US5662587A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robotic endoscopy
Assignee: Cedars-Sinai Medical Center
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Filing: 1994-08-16
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Granted: 1997-09-02
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Expires: 2014-08-16
Abstract
Abstract A robot for performing endoscopic procedures in flexible and curved human or animal lumens. A plurality of segments are attached to each other. Traction segments embrace the lumen walls. Other segments include actuators that cause the endoscope to locally deform its shape via bending, extending, or some combination of bending and extension. A method is provided to sequence the action of the segments to cause inchworm-like or snake-like locomotion, or a combination of them through a curved and flexible lumen. The method of movement can be adapted to the lumen characteristics, or to obviate a component failure. A compressed gas line attached to the back segment provides compressed gas for insufflation of the lumen, and can optionally be used to drive the actuators that control the operation of the endoscope segments. The lead segment may include television cameras, ultrasound transducers, biopsy arms, drug delivery systems, or other sensors, diagnostic aids, therapeutic devices, and surgical tools. Medical instruments and sensors can also be placed in the rear or middle segments.
Inventors
- 👤 Warren Scott Grundfest
- 👤 Joel W. Burdick, IV
- 👤 Andrew Brett Slatkin
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 11:40
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/005; A61B1/00064; A61B1/00071; A61B1/0008; A61B1/00082; A61B1/00147; A61B1/00156; A61B1/0051; A61B1/008; A61B1/04; A61B1/041; A61B34/00; A61B34/30; A61B5/00; A61B5/07; A61B5/48; A61B5/4836; A61B5/4839; A61M; A61M25/00; A61M25/01; A61M25/0105; A61M25/0116; B; B25; B25J; B25J18/00; B25J18/06; A61B17/00; A61B17/00234; A61B2034/303; A61B34/70; A61B34/74; A61B2034/742
Claims Analysis
Total Claims: 33
Claim 1
Independent Claim
88 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module; a second traction module attached to the extensor module; each of the first and second traction modules including a central module body, and a cylindrical shell having a traction surface, with the cylindrical shell displaceable from the central module body; the first and second traction modules having means for moving the cylindrical shell outwardly from the central body module; and the extensor module having means for increasing and decreasing its length.
Claim 2
Dependent Claim
88 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module; a second traction module attached to the extensor module; each of the first and second traction modules including a central module body, and a cylindrical shell having a traction surface, with the cylindrical shell displaceable from the central module body; the first and second traction modules having means for moving the cylindrical shell outwardly from the central body module; and the extensor module having means for increasing and decreasing its length.
Claim 3
Dependent Claim
20 words
The robotic endoscope of claim 1 wherein the means for moving a traction surface comprises a hydraulic or pneumatic actuator.
Claim 4
Dependent Claim
20 words
The robotic endoscope of claim 2 wherein the pneumatic or hydraulic actuators are controlled by valves in the traction modules.
Claim 5
Dependent Claim
21 words
The robotic endoscope of claim 1 wherein the means for moving a traction surface comprises internal balloons inflatable pneumatically or hydraulically.
Claim 6
Dependent Claim
18 words
The robotic endoscope of claim 1 wherein the means for moving the traction surfaces comprises an electromagnetic actuator.
Claim 7
Dependent Claim
19 words
The robotic endoscope of claim 1 wherein the means for moving the traction surface comprises shape memory alloy actuators.
Claim 8
Dependent Claim
19 words
The robotic endoscope of claim 1 wherein the means for moving a fraction surface comprises a magnetostrictive material actuator.
Claim 9
Dependent Claim
18 words
The robotic endoscope of claim 1 wherein the means for moving the traction surface comprises piezoelectric material actuators.
Claim 10
Dependent Claim
21 words
The robotic endoscope of claim 1 further comprising and outer sheath overlying the traction and extensor modules, including the cylindrical shells.
Claim 11
Dependent Claim
22 words
The robotic endoscope of claim 1 further comprising a force sensor on a traction module for measuring forces applied to lumen walls.
Claim 12
Dependent Claim
70 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module, within a plurality of inflatable balloons circumferentially arranged with the extensor module; a second traction module attached to the extensor module; a traction surface on the outside of each of the traction modules; and means for moving the traction surface outwardly from the traction modules to engage a lumen around the traction modules.
Claim 13
Dependent Claim
70 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module, within a plurality of inflatable balloons circumferentially arranged with the extensor module; a second traction module attached to the extensor module; a traction surface on the outside of each of the traction modules; and means for moving the traction surface outwardly from the traction modules to engage a lumen around the traction modules.
Claim 14
Dependent Claim
23 words
The robotic endoscope of claim 11 further comprising internal pressure sensors on the traction modules for measuring outward movement of the traction surface.
Claim 15
Dependent Claim
68 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module and having means for increasing and decreasing its length; a second traction module attached to the extensor module; the first and second traction modules each having at least two oar-like protuberances pivotably attached thereto; each oar-like protuberance having a traction surface for engaging a lumen; means for pivoting the oar-like protuberances.
Claim 16
Dependent Claim
68 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module and having means for increasing and decreasing its length; a second traction module attached to the extensor module; the first and second traction modules each having at least two oar-like protuberances pivotably attached thereto; each oar-like protuberance having a traction surface for engaging a lumen; means for pivoting the oar-like protuberances.
Claim 17
Dependent Claim
41 words
An endoscope comprising: a plurality of modules linked together, with at least one of the modules including: a central core; a multiplicity of inflatable sacs circumferentially located around the central core; and a balloon overlying the central core and inflatable sacs.
Claim 18
Dependent Claim
41 words
An endoscope comprising: a plurality of modules linked together, with at least one of the modules including: a central core; a multiplicity of inflatable sacs circumferentially located around the central core; and a balloon overlying the central core and inflatable sacs.
Claim 19
Dependent Claim
10 words
The endoscope of claim 14 wherein the balloon is toroidal.
Claim 20
Dependent Claim
17 words
The endoscope of claim 14 further comprising valves for inflating and deflating the sacs and the balloon.
Claim 21
Dependent Claim
85 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module; a second traction module attached to the extensor module; traction surfaces on the first and second traction modules; the traction modules having means for moving their traction surfaces outwardly to engage a lumen around the module; the extensor module including a bellows forming the outside surface of the extensor module, and forming a central chamber and a spring within the bellows extending laterally entirely across the central chamber.
Claim 22
Dependent Claim
85 words
A robotic endoscope comprising: a first traction module; an extensor module attached to the first traction module; a second traction module attached to the extensor module; traction surfaces on the first and second traction modules; the traction modules having means for moving their traction surfaces outwardly to engage a lumen around the module; the extensor module including a bellows forming the outside surface of the extensor module, and forming a central chamber and a spring within the bellows extending laterally entirely across the central chamber.
Claim 23
Dependent Claim
16 words
The robotic endoscope of claim 17 further comprising servo valves for controlling fluid to the bellows.
Claim 24
Dependent Claim
23 words
The robotic endoscope of claim 17 further comprising a computer for controlling locomotion of the robotic endoscope, located within one of the modules.
Claim 25
Dependent Claim
76 words
An endoscope comprising: a plurality of modules linked together, with at least one of the modules including: a module body; a balloon around the outside of the module body; a high pressure valve in the module body, positioned between a high pressure source line extending through the module body, and the balloon; and a low pressure valve in the module body, positioned between a low pressure source line extending through the module body, and the balloon.
Claim 26
Dependent Claim
76 words
An endoscope comprising: a plurality of modules linked together, with at least one of the modules including: a module body; a balloon around the outside of the module body; a high pressure valve in the module body, positioned between a high pressure source line extending through the module body, and the balloon; and a low pressure valve in the module body, positioned between a low pressure source line extending through the module body, and the balloon.
Claim 27
Dependent Claim
17 words
The endoscope of claim 20 further comprising a tactile sensor on an outer surface of the balloon.
Claim 28
Dependent Claim
19 words
The endoscope of claim 21 further comprising an internal pressure sensor on the module body and within the balloon.
Claim 29
Dependent Claim
19 words
The robotic endoscope of claim 20 further comprising an outer sheath substantially continuously overlying the traction and extensor modules.
Claim 30
Dependent Claim
63 words
An endoscope comprising: first and second traction modules; an extensor module attached to the first and second traction module, the extensor module having means for increasing and decreasing its length; and bow wires on the traction modules, the bow wires displaceable from a relaxed position generally alongside the traction module, to an extended position wherein the bow wires are bowed out in arc.
Claim 31
Dependent Claim
63 words
An endoscope comprising: first and second traction modules; an extensor module attached to the first and second traction module, the extensor module having means for increasing and decreasing its length; and bow wires on the traction modules, the bow wires displaceable from a relaxed position generally alongside the traction module, to an extended position wherein the bow wires are bowed out in arc.
Claim 32
Dependent Claim
74 words
A robotic endoscope comprising: a first traction module having a traction surface; an extensor module attached to the first module and having means for increasing and decreasing its length; a second traction module having a traction surface and attached to the extensor module; the traction modules having means for moving their traction surfaces outwardly to engage a lumen; and an outer sheath substantially continuously overlying and covering the traction modules and the extensor module.
Claim 33
Dependent Claim
74 words
A robotic endoscope comprising: a first traction module having a traction surface; an extensor module attached to the first module and having means for increasing and decreasing its length; a second traction module having a traction surface and attached to the extensor module; the traction modules having means for moving their traction surfaces outwardly to engage a lumen; and an outer sheath substantially continuously overlying and covering the traction modules and the extensor module.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2000-09-01 | 2001-03-03 | 2001-09-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-09-01 | 2005-03-03 | 2005-09-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-09-01 | 2009-03-03 | 2009-09-02 | $7700.00 | Window Closed / Lapsed |