Endoluminal crawler

Patent metadata

Field	Value
Publication number	US-9326663-B2
Application number	US-201113108344-A
Country	US
Kind code	B2
Filing date	May 16, 2011
Priority date	Jun 17, 2010
Publication date	May 3, 2016
Grant date	May 3, 2016

Abstract

An endoluminal crawler used in endoscopic procedures includes a body and an actuation unit. The body includes a tubular portion. The actuation unit includes an actuator providing a rotational output and a traction belt. The traction belt includes a traction portion and an engaging portion. The traction portion protrudes out of a slot defined in the tubular portion and the engaging portion operatively engages the actuator.

First claim

What is claimed is:

1. A self-propelled surgical endoluminal device comprising:
a body including a tubular portion defining first and second slots, and a wall interposed between the first and second slots, the wall including an inner surface and an outer surface; and
an actuation unit disposed within the body, the actuation unit including:
an actuator providing a rotational output; and
a fraction belt including first and second traction portions and an engaging portion interposed between the first and second traction portions, the first and second traction portions at least partially protruding out of the first and second slots, respectively, the engaging portion in registration with the inner surface of the wall of the body, the outer surface of the wall of body configured to slidably engage tissue, at least a portion of the engaging portion operatively engaging the actuator,

wherein the first and second traction portions and the engaging portion are integrally formed.

2. The self-propelled endoluminal device according to claim 1 , further comprising at least one roller rotatably supporting the traction belt in the body, wherein the traction belt is continuously looped such that the rotational output of the actuator provides continuous rotation of the traction belt.

3. The self-propelled endoluminal device according to claim 2 , wherein the actuation unit further includes a worm gear defining a longitudinal axis, the worm gear being operatively coupled to the actuator and engaging the engaging portion of the traction belt.

4. The self-propelled endoluminal device according to claim 3 , wherein the worm gear defines a working channel extending along a length of the worm gear, and a distal end portion of the body defines an aperture, the working channel and the aperture configured to receive a surgical tool therethrough.

5. The self-propelled endoluminal device according to claim 2 , wherein the actuation unit further includes at least one pinion gear, the at least one pinion gear being operatively coupled to the actuator and engaging the engaging portion of the traction belt such that the rotational output of the actuator rotates the continuously looped traction belt.

6. The self-propelled endoluminal device according to claim 1 , wherein the body includes a tapered portion extending longitudinally from the tubular portion.

7. The self-propelled endoluminal device according to claim 6 , wherein the tapered portion includes a flexible material configured to conform to a shape of a tubular organ.

8. The self-propelled endoluminal device according to claim 1 , wherein the body defines a working channel extending along the length of the body, and a distal end portion of the body defines an aperture, the aperture and the working channel configured to receive a surgical tool therethrough.

9. The self-propelled endoluminal device according to claim 8 , wherein the body includes a viewing window radially surrounding the aperture.

10. The self-propelled endoluminal device according to claim 1 , further comprising an internal power source to supply power to the actuator providing the rotational output.

11. The self-propelled endoluminal device according to claim 10 , further comprising a light source, the light source being powered by the internal power source.

12. The self-propelled endoluminal device according to claim 1 , wherein the first and second traction portions are disposed on opposing sides of the traction belt with respect to a length of the traction belt.

13. An endoscope apparatus comprising:
a housing;
a flexible tube longitudinally extending from the housing; and
an endoluminal device attached to the flexible tube, the endoluminal device including:
a body including a tubular portion defining first and second slots, and a wall interposed between the first and second slots, the wall including an inner surface and an outer surface; and
an actuation unit disposed within the body, the actuation unit including:
an actuator providing a rotational output; and
a fraction belt including first and second traction portions disposed on opposing sides of the traction belt with respect to a length of the traction belt, and an engaging portion interposed between the first and second traction portions, the first and second traction portions partially protruding out of the first and second slots of the body, respectively, the engaging portion operatively engaging the actuator, at least a portion of the engaging portion in registration with the inner surface of the wall of the body, the outer surface of the wall of the body configured to slidably engage tissue, wherein the first and second traction portions and the engaging portion are integrally formed.

14. The endoscope apparatus according to claim 13 , further comprising at least one roller rotatably supporting the traction belt in the body, wherein the traction belt is continuously looped such that the rotational output of the actuator provides continuous rotation of the traction belt.

15. The endoscope apparatus according to claim 14 , wherein the actuation unit further includes at least one pinion gear operatively engaging the actuator and the engaging portion of the traction belt such that the rotational output of the actuator rotates the continuously looped traction belt.

16. The endoscope apparatus according to claim 13 , wherein the housing defines an aperture configured to receive a surgical tool therethrough, and the body defines an opening at a distal portion thereof, the opening configured to receive the surgical tool therethrough.

17. The endoscope apparatus according to claim 13 , wherein the actuation unit further includes a worm gear defining a longitudinal axis, the worm gear being operatively coupled to the actuator and engaging the engaging portion of the traction belt.

18. The endoscope apparatus according to claim 17 , wherein the worm gear defines a working channel therein, the working channel extending along a length of the worm gear.

19. The endoscope apparatus according to claim 13 , further comprising a camera in the body.

20. The endoscope apparatus according to claim 13 , wherein the body includes a tapered portion including a flexible material configured to conform to a shape of a tubular organ.

Assignees

• Viola Frank J
• Power James M
• Covidien Lp

Inventors

• Viola Frank J
• Power James M

Classifications

• G02B23/2476

  Non-optical details, e.g. housings, mountings, supports · CPC title

• A61B2034/303

  specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels · CPC title

• A61B2017/00292

  mounted on or guided by flexible, e.g. catheter-like, means · CPC title

• A61B2034/301

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

• A61B1/0016

  using motor drive units · CPC title