the endoscope, pass through a bend, and enter a handle, where they are coupled to a drive component (e.g., a pulley). This handle pulley may interact with an output shaft from the robotic system.

In some embodiments, one or more draw wires may be located within or pass through the interior of one or more load transfer tubes. Figures 3A and 3B illustrate examples of one or more draw wires 305 assembled with a load transfer tube 307 at a bend 301. As shown in Figure 3A, the bend 301 may be constructed of stainless steel strip. The bend may be formed of other suitable structures or materials to achieve a predetermined bending stiffness while maintaining the required axial and torsional stiffness with low hinge forces. For example, the bend may include a braided structure for torsional stability. In the illustrated example, multiple draw wires 305 may pass through or be located within the load transfer tube 307 and the bend, terminating at the tip of the endoscope.

For example, a drive mechanism (e.g., an actuator, a motor) can engage with a draw cable to articulate the bend section. One or more load transfer tubes can be configured to transfer at least a portion of the articulated load (e.g., compression) from the bend section back to the handle or motor, for example, by placing one or more draw cables inside one or more load transfer tubes respectively. During articulation, relative movement may exist between the draw cables and the respective load transfer tubes. One or more load transfer tubes can transfer at least a portion of the articulated load applied to the bend section and/or shaft back to the handle (e.g., a motor driving one or more articulated draw cables). This can advantageously reduce at least a portion of the articulated force applied to the bend section and/or insert shaft, thereby improving the stability of the insert shaft.

The endoscope may include a bend transition section 303 located at the interface between the bend and the shaft. The bend transition section 303 may include structures that enable efficient and convenient assembly of the endoscope. For example, the bend transition section 303 may include mechanical components such as clips/clamps to anchor a load transfer tube (e.g., a hypo tube) to a cutout feature on the insertion shaft. Figure 3B shows another example of the bend transition section 309. In the example shown, the load transfer tube can be anchored to the interface between the insertion shaft and the bend section via a transition ring structure welded to the bend transition section 309. This can advantageously reduce abrupt changes in stiffness between the shaft portion and the bend section, thereby preventing kinking.

Figure 4 illustrates an example of a load transfer tube 401 terminating at the distal shaft region 403 and the proximal shaft region 405. As described above, the load transfer tube can have a non-linear/non-linear configuration within the bore of the insert tube, allowing for flexible adjustment of displacement caused by bending. As shown in the example, the load transfer mechanism may include one or more load transfer tubes. Such a load transfer mechanism can advantageously function as a natural spring to counteract movement from the external insert shaft without requiring an additional maintenance ring at the handle portion. In the illustrated example, the end of the load transfer tube may be fixedly connected (e.g., welded to) a bend transition section 407. The bend transition section 407 may include a coupling structure 409 (e.g., a snap-fit) for easy assembly to the insert shaft.

In some cases, one or more load transfer tubes may be constructed from materials such as metal tubing or metal spiral coils. The geometry and/or material of the load transfer tubes can be selected/determined to provide the required axial and bending stiffness. For example, the material may be a metallic material such as stainless steel or nitinol, a rigid polymer such as PEEK, glass or carbon-filled PEEK, Ultem, polysulfone, and other suitable materials. In some cases, one or more load transfer tubes may have an inner diameter larger than the outer diameter of the draw wire to allow relative movement (e.g., translational and/or rotational movement) between the load transfer tube and the draw wire. The wall thickness of one or more load transfer tubes may be determined based on the load transfer function required to transmit the articulated load of the bent section.

Figure 5 shows an example of a load transfer tube 501 terminating in the distal shaft region 503 and the proximal shaft region. As described elsewhere herein, the load transfer tube 501 may be located within the cavity of the insertion shaft (not shown) and outside the working channel 505.

Figure 6 illustrates an example of a conventional maneuverable conduit structure 600. In conventional conduit designs, there is no load transfer tube; one or more pull wires 609 typically pass through a conduit 607, which is built into the walls of an insertion shaft 605 and a bend 603. The conduit shaft may have a central bore/lumen 611 coaxial with the neutral shaft. As shown in the cross-sectional view, the shaft wall or bend wall may have built-in structures (e.g., lumens, conduits) to allow pull wires to pass through. In this case, the shaft may be subjected to articulated loads, leading to shaft instability.

Figure 7 illustrates a design example of the insertion shaft. As described above, the insertion shaft of an endoscope can be constructed from a single tube with a monolithic structure to vary the stiffness of the shaft portion. For example, the tube can have a series of cuts (or embossing, slits, etc.) formed along its length. The cuts in the tube can have profiles/patterns 701, 703 and densities that vary along the length to produce variable bending stiffness from the distal region to the proximal region. This can advantageously allow for control of the bending stiffness parameters by controlling the cuts in the insertion shaft.

Low-cost and disposable robotic bronchoscope

In another aspect of the invention, a disposable robotic bronchoscope is provided. The robotic bronchoscope may be identical to the maneuverable catheter assembly described elsewhere herein. Conventional endoscopes are complex in design and are typically designed for reuse after surgery, requiring thorough cleaning, disinfection, or sterilization after each procedure. Existing endoscopes are often designed with complex structures to ensure they can withstand cleaning, disinfection, and sterilization processes. The provided robotic bronchoscope can be a disposable endoscope, which can advantageously reduce cross-contamination between patients and infections. In some cases, the robotic bronchoscope may be delivered to the physician in a pre-sterilized package and intended for disposal after single use.

Figures 8 through 10 illustrate examples of robotic bronchoscopes according to some embodiments of the present invention. As shown in Figure 8, a robotic bronchoscope 820 may include a handle portion 813 and a flexible elongated member 811. In some embodiments, the flexible elongated member 811 may include an axis, a maneuverable tip, and a maneuverable portion. The robotic bronchoscope 820 may be the same as the maneuverable catheter assembly described in Figure 1. The robotic bronchoscope may be a disposable robotic endoscope. In some cases, only the catheter may be disposable. In some cases, at least a portion of the catheter may be disposable. In some cases, the entire robotic bronchoscope may be released from the instrument drive mechanism and may be discarded. The bronchoscope may include varying degrees of stiffness along its axis to improve functional operation.

The robotic bronchoscope can be releasably coupled to an instrument drive mechanism 820. The instrument drive mechanism 820 can be mounted to the arm of a robotic support system or any actuated support system as described elsewhere herein. The instrument drive mechanism can provide both mechanical and electrical interfaces to the robotic bronchoscope 820. The mechanical interface allows the robotic bronchoscope 820 to be releasably coupled to the instrument drive mechanism. For example, the handle portion of the robotic bronchoscope can be attached to the instrument drive mechanism using quick-release tools such as magnets and spring-loaded levels. In some cases, the robotic bronchoscope can be manually coupled to or released from the instrument drive mechanism without the use of tools.

Figure 9 illustrates an example of an instrument drive mechanism 920 that provides a mechanical interface to the handle portion 913 of a robotic bronchoscope. As shown in the example, the instrument drive mechanism 920 may include a set of motors actuated to rotatably drive a set of drawstrings of the catheter. The handle portion 913 of the catheter assembly may be mounted to the instrument drive mechanism such that its pulley assembly is driven by the motor set. The number of pulleys may vary depending on the drawstring configuration. In some cases, one, two, three, four, or more drawstrings may be used to articulate the catheter.

The handle portion can be designed to allow for single-use of the robotic bronchoscope at a reduced cost. For example, classic manual and robotic bronchoscopes typically have a cable at the proximal end of the bronchoscope handle. This cable usually includes illumination fiber optics, camera video cables, and other sensor fibers or cables, such as electromagnetic (EM) sensors or shape-sensing fibers. This complex cable can be expensive, increasing the cost of the bronchoscope. Robotic bronchoscopes can be designed with optimized features, allowing for simplified structures and components while retaining both mechanical and electrical functionality. In some cases, the handle portion of the robotic bronchoscope can be cable-free, while still providing mechanical/electrical interfaces for the catheter.

Figure 10 illustrates an example of a handle portion 1000 of a robotic bronchoscope according to some embodiments of the present invention. In some cases, the handle portion 1000 may be a housing or include components configured to process image data, provide power, or establish communication with other external devices. In some cases, the communication may be wireless. For example, wireless communication may include Wi-Fi, radio communication, Bluetooth, IR communication, or other types of direct communication. This wireless communication capability allows the robotic bronchoscope to function in a plug-and-play manner and can be conveniently discarded after single use. In some cases, the handle portion may include circuitry, such as a power supply for powering electronic equipment (e.g., cameras and LED light sources) housed within the robotic bronchoscope or catheter.

The handle portion can be designed in conjunction with the catheter to eliminate the need for cables or fiber optics. Depending on the catheter's mechanical structure, for example, the catheter portion can be designed with a single working channel allowing the instrument to pass through a robotic bronchoscope, along with low-cost electronics such as a cutting-edge chip camera, an illumination source such as a light-emitting diode (LED), and an EM sensor in an optimal position. This allows for a simplified design of the handle portion. For example, by using LEDs for illumination, the end of the handle portion can be based solely on welding or wire clamping. For instance, the handle portion can include a proximal plate where the camera cable, LED cable, and EM sensor cable terminate, and this proximal plate connects to the handle portion's interface and establishes an electrical connection with the instrument drive mechanism. As described above, the instrument drive mechanism is attached to the robotic arm (robotic support system) and provides both mechanical and electrical interfaces to the handle portion. This can advantageously improve assembly and implementation efficiency, as well as simplify the manufacturing process and reduce costs. In some cases, the handle portion, along with the catheter, can be discarded after a single use.

Disposable maneuverable catheter

Figure 11 illustrates an example of a maneuverable catheter 1100 according to some embodiments of the present invention. In some embodiments, the catheter may have a substantially integral design, with one or more components integrated with the catheter, thereby simplifying assembly and manufacturing processes while maintaining the kinematic and dynamic properties of the maneuverable catheter. As shown in the example, the maneuverable catheter may include an elongated member 1101 or a probe portion close to the tissue and/or area to be examined. In some cases, the elongated member 1101 may also be referred to as a catheter. The catheter 1101 may include an internal structure such as a working channel 1103, allowing tools, as described elsewhere herein, to be inserted through it. In some cases, the working channel may have a size such as approximately 2 mm in diameter to be compatible with standard tools.

The catheter 1101 can be composed of suitable materials to achieve the desired flexibility or bending stiffness. In some cases, the material of the catheter can be chosen such that it maintains structural support for the internal structure (e.g., the working channel) and is substantially flexible (e.g., capable of bending in various directions and orientations). For example, the catheter can be made of any suitable material, such as Provista copolymers, vinyl (e.g., polyvinyl chloride), nylon (e.g., vestamid, grilamid), particulate alkyl, polyethylene, polypropylene, polycarbonate, polyester, silicone elastomers, acetate, etc. In some cases, the material can be a polymeric material, a biocompatible polymeric material, and the catheter can be flexible enough to advance through a path with small curvature without causing pain to the subject. In some cases, the catheter may include a sheath. The sheath may differ in length from the catheter. The sheath may be shorter than the catheter to provide the required support. Alternatively, the catheter can be substantially a single piece.

In some cases, the distal portion or tip of the catheter can be substantially flexible, allowing it to be manipulated in one or more directions (e.g., pitch, yaw). The catheter may include the same tip portion, bend, and insertion shaft as described in Figures 1 through 5. In some embodiments, the catheter may have variable bending stiffness along its longitudinal axis. For example, the catheter may include multiple portions with different bending stiffnesses (e.g., flexible, semi-rigid, and rigid). Bending stiffness can be varied by selecting materials with different stiffness/rigidity, different structures in different portions (e.g., cutouts, patterns), adding additional support components, or any combination thereof. In some cases, the proximal end of the catheter does not require high bending, so the proximal portion of the catheter can be reinforced with additional mechanical structures (e.g., additional material layers) to achieve greater bending stiffness. This design can provide support and stability for the catheter. In some cases, variable bending stiffness can be achieved by using different materials during catheter extrusion. This can advantageously allow different stiffness levels along the axis of the catheter during extrusion manufacturing without additional fasteners or assemblies of different materials.

The distal portion of the catheter can be manipulated by one or more draw wires 1105. The distal portion of the catheter can be made of any suitable material, such as copolymers, polymers, metals, or alloys, allowing it to be bent by the draw wires. In some embodiments, the proximal or proximal portion of one or more draw wires 1105 is operatively coupled to various mechanisms (e.g., gears, pulleys, etc.) in the handle portion of the catheter assembly. The draw wire 1105 can be a metal wire, cable, or cord, or it can be a polymer wire, cable, or cord. The draw wire 1105 can also be made of natural or organic materials or optical fibers. The draw wire 1105 can be any type of suitable wire, cable, or cord capable of withstanding various loads without deformation, significant deformation, or breakage. One or more pull wires 1105 may be anchored or integrated into the distal portion of the catheter, such that operation of the pull wires by the control unit may apply force or tension to the distal portion of the catheter, which may be manipulated or hinged (e.g., in any direction, up, down, pitch, yaw, or intermediate) at least the distal portion of the catheter (e.g., the flexible portion).

As described above, the pull wire can be made of any suitable material, such as stainless steel (e.g., SS316), metal, alloy, polymer, nylon, or biocompatible material. The pull wire can be an electric wire, cable, or cord. In some embodiments, different pull wires can be made of different materials to vary their load-bearing capacity. In some embodiments, different sections of the pull wire can be made of different materials to vary the stiffness and/or load-bearing capacity along the wire. In some embodiments, the pull wire can be used for the transmission of electrical signals. As described elsewhere herein, the pull wire can pass through the interior of one or more load transmission conduits.

The catheter can be sized to allow one or more electronic components to be integrated into it. For example, the outer diameter of the distal tip can be approximately 4 to 4.4 millimeters (mm), and the diameter of the working channel can be around 2 mm, allowing one or more electronic components to be embedded in the catheter wall. However, it should be noted that, depending on the application, the outer diameter can be in any range, less than 4 mm or greater than 4.4 mm, and the diameter of the working channel can be in any range, depending on the tool size or specific application.

One or more electronic components may include an imaging device, an illumination device, or a sensor. In some embodiments, the imaging device may be a camera 1113. The imaging device may include optical elements for capturing image data and an image sensor. The image sensor may be configured to generate image data in response to the wavelength of light. Various image sensors may be employed to capture image data, such as complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD). The imaging device may be a low-cost camera. In some cases, the image sensor may be provided on a circuit board. The circuit board may be an imaging printed circuit board (PCB). The PCB may include multiple electronic components for processing image signals. For example, circuitry for a CCD sensor may include an A/D converter and an amplifier to amplify and convert the analog signal provided by the CCD sensor. Alternatively, the image sensor may be integrated with the amplifier and converter to convert the analog signal into a digital signal, thus eliminating the need for a circuit board. In some cases, the output of the image sensor or circuit board may be image data (digital signal), which may be further processed by camera circuitry or a camera processor. In some cases, the image sensor may include an array of optical sensors.

The lighting device may include one or more light sources 1111 positioned at the distal tip. The light source may be a light-emitting diode (LED), an organic LED (OLED), a quantum dot, or any other suitable light source. In some cases, the light source may be a small LED or a dual-color flashing LED for a compact design.

Imaging and illumination devices can be integrated into the catheter. For example, the distal portion of the catheter may include a suitable structure that at least matches the dimensions of the imaging and illumination devices. The imaging and illumination devices can be embedded in the catheter. Figure 12 shows an example of a distal portion of a catheter with integrated imaging and illumination devices. A camera can be located in the distal portion. The distal tip may have a structure for receiving the camera, illumination device, and/or position sensor. For example, the camera can be embedded in a cavity 1210 at the distal tip of the catheter. The cavity 1210 may be integrally formed with the distal portion of the cavity and may have dimensions that match the length/width of the camera, such that the camera does not move relative to the catheter. The camera may be located adjacent to the working channel 1220 of the catheter to provide a near-field view of tissue or organ. In some cases, the attitude or orientation of the imaging device can be controlled by controlling the rotational movement (e.g., rolling) of the catheter.

The camera can be powered by a wired cable. In some cases, the cable may power the camera and lighting elements or other circuitry at the distal tip of the catheter within a wiring harness. The camera and/or light source may be powered from a power source located in the handle section via wires, copper wires, or any other suitable tool running the length of the catheter. In some cases, real-time images or videos of tissues or organs may be wirelessly transmitted to an external user interface or display. Wireless communication may be WiFi, Bluetooth, RF communication, or other forms of communication. In some cases, images or videos captured by the camera may be broadcast to multiple devices or systems. In some cases, image and/or video data from the camera may be transmitted along the length of the catheter to a processor located in the handle section via wires, copper wires, or any other suitable tool. Image or video data may be transmitted to external devices/systems via wireless communication components in the handle section. In some cases, the system may be designed so that no wires are visible or exposed to the operator.

In routine endoscopic examinations, illumination can be provided by an optical fiber that transmits light from a source located proximal to the distal end of a robotic endoscope. In some embodiments of this disclosure, a small LED light can be used and embedded in the distal portion of the catheter to reduce design complexity. In some cases, the distal portion may include a structure 1230 with dimensions matching the size of the small LED light source. As shown in the example illustrated, two cavities 1230 can be integrally formed with the catheter to receive two LED light sources. For example, the outer diameter of the distal tip can be approximately 4 to 4.4 millimeters (mm), and the diameter of the working channel of the catheter can be approximately 2 mm, allowing two LED light sources to be embedded distally. The outer diameter can be in any range less than 4 mm or greater than 4.4 mm, and the diameter of the working channel can be in any range depending on the size of the tool or the specific application. Any number of light sources can be included. The internal structure of the distal portion can be designed to accommodate any number of light sources.

In some cases, each LED can be connected to a power cord that can be run to the proximal handle. In some embodiments, the LED can be soldered to separate power cords, which are then bundled together to form a single strand. In some embodiments, the LED can be soldered to a power supply pull wire. In other embodiments, the LED can be clamped or directly connected to a single pair of power cords. In some cases, a protective layer (such as a thin layer of biocompatible adhesive) can be applied to the front surface of the LED to provide protection while allowing light to be emitted. In some cases, an additional cover 1231 can be placed on the distal tip-facing end face to provide precise positioning of the LED and sufficient space for the adhesive. The cover 1231 can be made of a transparent material that matches the refractive index of the adhesive so that the illumination light is not blocked.

In some embodiments, one or more sensors may be embedded in the distal portion of the catheter. In conventional robotic bronchoscopes, sensors can be used to track the tip position, typically located at the distal tip, resulting in an increased tip size. The provided maneuverable catheter may bundle one or more electronic components to provide a compact design. In some cases, an illumination source and one or more position sensors may be combined into a bundle. Figure 13 illustrates an example of a compact configuration of electronics located in the distal portion. In some embodiments, position sensors, such as electromagnetic (EM) sensors, may be used to accurately track the position of the distal tip of the catheter. For example, an electromagnetic coil 1310 located distally may be used with an electromagnetic tracking system to detect the position and orientation of the distal tip of the catheter while it is disposed within an anatomical system (e.g., an anatomical lumen network). In some cases, the coil may be tilted to provide sensitivity to electromagnetic fields along different axes, enabling the disclosed navigation system to measure six degrees of freedom: three positions and three angles.

In some cases, one or more EM sensors 1310 may be located on the distal portion and may be arranged stereoscopically adjacent to or behind the illumination source 1320 (e.g., an LED). In some cases, the EM sensors and the LED source may form a bundle 1300. The power cables of the EM sensors may be bundled together with the LED wires to provide reduced space and complexity. In some cases, stereo alignment can provide differential 5D measurement or fused 6D measurement, which allows for accurate positioning and orientation sensing of the distal catheter tip. During the procedure, an EM field generator located next to, below, or above the patient's torso can position the EM sensors to track the position of the catheter tip in real time.

Guidance configuration and design

Robotic bronchoscopes may include one or more drawstrings for controlling the articulation of the catheter. In conventional endoscopes, the distal end or distal portion of one or more drawstrings may be anchored or mounted to a control ring, such that operation of the drawstrings by the control unit can apply force or tension to the control ring, which can manipulate or articulate (e.g., up, down, pitch, yaw, or any direction in between) a segment or portion of the catheter (e.g., the distal portion). Figure 14 illustrates examples of a conventional configuration of drawstring 1413 attached to a control ring structure 1411 and a novel configuration 1420 of this disclosure. The control ring may be attached to the distal end of catheter 1415. Typically, the tip of the drawstring is soldered or tin-welded to the control ring 1411, and the control ring may also be attached to the distal tip by soldering. Soldering can be expensive, cumbersome, and complex. Furthermore, a breakage or failure of a drawstring may affect the entire manipulation control function.

The provided robotic bronchoscope may include individually controlled drawstrings, each drawstring directly connected to the distal portion. As shown in Example 1420, one or more drawstrings 1423 may be attached to an integrally formed structure 1421 of the distal portion. For example, the integrally formed structure 1421 may be a groove molded together with the distal tip. The groove may have dimensions or sizes that match the dimensions of the distal end 1421 of the drawstring, allowing the drawstring to be easily coiled at the distal end. This can advantageously improve assembly efficiency. In some cases, the drawstring may be rigidly fixed to the groove at the distal end, such that the distal end of the drawstring may not be allowed to move relative to the distal portion of the catheter.

The guy wire configuration also provides improved reliability when manipulating the distal section. For example, because each guy wire is individually connected to and controlled by the distal section, the articulation force can be dynamically adjusted according to different guy wire configurations. For instance, in the event of a guy wire breakage, the articulation force can be recalculated and the control signals used to control the guy wires can be dynamically adjusted based on the available guy wires.

The ease of assembling the drawwire to the distal portion also allows for flexibility in drawwire configuration design. For example, the number or combination of drawwires can be dynamically selected or adjusted to meet different performance or design requirements. Figure 15 illustrates various drawwire configurations for robotic conduit systems. In some embodiments, the integral structure (groove) for receiving the drawwire can be prefabricated. For example, four grooves can be integrally formed with the conduit, and one or more drawwires can be fixedly connected/clamped to one or more grooves selected from a plurality of grooves to form different configurations 1510, 1530. As shown in the examples, any number of grooves/slots or any given subset of grooves/slots can be selected to receive or couple to a drawwire at one end. In some cases, once a combination of slots/grooves is selected to couple to the corresponding drawwire, a drawwire configuration pattern can be formed, and the mapping relationship between the selected grooves/slots and the drawwires can be transmitted to the control unit. Control signals can then be generated based on the mapping relationship during articulation to achieve the desired articulation force.

In another example, the prefabricated grooves can have various configurations. For instance, a three-wire configuration 1520 can have three grooves spaced 120° apart. In some cases, a virtual mapping algorithm can map a three-wire configuration to a four-wire configuration. The virtual mapping algorithm can also be used to update the new mapping relationship when one or more wires fail/damage during operation. This holistic design of the wire configuration advantageously simplifies the assembly and manufacturing process while preserving the kinematic and dynamic properties of the conduit.

Guidewire with inflatable tip

In some implementations, a guidewire can be used during a bronchoscopy procedure. The guidewire is typically inserted well beyond the bronchoscope tip to first enter the desired airway, then allows the bronchoscope to slide along the guidewire into the selected pathway. Because the guidewire has a smaller diameter compared to the bronchoscope, it may not have sufficient stiffness and/or friction to anchor it within the airway.

The guidewire of this disclosure may have an expandable outer diameter feature at its tip. Figure 16 shows an example of a guidewire 1600 with an inflatable tip. The guidewire 1601 can be inserted through the working channel of a catheter/bronchoscope to help guide airways in the lungs. In some cases, the guidewire may extend beyond the tip of the catheter into the desired airway, and the catheter can then slide across the guidewire to reach the desired location. A variety of suitable methods can be used to implement the inflatable tip. For example, an additional component 1603, such as an inflatable balloon, may be positioned distal to or near the guidewire. The balloon can be connected through the working channel to a balloon inflation source or pump for balloon inflation or deflation.

In some cases, the guidewire may include a perforation. The diameter of the deflation balloon may be equal to the diameter of the slender arm (e.g., a bronchoscope tube). In some cases, the diameter of the deflation balloon may be slightly larger than the slender arm. The guidewire may be able to move distally or proximally. The guidewire may be attached to an air pump to inject and withdraw air from the guidewire, inflating and deflating the balloon, respectively. The balloon may remain deflated during guidewire insertion into the air passage. When the appropriate position is reached, the balloon will be inflated by pumping in air. Once the bronchoscope reaches the desired forward position, the balloon can be deflated by pumping out air, which allows the guidewire to move forward. In some embodiments, the inflatable tip may be made of a foldable mesh structure using materials such as shape memory alloys (SMA), electroactive polymers (EAP), and ferrofluids, and have corresponding inflation and deflation controls. The anchoring element may have any other form to secure the guidewire. For example, the anchoring element may be a wire that can expand or contract radially. The anchoring element can be actuated by a sliding actuator that slides linearly to cause the anchoring element to change its position, specifically causing the anchoring element to either unfold or return to a folded position. The sliding action of the actuator can be translated into a change in the position (state) of the anchoring element (e.g., the anchoring element unfolds and expands radially to provide a structure for positioning the anchoring guide wire, or conversely, the anchoring element retracts radially and returns to the folded state).

Figure 17 illustrates another example of the catheter tip design 1701. In the example shown, the diameter of the tip 1701 may be larger than the diameter of the curved section 1702 and/or the shaft 1703. The working channel 1708 may be deformable (e.g., expandable/compressible). The working channel 1708 may be formed of a resilient material (e.g., plastic) capable of accommodating instruments with variable dimensions. For example, larger instruments such as biopsy, therapeutic instruments, or energy devices may have their tip portion of the working channel expanded when inserted through the working channel 1708.

In the first example 1710, the LED light source or light guide can be replaced after the endoscope reaches the target position. In the second example 1712, the LED light source 1711 can be embedded in the tip. In the third example 1713, the LED light source can be embedded in the tip, while the light guide can be removable. The tip may include other electronic components, such as the camera 1707 described elsewhere herein. The endoscope may also include a handle portion 1704 similar to the handle described elsewhere herein. For example, the handle portion may include a Luer connector 1705 for various functions and an electrical interface 1706.

Although preferred embodiments of the invention have been shown and described herein, it will be readily understood by those skilled in the art that these embodiments are provided by way of example only. Many variations, modifications, and substitutions will now occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in carrying out the invention. The appended claims are intended to define the scope of the invention, and the methods and structures within the scope of these claims, and their equivalents, are thereby covered.

Claims (28)

1. A hinged flexible endoscope, comprising: The distal tip portion can be manipulated by a drive mechanism; A curved segment, the distal end of which is connected to the distal tip portion and to the shaft portion at a transition interface having a ring structure, wherein the curved segment is hinged by multiple draw wires; and The shaft portion includes a plurality of load transfer tubes for accommodating the plurality of draw wires, wherein the distal ends of the plurality of load transfer tubes are anchored to the ring structure of the transition interface located at the joint interface between the shaft portion and the bend, wherein the proximal ends of the plurality of load transfer tubes are fixed to the proximal end of the shaft portion, and wherein the length of each load transfer tube is greater than the length between the distal end and the proximal end of the shaft portion by a predetermined percentage to reduce the axial compression applied to the shaft portion, thereby improving the stability of the shaft portion. 2. The articulated flexible endoscope according to claim 1, wherein the distal tip portion includes a structure for receiving an imaging device, a position sensor, and an illumination device. 3. The articulated flexible endoscope according to claim 1, wherein each of the plurality of pull wires is placed inside the cavity of each of the plurality of load transmission tubes. 4. The articulated flexible endoscope according to claim 1, wherein the curved section is bent in two or more directions by the plurality of draw wires. 5. The articulated flexible endoscope of claim 1, wherein the length of each of the plurality of load transmission tubes is at least 0.01% greater than the length of the shaft portion. 6. The articulated flexible endoscope according to claim 1, wherein the plurality of load transmission tubes have a non-linear configuration. 7. The articulated flexible endoscope according to claim 1, wherein the plurality of load transfer tubes are in a helical configuration. 8. The articulated flexible endoscope of claim 1, wherein the shaft portion includes a tube having an integrally formed structure to change the stiffness of the shaft portion. 9. The articulated flexible endoscope according to claim 1 further includes a deformable working channel. 10. The articulated flexible endoscope of claim 1, further comprising a handle portion, wherein the handle portion includes one or more components configured to process image data, provide power to one or more electronic components located at the distal tip portion, or establish communication with an external device. 11. The articulated flexible endoscope of claim 10, wherein the handle portion includes an interface configured to couple the handle portion to an instrument drive mechanism. 12. The articulated flexible endoscope according to claim 11, wherein the interface is an electrical interface and a mechanical interface. 13. The articulated flexible endoscope of claim 10, wherein the handle portion includes a mechanical control module for engaging a flushing system or a suction system. 14. A disposable endoscope, comprising: The distal tip portion includes imaging equipment, a position sensor, and an illumination device; A curved segment, the distal end of which is connected to the distal tip portion and to the shaft portion at a transition interface having a ring structure, wherein the curved segment is hinged by multiple draw wires; and The shaft portion includes a plurality of load transfer tubes for accommodating the plurality of draw wires, wherein the distal ends of the plurality of load transfer tubes are anchored to the ring structure of the transition interface located at the joint interface between the shaft portion and the bend, wherein the proximal ends of the plurality of load transfer tubes are fixed to the proximal end of the shaft portion, and wherein the length of each load transfer tube is greater than the length between the distal end and the proximal end of the shaft portion by a predetermined percentage to reduce the axial compression applied to the shaft portion, thereby improving the stability of the shaft portion. 15. The disposable endoscope of claim 14, wherein the distal tip portion includes a structure for receiving the imaging device, the position sensor, and the illumination device. 16. The disposable endoscope of claim 14, wherein the imaging device, the position sensor, and the illumination device are arranged in a compact configuration. 17. The disposable endoscope of claim 14, wherein the length of each of the plurality of load transfer tubes is greater than at least 0.01% of the length of the shaft portion. 18. The disposable endoscope of claim 14, wherein each of the plurality of pull wires is placed within the lumen of each of the plurality of load transfer tubes. 19. The disposable endoscope of claim 14, wherein the plurality of pull wires are movable relative to the plurality of load transmission tubes. 20. The disposable endoscope of claim 14, wherein the curved section is bent in two or more directions by the plurality of draw wires. 21. The disposable endoscope of claim 14, wherein the plurality of load transfer tubes are arranged in a non-linear configuration. 22. The disposable endoscope of claim 14, wherein the plurality of load transfer tubes are in a helical configuration. 23. The disposable endoscope of claim 14, wherein the shaft portion includes a tube having an integrally formed structure to change the stiffness of the shaft portion. 24. The disposable endoscope according to claim 14 further includes a deformable working channel. 25. The disposable endoscope of claim 14, further comprising a handle portion, wherein the handle portion includes one or more components configured to process image data, provide power to the imaging device, the position sensor and the illumination device, or establish communication with an external device. 26. The disposable endoscope of claim 25, wherein the handle portion includes an interface configured to couple the handle portion to an instrument drive mechanism. 27. The disposable endoscope according to claim 26, wherein the interface includes an electrical interface and a mechanical interface. 28. The disposable endoscope of claim 27, wherein the mechanical interface is configured to releasably couple the handle portion to the instrument drive mechanism.