WO2012035157A1

WO2012035157A1 - Magnetic levitation endoscopic device

Info

Publication number: WO2012035157A1
Application number: PCT/EP2011/066149
Authority: WO
Inventors: Massimiliano Simi; Pietro Valdastri; Arianna Menciassi; Paolo Dario
Original assignee: Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Priority date: 2010-09-16
Filing date: 2011-09-16
Publication date: 2012-03-22
Also published as: IT1402326B1; ITFI20100196A1

Abstract

Endoscopic system, comprising an endoscopic device 1 moved by a magnetic levitation system comprising a first 2 and a second 3 module connected by means of a flexible joint 4 and each bearing one or more permanent magnets 21, 22, 31, 32, the second module 3 further being provided with a motor 34 for the actuation of the internal magnets 31, 32 thereof; and means 61, 62, 7 for generating a first and a second external magnetic field, adapted to respectively interact with the magnets of the first and of the second module with the aim of producing a desired magnetic field surrounding the second module 3 for an efficient working of the levitation system in orienting the second module 3 with respect to the first module 2.

Description

TITLE

MAGNETIC LEVITATION ENDOSCOPIC DEVICE

DESCRIPTION

The present invention refers to an endoscopic device, particularly suitable for laparoscopic surgery.

Conventional laparoscopic surgical procedures require a port exclusively dedicated to the imaging apparatus. This entails the need for an additional cut on the patient, thus increasing the invasiveness of the procedure.

In the latest laparoscopic procedures there is provided for only one access port (and thus only one cut on the patient) provided with several holes ("Single Port Laparoscope , SPL). However, in this case, the procedures are significantly hampered by limited triangulation capabilities and, due to the space occupied by the imaging instrument, both the number of holes available for the operating instruments and the work area usable by the surgeon for the movements thereof is however inevitably limited, thus resulting in frequent internal and external collisions.

Furthermore, both "conventional" and more recent endoscopic devices are not fully satisfactory in terms of dexterity and operative reliability, particularly in terms of versatility of movement of the imaging module, also inevitably restricted by the fulcrum point of insertion of the rod of the endoscopic device.

Therefore, the technical problem addressed by the present invention lies in overcoming the previously mentioned drawbacks with reference to the prior art.

Such problem is solved by an endoscopic device according to claim 1.

Preferred characteristics of the present invention are present in the dependent claims thereof.

A main advantage provided by the present invention lies in the fact that an external magnetic field is used to obtain a fine and reliable control of the movement - and thus of the image field - of a miniaturized imaging instrument, which is easily and efficiently manoeuvrable besides providing a wide work area.

Moreover, the imaging instrument adheres to the abdomen wall of the patient and provides therefore a point of view positioned above the work area, not bound to the insertion point of the instruments, so that the triangulation is restored. The greater versatility of movement of the imaging instrument may provide non- conventional views of the surgery scene which facilitate the execution of the relative procedures. In particular, the present invention not only guarantees the possibility to move from a quadrant to another during the same surgical procedure, but the surgeon may also have several views of the same surgery scene by inserting several imaging modules into the abdomen without requiring separate dedicated access ports, to the advantage of the quality of the intervention, which is evidently increased by the improved and multiple imaging information.

Furthermore, the device of the invention is capable of occupying the laparoscopic port only with a thin flexible cable for feeding and transmitting data, thus allowing inserting at least one further surgical instrument through the same access hole without limiting the manoeuvrability thereof. Thus, the proposed device allows reducing the invasiveness of the laparoscopic procedures, simultaneously increasing the dexterity of the surgeon. In particular, the physical interaction with the endoscope specialist is eliminated due to the limited work space associated to the known devices and, in case of single port laparoscopy (SPL), there is an increase of the freedom of action of the surgeon, which in the known devices is limited by the need of passage of several rigid cumbersome instruments, including the imaging channel, through the same fulcrum.

Further advantages, characteristics and methods of use of the present invention will be apparent from the detailed description that follows of some embodiments provided by way of non-limiting example with reference to the figures of the attached drawings, wherein:

• Figure 1 shows a perspective schematic view of a first preferred embodiment of the endoscopic device according to the present invention;

• Figure 2 shows a perspective schematic view of the device of Figure 1 wherein, for the sake of clarity, part of a protective external casing and part of the internal components were removed;

• Figure 3 shows a longitudinal section schematic view of the device of Figure 2; and • Figure 4 shows a perspective schematic view of a second preferred embodiment of the endoscopic device according to the present invention.

Initially with reference to Figures 1 to 3, a miniaturized robotic endoscopic device, or endoscope, according to a first preferred embodiment of the invention is generally indicated with 1 . The endoscope 1 , and in particular an imaging instrument carried thereby, is moved by means of a magnetic levitation system which will be clear from the description that follows.

The endoscope 1 firstly comprises a first body or module 2 and a second body or module 3, each provided with its own protective casing, respectively 20 and 30, preferably substantially cylindrical-shaped. The modules 2 and 3 are connected to each other by means of a flexible joint 4 which allows a rotation of the second module 3 with respect to the first module 2, in particular according to the arrow 23 of Figure 1.

The first module 2, or rear module, in turn comprises first magnetic means adapted to generate a static magnetic field. In the present example, such first means are made in form of a pair of permanent magnets 21 and 22 housed within the casing 20 at opposite longitudinal ends thereof and arranged with inverted polarities, still as represented schematically in Figure 1. The aforementioned first magnetic means 21 , 22 are adapted to interact with a first external magnetic field with the aim of causing a simple anchoring and a movement (translation and rotation) of the endoscope 1 on a wall P of a body cavity, as illustrated further in detail hereinafter with reference to the operating methods of the endoscope 1.

The second module 3, or front module, in turn comprises second magnetic means, which in the present example comprise a pair of permanent magnets 31 and 32 housed substantially adjacent to each other within the casing 30 at the same longitudinal end thereof, moved by motor means 34, in particular an electric micromotor, connected to the two permanent magnets 31 and 32 by means of mechanical transmission means. The latter preferably comprise a mechanism based on a coupling between an endless screw 35 and a toothed wheel 36, the first integral to the mobile member of the motor means 34 and the second integral to the two magnets 31 and 32. The motor means 34 thus cause a relative movement between the framework thereof, integral to the casing 30, and the second magnetic means 31 , 32, and in particular a rotation exemplified with an arrow 341 in Figure 1 ("tilt').

Still as illustrated further in detail hereinafter with reference to the operating methods of the endoscope 1 , the aforementioned second magnetic means 31 , 32, finely moved by motor means 34, interact with a second external magnetic field and are influenced by a variable attraction or repulsion force, directly transmitted to the second module 3 for producing a levitation of the second module 3 and able to modulate and control the levitation status of said second module 3 with respect to the first module 2 anchored to the abdominal wall P, until a bending of 90° of the point of view is achieved. The levitation status is defined by the equilibrium between the weight of the second module 3, by the rigidity of the flexible joint 4 and by the magnetic force acting on said second magnetic means 31 and 32.

Still within the second module 3 there are housed the previously mentioned endoscopic imaging means 5, typically comprising a camera or a video camera and a led or any other lighting element of the miniaturized type. In the represented example, the imaging means 5 are arranged on the opposite sides of the casing 30 with respect to the permanent magnets 31 and 32.

The flexible joint 4 is a fundamental element for balancing the forces involved in the magnetic levitation system, and optimize the functionality of the system. Preferably hollow, the flexible joint 4 may be in form of a hermetic sheath within which there passes cables for feeding the second module 3 and cables for transmitting data therefrom to an external control unit. The images acquired by the imaging means 5 are transmitted through such cables and leds, cameras and motor means are analogously fed by means of cables.

The endoscope 1 further provides for the composite tail cable 8 which receives the cables previously housed within the flexible joint 4 and which projects from the first module 2 traversing the access laparoscopic port and thus establishing communication with the environment outside the body of the patient.

As mentioned above, the endoscope 1 is inserted in an overall endoscopic system which provides for the generation of magnetic fields outside the body of the patient. Advantageously, the endoscope 1 and the system in which it is inserted operate with constant or substantially constant magnetic fields, avoiding variable magnetic fields potentially more hazardous for the health of the patient. In particular, the system comprises first means for generating the aforementioned first external magnetic field, adapted to interact with the first magnetic means 21 and 22 and also consisting in two permanent magnets 61 and 62 with polarities respectively complementary to those of the magnets 21 and 22.

In addition, there are provided second means for generating the aforementioned second external magnetic field, preferably consisting in a third permanent magnet 7. Advantageously, the latter is selectively mobile according to a direction approaching/moving away to/from the second magnetic means 31 and 32, in such a m a n n e r th at, before starti n g th e m ed i cal p roced u re , th e co rres po n d i n g attraction/repulsion forces can be modulated with the aim of optimizing the work area of the levitation system , in particular composed by the first module 2 of magnetic anchorage, by the second module 3 comprising the second magnetic means 31 and 32, moved by the motor means 34 and by the flexible joint 4.

The endoscope 1 based on the magnetic levitation system described above, presents several advantages when compared to the traditional systems. The nature of the flexible joint 4, which is not composite but made of a single piece, together with the use of an internal mechanism for the movement of the second magnetic means 31 and 32 , composed by a transmission system and by motor means 34 hermetically comprised in the second module 3, simplify the sterilization, eliminate the risks of debris release, of pricking of the tissue, of mechanical looseness and the need of lubrication and of maintenance typical of the external mechanisms of transmission exposed to the extreme conditions of the human body. Time needed to assemble the device are reduced, as well as the manufacture costs, maintaining at the same time a high reliability. The present magnetic levitation system uses the motorized movement of the internal magnets to generate a variable magnetic field to yield a flexible and controlled bending without moving any external magnets 61 , 62 or 7. This increases the precision of the method and also reduces the external hindrance on the patient's body. The movement of small internal magnets allows to obtain sufficient forces, ample displacements and fine movements without altering the surrounding external magnetic field, fundamental for anchoring and stability of the device.

Now, following is a description of the methods of operation of the endoscope 1 , with reference to a typical operating flow in a laparoscopic application.

In particular, the endoscope 1 is introduced through a laparoscopic port of the known type.

The endoscope 1 , and in particular the first module 2 thereof, is thus stably attached to the wall P of a body cavity, typically the abdominal wall, through the first external magnetostatic field generated by the first means 61 and 62 interacting with the first magnetic means 21 and 22 and still by means of the movement of the first external magnetic field, there can be produced a translation and a rotation/orientation of the endoscope 1 along the wall P, exemplified by respective arrows 600, 610 and 620 ("pan") in Figure 1.

Such movements can be obtained by operating on the external magnetic field modifying the degree thereof or producing a corresponding movement of the magnets 61 and 62.

So a desired fine rotation / levitation of the second module 3 with respect to the first module 2 may be obtained, by actuating the second magnetic means 31 and 32 with the motor means 34. I n particular a 360° rotation causes the change from attractive to repulsive magnetic forces that act on the second module 3 immersed in an external magnetic field generated in particular by the above said external magnet 7 and add to the forces involved in the levitation system , such as the weight of the second module 3 and the rigidity of the flexible joint 4, efficaciously regulating the level of levitation / rotation in a wide range of bending, typically 0-90°, in order to orient the visual field.

The endoscope 1 may be removed by simply eliminating the sources of external magnetic field 61 , 62 and 7 and withdrawing the tail cable 8 of the endoscope.

As mentioned above, there is provided an external control unit which manages the motorized i nternal degree of freedom (for example also by means of a user interface like a pushbutton panel and/or joystick), while the endoscopic images can be acquired and displayed using conventional medical instruments. Additional characteristics of the endoscopic device 1 described above can be: a further motorised degree of freedom at the head of the second module 3, which allows regulating the horizon of the imaging instrument, and/or

use of stereo cameras for 3D visual feedback with possible variable focus obtained by means liquid lenses, and/or

the insertion of a washing system.

Figure 4 refers to a second preferred embodiment of the endoscopic device of the invention. The difference between this embodiment and the one described beforehand lies in the fact that the magnetic means of the second module 3 are integral to the framework or casing 30 of the latter. The motor means 34 and possible mechanical transmission means associated thereto instead move a magnetic shielding means 200 associated to said magnetic means 31 and 32, adapted to shield the selected portions of the l atte r i n s uch a way to ca us e a va ri ati o n of th e attraction/repulsion magnetic force with the external magnet 7 and thus the degree of levitation of the second module 3.

In the present example, the shielding means 200 consist in a shaped element, in particular a metal sheet, having an arched shape which follows the profile of the permanent magnets 31 and 32. Such metal sheet is adapted to cover and uncover given areas of the magnets 31 and 32 hence modulate the intensity of the field and thus the orientation of the imaging means.

The present invention has been described up to now with reference to the preferred embodiments. It should be understood that other embodiments differing from the inventive concept as defined by the scope of protection of the claims indicated hereinafter may be provided for.

Claims

1. An endoscopic device (1), particularly suitable for endoscopic procedures, comprising:

- a first module (2), comprising first magnetic means (21 , 22) for interacting with a first external magnetic field in such a way to cause the anchoring of the first module (2) to a wall of a body cavity;

- a second module (3), comprising second magnetic means (31 , 32) for interacting with a second external magnetic field, and further comprising motor means (34) for causing a relative movement between said second magnetic means (31 , 32) and said second module (3), in such a way to cause said second module (3) to rotate/levitate with respect to said first module (2) and/or to adjust said levitation movement within the body cavity;

- connection means comprising a flexible joint (4) between said first (2) and second (3) module for allowing said relative movement between said modules.

2. The endoscopic device (1) according to claim 1 , further comprising magnetic shield means (200) actuable by said motor means (34) housed in said second module (3) for shielding selected portions of said second magnetic means (31 , 32).

3. The endoscopic device (1) according to claim 2, wherein said magnetic shield means comprise a metal sheet (200), preferably shaped.

4. The endoscopic device (1) according to claims 1 , 2 or 3, comprising transmission means (35, 36) arranged between said motor means (34) and said second magnetic means (31 , 32) or said magnetic shield means (200), said transmission means preferably comprising an endless screw (35) - toothed wheel (36) coupling.

5. The endoscopic device (1) according to claim 1 , comprising data transmission and/or feeding cables passing through said flexible joint (4).

6. The endoscopic device (1) according to any one of the previous claims, wherein said first (21 , 22) and/or second (31 , 32) magnetic means are capable of generating a static magnetic field and preferably each comprises one or more permanent magnets.

7. The endoscopic device (1) according to any one of the previous claims, comprising imaging means (5) associated to said second module (3).

8. A system for endoscopy, comprising;

- an endoscopic device (1) according to any one of the previous claims; and - means for generating (61 , 62, 7) said first and second external magnetic field, capable of interacting with said first (21 , 22) and, respectively, second (31 , 32) magnetic means in such a way to provide a desired anchoring of said fist module (2) to a cavity part and/or a desired relative movement of said second module (3) with respect to said first module (2).

9. The system for endoscopy according to claim 8, wherein said second means for generating an external magnetic field (7) are movable backward/toward said second module (3).

10. The system for endoscopy according to claim 8 or 9, wherein said first (61 , 62) and/or said second (7) means for generating a magnetic field are capable of generating a static magnetic field, each preferably comprising one or more permanent magnets.