Enhanced flexible robotic endoscopy apparatus

Abstract

An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

We claim: 
     
         1 . A robotic endoscopy system, comprising:
 at least one flexible elongate assembly configured to perform endoscopic procedures according to external control signals;   a transport endoscope comprising a proximal end, a distal end, a main body and a flexible elongate shaft, the main body comprising a housing that extends to the proximal end, a joint member on an exterior surface of the housing, and a grip disposed toward a distal end of the housing, wherein the flexible elongate shaft includes a central axis and a plurality of channels therewithin for carrying portions of the at least one flexible elongate assembly;   a docking station configured to be detachably engaged with the transport endoscope by way of the joint member, the docking station having a translation unit configured to be matingly engaged with the at least one flexible elongate assembly and to selectively longitudinally translate at least one of the flexible elongate assemblies across a predetermined distance range;   a motorbox comprising a plurality of actuators configured to drive each of the flexible elongate assemblies; and   a main control unit configured to control each of the plurality of actuators according to external control signals.   
     
     
         2 . The robotic endoscopy system of  claim 1 , wherein portions of the housing have a shape of a cuboid tube. 
     
     
         3 . The robotic endoscopy system of  claim 1 , wherein the joint member is formed on a side surface of the housing. 
     
     
         4 . The robotic endoscopy system of  claim 1 , wherein the housing further comprises a plurality of insertion inlets disposed at a proximal end of the housing, through which the plurality of channels are accessible.