Robotic capsule endoscope

Patent metadata

Field	Value
Publication number	US-12016531-B2
Application number	US-202016868114-A
Country	US
Kind code	B2
Filing date	May 6, 2020
Priority date	May 7, 2019
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A self-propelled semi- or fully-autonomous robotic endoscope device is provided that include multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include two independently controlled motors configured to drive micro-pillared treads above and below the device, allowing for 2-degrees of freedom (DOF) skid-steering even in a collapsed lumen. The robotic device contains similar functionality of a traditional endoscope, such as a camera, adjustable LEDs, channels for insufflation and irrigation, and a tool port for common endoscopy instruments (e.g., forceps, snares, etc.).

First claim

What is claimed is:

1. A robotic endoscope device comprising:
a first double worm drive shaft in communication with a first motor, disposed within a housing, comprising a first screw section and a second screw section, wherein a spiraling component of the first screw section is in a different direction than a spiraling component of the second screw section;
a first worm gear threadably engaged with the first screw section of the first double worm drive shaft and translating rotation of the first screw section of the first double worm drive shaft to rotation of a first continuous track assembly in a first direction; and
a second worm gear threadably engaged with the second screw section of the first double worm drive shaft and translating rotation of the second screw section of the first double worm drive shaft to rotation of a second continuous track assembly in a second direction simultaneously with the rotation of the first continuous track assembly, the rotation of the second continuous track assembly in a direction different than the rotation of the first continuous track assembly.

2. The robotic endoscope device of claim 1 wherein the first screw section of the first double worm drive shaft comprises a right-handed spiraling and the second screw section of the double worm drive shaft comprises a left-hand spiraling.

3. The robotic endoscope device of claim 1 further comprising an idler gear threadably engaged with the second worm gear and the second continuous track assembly to transmit the rotation of the second screw section to the rotation of the second continuous track assembly.

4. The robotic endoscope device of claim 1 wherein the housing comprises an upper portion and a lower portion, the upper portion of the housing comprising a first angled upper continuous track slot through which the second continuous track assembly extends; and wherein the lower portion of the housing comprises a first angled lower continuous track slot through which the first continuous track assembly extends.

5. The robotic endoscope device of claim 4 further comprising:
a second double worm drive shaft, disposed within the housing between the upper portion and the lower portion, comprising a first screw section comprising right-handed spiraling and a second screw section comprising left-handed spiraling.

6. The robotic endoscope device of claim 5 further comprising:
a third worm gear threadably engaged with the first screw section of the second double worm drive shaft and engaged with a third continuous track assembly, the third worm gear transmitting rotation of the second double worm drive shaft to rotation of the third continuous track assembly; and
a fourth worm gear threadably engaged with the second screw section of the second double worm drive shaft, the fourth worm gear rotating opposite the rotation of the third worm gear in response to rotation of the second double worm drive shaft.

7. The robotic endoscope device of claim 6 wherein the upper portion of the housing further comprises a second angled upper continuous track slot substantially perpendicular to the first angled upper continuous track slot and through which the fourth continuous track assembly extends; and
wherein the lower portion of the housing comprises a second angled lower continuous track slot substantially perpendicular to the first angled lower continuous track slot through which the third continuous track assembly extends.

8. The robotic endoscope device of claim 5 wherein the first motor is configured to rotate the first double worm drive shaft in response to a first activation signal, the device further comprising:
a second motor connected to the second double worm drive shaft configured to rotate the second double worm drive shaft, independent of the first double worm drive shaft, in response to a second activation signal.

9. The robotic endoscope device of claim 8 further comprising:
a tether extending from a back portion of the housing, the tether comprising a tube housing one or more control electrical cables in electrical communication with the first motor and the second motor to activate the first motor and the second motor.

10. A surgical method for a colonoscopy comprising:
locating a self-propelled endoscope device in a gastro-intestinal tract of a subject;
transmitting a first drive signal to a first motor of the endoscope device to rotate a first double worm drive shaft, wherein rotation of the first double worm drive shaft causes a first continuous track assembly to rotate in a first rotational direction and a second continuous track assembly to simultaneously rotate in a second rotational direction opposite the first rotation direction to propel the endoscope device; and
transmitting a second drive signal to a second motor of the endoscope device to rotate a second double worm drive shaft independent of the first double worm drive shaft, wherein rotation of the second double worm drive shaft causes a third continuous track assembly to rotate independent of the first continuous track assembly and a fourth continuous track assembly to rotate independent of the second continuous track assembly, the first drive signal and the second drive signal transmitted to propel the endoscope device within the gastro-intestinal tract.

11. The surgical method of claim 10 wherein the rotation of the second double worm drive shaft causes the third continuous track assembly to rotate in the first rotational direction and the fourth continuous track assembly to rotate in the second rotational direction opposite the first direction to propel the endoscope device forward.

12. The surgical method of claim 10 wherein the rotation of the second double worm drive shaft causes the third continuous track assembly to rotate in the second rotational direction and the fourth continuous track assembly to rotate in the first rotational direction to skid-steer the endoscope device.

13. The surgical method of claim 10 wherein the second continuous track assembly is angled with respect to the first continuous track assembly and the fourth continuous track assembly.

14. The surgical method of claim 10 wherein the second continuous track assembly and fourth continuous track assembly both comprise a plurality of cylindrical treads extending perpendicular from a corresponding track surface.

15. The surgical method of claim 10 wherein transmitting the first drive signal and the second drive signal comprises sending an electrical control signal through a tether extending from a back portion of the endoscope device, the tether housing one or more control electrical cables in electrical communication with a first motor and a second motor of the endoscope device.

Assignees

• Univ Colorado Regents

Inventors

• Rentschler Mark E
• Formosa Gregory
• Prendergast Joseph M

Classifications

• A61B34/32

  operating autonomously · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B2034/2046

  Tracking techniques · CPC title