Endoscopic device with helical lumen design

Abstract

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

1 - 20 . (canceled) 
     
     
         21 . A robotic medical system for bronchoscopy, the system comprising:
 a moveable system cart comprising a robotic arm coupled to the moveable system cart;   an endoscope removably coupled to the robotic arm, the endoscope comprising an elongated body configured to be inserted into and navigated through bronchial lumens of a patient, wherein a distal end of the elongated body of the endoscope is articulable;   a command console comprising a command module configured to allow an operator to remotely control the endoscope, wherein the command module is configured to allow the operator to remotely articulate the distal end of the elongated body, and wherein the command module comprises a trackball;   a display;   one or more processors configured to:
 track a location of the endoscope within the bronchial lumens of the patient based on:
 a relative insertion length of the endoscope, and 
 a fiber optic shape sensor associated with the endoscope; and 
 
 display navigation guidance to the operator on the display, wherein the navigation guidance comprises a model of the lumens of the patient, a navigation path through the model, an image of the anatomy at the tracked location of the endoscope, and a model of the endoscope. 
   
     
     
         22 . The system of  claim 21 , wherein a vision system is positioned within a working channel of the endoscope. 
     
     
         23 . The system of  claim 22 , wherein the vision system is removable from the working channel such that another tool can be inserted through the working channel. 
     
     
         24 . The system of  claim 23 , wherein the another tool comprises a biopsy needle. 
     
     
         25 . The system of  claim 21 , wherein the one or more processors are further configured to track the location of the endoscope based on orientation data associated with the endoscope. 
     
     
         26 . The system of  claim 25 , wherein the orientation data associated with the endoscope comprises roll, pitch, and yaw information for the endoscope. 
     
     
         27 . The system of  claim 26 , wherein the orientation data is determined based on the output of the fiber optic shape sensor. 
     
     
         28 . The system of  claim 26 , wherein the orientation data associated with the endoscope is derived based on an output of an accelerometer or a gyroscope positioned on the endoscope. 
     
     
         29 . The system of  claim 21 , wherein the navigation guidance is based on the tracked location of the endoscope. 
     
     
         30 . The system of  claim 21 , wherein the endoscope comprises a vision system positioned on a distal end of the elongated body, and wherein the navigation guidance provided on the display comprises an output of the vision system. 
     
     
         31 . The system of  claim 30 , wherein a biopsy tool can be inserted into a working channel of the endoscope without removing the vision system. 
     
     
         32 . The system of  claim 21 , further comprising an instrument device manipulator positioned on the robotic arm and configured to removably engage a tool base of the endoscope to removably couple the endoscope to the robotic arm. 
     
     
         33 . The system of  claim 21 , wherein the command console comprises the display. 
     
     
         34 . The system of  claim 21 , further comprising an instrument device manipulator positioned on the robotic arm, and wherein the endoscope comprises a tool base configured to couple with the instrument device manipulator. 
     
     
         35 . The system of  claim 34 , wherein the tool base of the endoscope comprises an electrical module for transmitting sensor information to a corresponding module in the robotic arm. 
     
     
         36 . A method for performing a robotically-enabled bronchoscopy procedure, the method comprising:
 navigating an endoscope to a first target site within a luminal network of a patient based at least in part on the output of a navigation device positioned within a working channel of the endoscope and on the output of a fiber optic shape sensor, wherein the endoscope is robotically controlled;   removing the navigation device from the working channel of the endoscope;   inserting a biopsy tool through the working channel of the endoscope; and   guiding the biopsy tool to take a biopsy at the target site based at least partially on an output of an external imaging device.   
     
     
         37 . The method of  claim 36 , wherein the external imaging device comprises a fluorescence imaging device. 
     
     
         38 . The method of  claim 36 , wherein the navigation device comprises an imaging device. 
     
     
         39 . The method of  claim 36 , wherein the biopsy tool comprises a biopsy needle. 
     
     
         40 . The method of  claim 36 , further comprising:
 removing the biopsy tool from the working channel of the endoscope; and   navigating the endoscope to another position based at least in part on the output of the fiber optic shape sensor.   
     
     
         41 . The method of  claim 40 , further comprising:
 reinserting the navigation device into the working channel of the endoscope; and   navigating the endoscope to another position based at least in part on the output of the navigation device.   
     
     
         42 . The method of  claim 36 , wherein navigating the endoscope to the first target site within the luminal network of the patient based at least in part on the output of a navigation device comprises determining a location of the endoscope within the luminal network of the patient based on one or more of:
 a relative insertion length of the endoscope,   orientation data associated with the endoscope, and   an output of a fiber optic shape sensor associated with the endoscope.   
     
     
         43 . The method of  claim 36 , wherein navigating the endoscope to the first target site within the luminal network of patient comprises:
 robotically articulating a distal end of the endoscope; and   robotically inserting the endoscope into the luminal network with a robotic arm.   
     
     
         44 . The method of  claim 36 , further comprising providing navigation guidance on a display, wherein the navigation guidance comprises: a model of the luminal network of the patient, a navigation path through the model, an image of the luminal network, and a computer model of the endoscope. 
     
     
         45 . The method of  claim 36 , wherein the endoscope includes a vision system, and wherein the biopsy tool or surgical instrument is inserted into the working channel without removing the vision system.