GB2555111A

GB2555111A - Appartus for remote operation of an endoscopy device

Info

Publication number: GB2555111A
Application number: GB1617610.9A
Authority: GB
Inventors: Collins Paul; Downes Pat; O'byrne Paul
Original assignee: Paul Obyrne
Current assignee: Paul Obyrne
Priority date: 2016-10-18
Filing date: 2016-10-18
Publication date: 2018-04-25
Also published as: GB201617610D0

Abstract

An end effector (100, figure 1) for attachment to a robotic arm (300, figure 4a) has an interface end configured to receive and retain a control section of an endoscope 200. First (111, figure 1) and second (112) sockets engage with two angulation control knobs on the endoscope whilst linear actuators 113 are provided to operate buttons or valves. A cavity (114) is shaped to accommodate the endoscope, having perpendicular channels (116, 117) to receive the insertion portion and the umbilical. A releasable catch 115 may secure the endoscope. The interface end may be covered by a housing (110). A body of the end effector is positioned between the interface end and the robotic arm and may comprise a two-piece housing 120 containing two rotary actuators (121, 122) driving gear wheels 121a and 122a. These in turn are coupled to larger gear wheels 112a and 131 which rotate the first and second sockets. The robot arm may be part of a force-limited collaborative robot with torque sensors.

Description

(54) Title of the Invention: Appartus for remote operation of an endoscopy device Abstract Title: Apparatus for remote operation of an endoscope (57) An end effector (100, figure 1) for attachment to a robotic arm (300, figure 4a) has an interface end configured to receive and retain a control section of an endoscope 200. First (111, figure 1) and second (112) sockets engage with two angulation control knobs on the endoscope whilst linear actuators 113 are provided to operate buttons or valves. A cavity (114) is shaped to accommodate the endoscope, having perpendicular channels (116, 117) to receive the insertion portion and the umbilical. A releasable catch 115 may secure the endoscope. The interface end may be covered by a housing (110). A body of the end effector is positioned between the interface end and the robotic arm and may comprise a two-piece housing 120 containing two rotary actuators (121, 122) driving gearwheels 121a and 122a. These in turn are coupled to larger gear wheels 112a and 131 which rotate the first and second sockets. The robot arm may be part of a force-limited collaborative robot with torque sensors.

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APPARTUS FOR REMOTE OPERATION OF AN ENDOSCOPY DEVICE

Technical Field

This invention relates to an apparatus for remote operation of an endoscopy device.

Background

An endoscope is a device which can be introduced into the body to give a view of its internal parts. Typically, an endoscope is inserted through an opening, either a natural opening or an opening formed during surgery, in order to view inside a body cavity or hollow organ of the human or animal body. However, endoscopes can also be used for other non-medical/industrial purposes, such as inspecting pipes or the insides of equipment that is otherwise difficult to access.

An endoscope typically comprises an insertion tube, a control section or body, an umbilical/universal cord, and a light guide connector section. The flexible insertion tube has a tip/bending section at its distal end that can be manipulated using two angulation control knobs provided on the control section, with one of the angulation control knobs turning the tip up and down and the other turning the tip left and right. The insertion tube is then connected at its proximal end to the control section via a boot. The control section is provided with a grip section adjacent the boot to assist with holding the control section. The control section is also provided with the various controls and buttons for manipulating the functions of the endoscope, including the two angulation control knobs on one side of the control section and a number of buttons on the top side and rear end of the control section for controlling functions such as the provision of suction and air/water at the tip of the insertion tube. The flexible umbilical/universal cord then extends from the bottom side of the control section (such that it is substantially perpendicular to the insertion tube where it meets the control section) to the light guide connector section. A light source, electrical power, and the air, water and suction systems are all connected to the light guide connector section so that these can be supplied to the control section via the umbilical/universal cord.

Operation of an endoscope uses both hands, one hand pushing the insertion tube in and out of the patient and the other holding the control section and manipulating the various controls and functions provided thereon. Hand-eye coordination, skill and experience are therefore vital when operating an endoscope in order to avoid complications, which can occur all too frequently when training an new operator.

Summary

The present invention provides for more accurate control of an endoscope that thereby minimises the risks of complications. In particular, the present invention provides an apparatus for remote operation of an endoscopy device that allows operation of the control section of the endoscopy device and insertion and retraction of the insertion tube to be performed by a machine, such as a robot, under the control of the operator. By providing for partial automation of the operation of an endoscope, the present invention enables this operation to take advantage of the improvements in robotics that have increased the precision, flexibility and sensitivity with which robotic manipulation can be performed. Furthermore, by making use of a machine such as a robot to hold and manipulate the controls of a conventional endoscope, there is greater freedom in the design of the interface with which the operator controls the endoscope, thereby providing the opportunity to simplify these controls and reduce the levels of skill and experience necessary to safely perform a procedure using an endoscope.

According to a first aspect of the present invention there is provided an apparatus for remote operation of an endoscopy device. The apparatus comprises an end effector configured to be attached to a robotic arm, wherein the end effector comprises a holder configured to receive and retain a control section of the endoscopy device and one or more actuators that are configured to operate one or more controls provided on the control section of the endoscopy device.

The one or more actuators may be configured to operate a first angulation control knob of the endoscopy device, a second angulation control knob and one or more buttons provided on the control section of the endoscopy device. The actuators may then comprise a first rotary actuator, a second rotary actuator, and one or linear actuators.

The end effector may further comprise a housing, the holder being attached to the housing and the housing being configured to be attached to a robotic arm, wherein the housing contains one or more of the one or more actuators.

The holder may be configured to receive and retain a control section of the endoscopy device such that a first angulation control knob is engaged within a first socket and a second angulation control knob is engaged within a second socket, and such that one or more buttons provided on the control section of the endoscopy device are each aligned with a corresponding linear actuator provided within the holder; and wherein the first socket is configured to be rotated by a first rotary actuator and the second socket is configured to be rotated by a second rotary actuator.

The apparatus may further comprise a robotic arm system. Preferably the robotic arm system comprises a collaborative robot. More preferably the robotic arm system comprises a force limited collaborative robot with one or more force toque sensors. The robotic arm system may comprise any one of an articulated robot and a cartesian coordinate robot.

Brief Description of the Drawings

Aspects of the present invention will now be further described, by way of example only, with reference to the accompanying figures.

Figure 1 is a perspective view of an example of an apparatus for remote operation of an endoscopy device as described herein;

Figure 2 is an alternative perspective view of the example of Figure 1 and the control section of an endoscopy device;

Figure 3 is a perspective view of the example of Figure 1 with the control section of an endoscopy device retained within the apparatus;

Figure 4a is a perspective view of the example of Figure 1 attached to a robotic arm and with the control section of an endoscopy device retained within the apparatus; Figure 4b is an alternative perspective view of the example of Figure 1 attached to a robotic arm and with the control section of an endoscopy device retained within the apparatus; and

Figure 5 is an exploded view of the example of Figure 1.

Detailed Description

The present invention provides an apparatus for remote operation of an endoscopy device that allows operation of the control section of the endoscopy device and insertion and retraction of the insertion tube to be performed by a machine, such as a robot, under the control of the operator. By providing for partial automation of the operation of an endoscope, the present invention enables this operation to take advantage of the improvements in robotics that have increased the precision, flexibility and sensitivity with which robotic manipulation can be performed. In particular, collaborative robots, sometimes referred to as cobots, are designed to emulate tasks that have traditionally been difficult to automate, and their features and programming are designed to perform tasks collaboratively with humans. Specifically, they are intended to assist, not replace, humans. They are therefore designed to be safe around people, either by force limiting to avoid injury if they touch, by sensors that prevent touching or by a combination of both.

A force limited collaborative robot is a robot that is specially designed to work alongside humans, and they are provided with built-in force torque sensors that detect impact and abnormal forces such that their control systems can cause the robot to stop when it is determined that they are overloaded. An example of a force limited collaborative robot is the KUKA® LBR iiwa, which is an articulated robot with force torque sensors in all seven of its joints.

The present invention provides an end effector that can be used with such a force limited collaborative robot, replacing the hands of the endoscope operator, so that operation of an endoscopy device can be performed remotely (i.e. without direct physical contact between the operator and the device) and thereby take advantage of the built-in safety systems provided by a force limited collaborative robot. In particular, such a robotic arm can be programmed with limitations that are applied during operation (e.g. limits of movement speed and direction) and the feedback provided by the in-built force torque sensors can be used to detect potential problems during operation.

Using the present invention, a trained endoscopic technician, rather than a trained surgeon, can insert the scope under direction and restriction of the robotic arm. For example, the robot can be programmed to provide a degree of resistance to manually applied movements, such as those made during the insertion, to ensure that this movement is slow and steady and thereby prevent unwanted jerking movements or movement in unwanted directions. An operator, such as a trained surgeon, would then operate the endoscopy device by way of a user interface that controls the end effector and the robotic arm, the user interface being provided on a device such as a desktop computer, laptop computer or tablet computer.

Figures 1 to 5 illustrate an example of an apparatus for remote operation of an endoscopy device 200. The apparatus comprises an end effector 100 (sometimes referred to as end of arm tooling (EOAT)) configured to be attached to a robotic arm 300. In this regard, an end effector is the device at the end of a robotic arm that is designed to interact with the environment. The end effector 100 comprises a holder 110 configured to receive and retain a control section/body of the endoscopy device 200 and one or more actuators 113,121,122 that are configured to operate/manipulate one or more controls provided on the control section/body of the endoscopy device.

In the illustrated example the one or more actuators are configured to operate/manipulate a first angulation control knob of the endoscopy device, a second angulation control knob and one or more valves/buttons provided on the control section/body of the endoscopy device. The one or more actuators of this example therefore comprise a first rotary actuator 121, a second rotary actuator 122, and one or linear actuators 113.

In the illustrated example the end effector 100 further comprises a housing 120, with the holder 110 being attached to the housing 120 and the housing 120 being configured to be attached to the robotic arm 300. The housing 120 is provided in order to contain one or more of the one or more actuators, as well as at least some of the electronics associated with the actuators and any other functional elements provided in the end effector 100. In the illustrated example, the housing 120 is comprised as of two part 120a, 120b that are connected together so as to enclose and retain various components of the end effector 100, as shown in Figure 5.

The holder 110 is configured to receive and retain a control section/body of the endoscopy device 200 such that a first angulation control knob of the endoscopy device is engaged within a first socket 111 and the second angulation control knob is engaged within a second socket 112 of the apparatus. The holder 110 is also configured such that, when the control section/body of the endoscopy device 200 is retained in the holder 110, one or more of the buttons provided on the control section/body of the endoscopy device are each aligned with a corresponding linear actuator 113 provided within the holder 110. The first socket 111 is configured to be rotated by a first rotary actuator 121 contained within the housing 120 and the second socket 112 is configured to be rotated by a second rotary actuator 122 contained within the housing 120.

As can be seen in Figure 5, the first socket 111 is configured to fit within a central bore provided within the second socket 112 such that the first socket 111 and second socket 112 are concentric. As can be seen in Figure 1, whilst the first socket 111 and second socket 112 are concentric, the first socket 111 is recessed further into the housing 120 relative to the second socket 112. This arrangement of the first socket 111 and the second socket 112 ensures that they will be appropriately located so as to engage with the corresponding angulation control knobs provided on the endoscopy device 200.

In order to receive the control section/body of the endoscopy device 200, the holder 110 is provided with a cavity 114 that is shaped to receive the control section/body of the endoscopy device 200 and a releasable catch/latch 115 for retaining the control section/body of the endoscopy device 200 within the cavity 114. The cavity 114 is shaped to receive the control section/body of the endoscopy device 200 such that the first angulation control knob and the second angulation control knob face towards the housing 120.

The holder 110 is also configured with openings/channels 116, 117 for each of an insertion tube of the endoscopy device 200 and an umbilical connection/cord of the endoscopy device 200. As can be seen from Figure 3, when the endoscopy device 200 is located within the holder 110, the insertion tube of the endoscopy device 200 extends out of the holder 110 through a first opening 116 whilst the umbilical connection/cord of the endoscopy device 200 extends out of the holder 110 through a second opening 117. In order to appropriately accommodate the insertion tube and umbilical connection/cord, the first opening 116 and the second opening 117 are substantially perpendicular to one another.

In the illustrated example the holder 110 is comprised of two parts 110a, 110b that are connected together to form the holder 110. The holder body 110a is formed with a cavity 114a that is shaped to receive the control section/body of the endoscopy device 200 and two openings to accommodate the insertion tube and umbilical connection/cord. The holder body 110a is also provided with mounts 113a for the linear actuators 113. These mounts 113a are located so that the linear actuators 113 are aligned with the expected locations of one or more valves/buttons that provided on the control section/body of the endoscopy device 200. The releasable catch/latch 115 is then attached to the holder body 110a. The holder casing/cover 110b is also formed with a cavity 114b that is shaped to receive the control section/body of the endoscopy device 200 and two openings to accommodate the insertion tube and umbilical connection/cord. The holder casing 110b is configured to fit over and be attached to the holder body 110a and, when so fitted, to encase and protect the holder body 110a and the linear actuators 113.

As can be seen from Figures 3, 4a and 4b the apparatus 100 is configured such that the housing 120 extends away from holder 110 in a direction that is substantially perpendicular to both a longitudinal axis of an insertion tube of the endoscopy device 200 and a longitudinal axis of an umbilical connection/cord of the endoscopy device 200 when the endoscopy device 200 is located within the holder 110.

The housing 120 is provided with a mount 123 that is configured to enable attachment of the apparatus 100 to an end of the robotic arm 300, such that the apparatus forms the end effector/end-of-arm tooling (EOAT) of the robotic arm 300. As can be seen from Figures 4a and 4b, the mount 123 is located on the housing 120 such that, when the endoscopy device 200 is located within the holder 110, an insertion tube of the endoscopy device 200 extends/projects away from the housing 120 in a direction that is opposite to a direction in which the mount 123 is facing. Consequently, the apparatus 100 is configured such that, when the mount 123 is attached to the end of a robotic arm 300 and the endoscopy device 200 is located within the holder 110, a longitudinal axis of an insertion tube of the endoscopy device 200 is parallel to longitudinal axis of the end of the robotic arm 300.

The first rotary actuator 121 and the second rotary actuator 122 are contained within the housing 120. In order to rotate the first socket 111, the first rotary actuator 121 is provided with a gear wheel 121a that engages with a further gear wheel 131 that is connected to the first socket 111. Rotation of the first rotary actuator 121 therefore causes rotation of the first rotary actuator gear wheel 121a. Engagement of teeth of the first rotary actuator gear wheel 121a with corresponding teeth on the further gear wheel 131 that is connected the first socket 111 then causes rotation of the first socket 111 thereby enabling rotation of the first angulation control knob on the endoscopy device 200.

In this example, the connection between the further gearwheel 131 and the first socket 111 is provided by the engagement of a male connector 111a with a female connector 131a, wherein the further gearwheel 131 is provided with the female connector 131a and the first socket 111 is provided with the male connector 111a. In this example, the female connector 131a comprises a slot and the male connector 111a comprises a corresponding shaft that extends into and is prevented from relative rotation by the slot.

Of course, the connection between the further gear wheel 131 and the first socket 111 could be provided by any means that prevents relative rotation between the further gear wheel 131 and the first socket 111. For example, the connection could be provided by fixing the two components together with adhesive or through other forms of joints or fastenings, such as a keyed joint. The advantage of the use of corresponding male and female connectors is that it is then straightforward for the connection to be made to manufacture/assembly by merely sliding the male connector into the female connector.

In order to rotate the second socket 112, the second rotary actuator 122 is provided with a gear wheel 122a that engages with a further gear wheel 112a provided on the second socket 112. Rotation of the first rotary actuator 121 therefore causes rotation of the first rotary actuator gearwheel 121a. Engagement of teeth of the second rotary actuator gear wheel 122a with corresponding teeth on the further gear wheel 112a that is provided on the second socket 112 then causes rotation of the second socket 112 thereby enabling rotation of the second angulation control knob on the endoscopy device 200.

Whilst in the illustrated example the first socket 111 is connected to a separate gear wheel 131 and the second socket 112 is provided with it’s own gear wheel 112a, it is equally possible for both first socket 111 and the second socket 112 to each be provided with their own gear wheel (i.e. to have teeth attached to or formed on a periphery of the socket). It is also equally possible for both first socket 111 and the second socket 112 to each be connected to separate gear wheels (i.e. to be connected to a separate component that has teeth attached to or formed around a periphery of the component).

The end effector 100 further comprises a connector 140 for connecting the apparatus to an external control device (not shown). The connector 140 is configured to enable the end effector to receive commands that control each of the one or more linear actuators 113 and both the first rotary actuator 121 and the second rotary actuator 121, and also to send feedback to the external interface. For example, this connector 140 would typically comprise electrical cables/wires providing signals that activate the actuators. The connector 140 could also comprise electrical cables/wires that are connected to sensors (not shown) within the apparatus 100 that provide feedback regarding its operation and/or the operating conditions.

The apparatus could further comprise the external control device that is configured to generate commands that control each of the one or more linear actuators 113 and both the first rotary actuator 121 and the second rotary actuator 122. By way of example, this control device could comprise a computer, such as a desktop computer, laptop computer or tablet computer, that provides a graphical user interface for the operator by which they can control the apparatus 100 and receive feedback regarding its operation and/or the operating conditions. The control device could be connected to the end effector 100 by either a wired or wireless connection. For example, if connected by a wireless connection, the connector 140 would connect to an interface device provided as part of the apparatus that would then provide for a wireless connection to an external control device.

The apparatus could further comprise the robotic arm 300. As described above, the robotic arm system 300 would preferably comprise a collaborative robot, and more preferably a force limited collaborative robot that has one or more force toque sensors. Furthermore, whilst the illustrated example shows the end effector 100 attached to an articulated robot, the end effector 100 could equally be attached to a cartesian coordinate robot that is configured for linear movement in three axes, X, Y, and Z.

Although the invention has been described in terms of preferred embodiments as set forth above, it should be understood that these embodiments are illustrative only. Those skilled in the art will be able to make modifications and alternatives in view of the disclosure which are contemplated as falling within the scope of the appended claims. Each feature disclosed or illustrated in the present specification may be incorporated in the invention, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.

Claims

1. An apparatus for remote operation of an endoscopy device, the apparatus comprising:

an end effector configured to be attached to a robotic arm;

wherein the end effector comprises a holder configured to receive and retain a control section of the endoscopy device and one or more actuators that are configured to operate one or more controls provided on the control section of the endoscopy device.

2. The apparatus according to claim 1, wherein the one or more actuators are configured operate a first angulation control knob of the endoscopy device, a second angulation control knob and one or more buttons provided on the control section of the endoscopy device.

3. The apparatus according to claim 2, wherein the actuators comprise a first rotary actuator, a second rotary actuator, and one or linear actuators.

4. The apparatus according to any preceding claim, the end effector further comprising a housing, the holder being attached to the housing and the housing being configured to be attached to a robotic arm, wherein the housing contains one or more of the one or more actuators.

5. The apparatus according to any preceding claim, wherein the holder is configured to receive and retain a control section of the endoscopy device such that a first angulation control knob is engaged within a first socket and a second angulation control knob is engaged within a second socket, and such that one or more buttons provided on the control section of the endoscopy device are each aligned with a corresponding linear actuator provided within the holder; and wherein the first socket is configured to be rotated by a first rotary actuator and the second socket is configured to be rotated by a second rotary actuator.

6. The apparatus according to claim 5 when dependent on claim 4, wherein the first rotary actuator and the second rotary actuator are contained within the housing.

7. The apparatus according to any preceding claim, wherein the holder is provided with a cavity that is shaped to receive the control section of the endoscopy device and a releasable catch for retaining the control section of the endoscopy device within the cavity.

8. The apparatus according to claim 7, wherein the cavity is shaped to receive the control section of the endoscopy device such that the first angulation control knob and the second angulation control knob face towards the housing.

9. The apparatus according to any of claims 4 to 8, wherein the apparatus is configured such that the housing extends away from holder in a direction that is substantially perpendicular to both a longitudinal axis of an insertion tube of the endoscopy device and a longitudinal axis of an umbilical connection of the endoscopy device

10. The apparatus according to any of claims 4 to 8, wherein the housing is provided with a mount for attaching the apparatus to an end of a robotic arm.

11. The apparatus according to claim 10, wherein the mount is located such that, when the endoscopy device is located within the holder, an insertion tube of the endoscopy device extends away from the housing in a direction that is opposite to a direction in which the mount is facing.

12. The apparatus according to any of claims 10 and 11, wherein the apparatus is configured such that, when the mount is attached to the end of a robotic arm and the endoscopy device is located within the holder, a longitudinal axis of an insertion tube of the endoscopy device is parallel to longitudinal axis of the end of the robotic arm.

13. The apparatus according to any preceding claim, wherein the holder is configured with openings for each of an insertion tube of the endoscopy device and an umbilical connection of the endoscopy device

14. The apparatus according to any preceding claim, and further comprising a connector for connected the apparatus to an external user interface, the connector being configured to receive commands that control each of the one or more actuators.

15. The apparatus according to any of claims 1 to 13, and further comprising a user interface configured to generate commands that control each of the one or more actuators.

16. The apparatus according to claim 3, wherein the first socket is configured to fit within a central bore provided within the second socket such that the first socket and second socket are concentric.

17. The apparatus according to any of claims 3, 5, 6 or 16, wherein one or both of the first rotary actuator and the second rotary actuator are provided with a gear wheel that engages with a further gear wheel provided on the corresponding one of the first socket and the second socket to thereby enable rotation of the corresponding one of the first angulation control knob and the second angulation control knob.

18. The apparatus according to any of claims 3, 5, 6, 16 or 17, wherein one or both of the first rotary actuator and the second rotary actuator are provided with a gear wheel that engages with a further gear wheel that is connected to the corresponding one of the first socket and the second socket to thereby enable rotation of the corresponding one of the first angulation control knob and the second angulation control knob.

19. The apparatus according to claim 18, wherein the connection between the further gear wheel and the corresponding one of the first socket and the second socket is provided by the engagement of a male connector with a female connector, the further gearwheel being provided with one of the male connector and the female connector and the corresponding one of the first socket and the second socket being provided with the other of the male connector and the female connector

20. The apparatus according to claim 19, wherein the female connector comprises a slot and the male connector comprises a corresponding shaft that extends into and is prevented from relative rotation by the slot.

21. The apparatus according to any preceding claim, and further comprising a robotic arm system.

22. The apparatus according to claim 21, wherein the robotic arm system comprises a collaborative robot, and preferably comprises any one of an articulated robot and a cartesian coordinate robot.

23. The apparatus according to any of claims 21 or 22, wherein the robotic arm system comprises a force limited collaborative robot with one or more force toque sensors.

24. An apparatus for remote operation of an endoscopy device, the apparatus comprising:

a robotic arm; and an end effector attached to the end of the robotic arm;

25. The apparatus according to claim 24, wherein the end effector is as claimed in any of claims 1 to 23.

Intellectual

Property

Office

Application No: GB1617610.9 Examiner: Andrew Hughes