NL2011939C2 - Controlled scope in a system. - Google Patents

Description

CONTROLLED SCOPE IN A SYSTEM

The present invention relates to a preferably virtual reality controlled scope, such as for example an endoscope or a laproscope, in conjunction with a control, in particular a VR system and goggles.

In general, it is noted that stereoscopic medical imaging scopes, like endoscopes and laparoscopes, are generally known, to have more than one image capturing element, which could be a lens in combination with an optical wire or for instance a complete independent camera in combination with a signal transferring cable. However, these known scopes have a general drawback in that orientation to direct the image capturing element or elements to a desired portion of the surroundings of the tip of such a scope involves twisting the elongate body, extending up to the tip or head of such known scopes.

In order to alleviate or eliminate drawbacks of prior art scopes, according to the present disclosure, a system is provided, comprising a medical imaging scope, such as an endoscope or a laproscope, having a handle portion and an elongate body and a set of image capturing elements in or at a head of the medical imaging scope, opposite the handle portion relative to the elongate body; and a control arranged to adapt an orientation of the image capturing elements in or at the head of the medical imaging scope.

In accordance with the developments of the present disclosure, such a system allows more direct control over the orientation of the image capturing elements in order to allow a physician or other operator of such a novel and inventive scope to have more control over the field of view, that can be obtained by using scopes according to the present disclosure.

According to the present disclosure, many preferred embodiments are possible, some of which are defined in the appended dependent claims or features and/or aspects of which will become apparent from the following embodiment description.

More in particular, a system according to the present disclosure can exhibit the feature that the control comprises a virtual reality apparatus, having a headset to be worn by an operator of the medical imaging scope, such as a physician, and arranged to generate orientation change signals, when the headset is moved and in particular rotated, and a computer, arranged to receive the orientation change signals from the headset and to drive the image capturing elements in or at the head of the medical imaging scope in correspondence with the orientation change signals and consequently with movement of the headset. Consequently, physicians and/or other operators of scopes according to the present disclosure are capable of performing improved control over the scope in general, and the field of view, that can be obtained thereby, more in particular. Moreover, when the system comprises the above described virtual reality apparatus, physicians and operators alike can perform diagnosis or research or investigations, while directly controlling the orientation of the image capturing elements, for instance using their headset or goggles, and being able to envisaged the interior of the body, in which the head or tip of the scope is inserted, in a virtual reality environment. In other words, the physician or operator considers himself to be at the location of the tip or head of the scope, and movements of a physician or operator with his head will translate into a change in the perspective view generated by the image capturing elements, in three dimensional representation, preferably. In such an embodiment of the system, the feature may be provided that the headset comprises a gyroscope, which is arranged to generate the orientation change signals for the computer. Signals from a gyroscope can be used in real-time to form the orientation change signals to be sent to for instance a virtual reality computer, which may communicate with the headset or goggles of an operator or physician. Consequently, real-time virtual reality during investigation or diagnosis is made possible.

In any embodiment of the system according to the present disclosure, the feature can be provided that the control comprises a drive at a distance from the head of the medical imaging scope and connected to the image capturing elements via connection elements, such as pull elements. The use of such connection elements allows that the orientation of the image capturing elements may be changed from a distal location, relative to the tip or head of the scope. Consequently, the drive and the connection elements can be protected, even if the scope itself becomes damaged.

In any embodiment of the system according to the present disclosure, the feature can be provided that the image capturing elements are set in or connected to at least one carrier. Such a carrier can be rotatable and can comprise a directly connected drive, without the immediately above described connection elements. By using a carrier for more than one of the image capturing elements, a distance and positioning of the image capturing elements in relation to the carrier can closely correspond to the normal relationship of the eyes of a user, operator or physician in relation to his or her head. Consequently, the images generated by the image capturing elements can be extremely true to life, in particular if and when an embodiment also exhibit the feature of the direct control of the field of view, generated by the image capturing elements, for instance in correspondence with a change in position or movement of a headset or goggles. In such an embodiment, the carrier made preferably be common for the set of image capturing elements.

In any embodiment of the system according to the present disclosure, having at least a drive at a distance from the head or tip of the scope and connection elements extending through at least a portion of the elongate body of the scope itself in conjunction with a carrier for at least one of the image capturing elements, the system may further exhibit the feature that pull elements acting on opposing sides of the carrier are connected to a common pull and release drive, such as a spindle. Consequently, opposing sides of such a carrier can be pulled and respectively rotated away, and vice versa, in an elegant and simple manner, which is moreover robust and capable of withstanding harsh conditions in certain environments, in which such scopes may be used.

In any embodiment of the system according to the present disclosure, the feature can be provided that communications are wireless or wired. In particular, communications between a virtual reality headset and a virtual reality computer and a scope, in a system in accordance with the present disclosure can be wireless to minimise limitations on the freedom of movement of the physician or operator, which may be imposed by the presence of wires, when moving or more in particular rotating his or her head to change a point of view or field of view of the image capturing elements in their head or tip of the scope itself.

After the above more general indications of embodiments in accordance with the present disclosure, below a selected embodiment is described in more detail. In separate figures, the same or similar reference numbers may be employed to indicate the same or similar elements, aspects and components. The particularly disclosed embodiments are by no means to be interpreted as limitations on the scope of protection for embodiments according to the present disclosure, where any limitation on the scope of protection should follow directly and unambiguously from the terms and conditions of the appended independent claim. In the drawing: figure 1 exhibits a system in an embodiment according to the present disclosure; figure 2 exhibits in a rear view a headset or goggles of a system in an embodiment according to the present disclosure; figure 3 exhibits in a frontal view a carrier comprising first and second image capturing elements of a system in an embodiment according to the present disclosure; figures 2 and 3 in conjunction exhibit how movements of a headset or goggle can translate into movements of the carrier, at least in a system according to the present disclosure; figure 4 exhibits a perspective view of a carrier and selected other components, aspects and elements; and figure 5 exhibits in more detail a correlation of the drive, connection elements and connections to a carrier in a side view.

Figure 1 shows a headset 1, which is a virtual reality, three-dimensional headset. The headset 1 comprises a wireless antenna 2 and a display 3, which projects in rearward direction, when viewed in the direction of arrow II in figure 1. A perspective view along arrow II is exemplified in figure 2. Further, the headset 1 comprises a head band 4 to arrange the headset 1 on the head of a user, in particular an operator or physician. Further, the headset 1 comprises a gyroscope, which enables detection of movement or rotation of the headset 1 to generate an orientation change signal. The headset may for instance be an Oculus Rift Headset (“rift”) from the company Oculus VR in Irvine, California, US.

The headset 1 is in wireless communication with a Virtual Reality (VR) computer 6, which comprises an antenna 7 for communications with the headset 1 and a scope 8, to be described herein below. The VR computer 6 can comprise the display, which may be at 3-D display, to show images generated by the below described scope 8 to other persons than the one wearing the headset 1.

The system in figure 1 further comprises a scope 8, which comprises a handle 9, an elongate body 10 and a head or tip 13 at the distal end thereof, relative to the handle 9. The head or tip 13 comprises two image capturing elements 11, 12, which may be lenses or fully independent miniature cameras. The handle nine comprises a protrusion 14, which is ergonomically shaped to be grasped with more ease by an operator or physician, in particular for coarse manipulation of the head or tip 13 in an length direction of the elongate body 10.

Connected to the handle 9 or integrated therein, a drive in the form of motor 15 is provided. Reference number 16 is provided to schematically indicate a connection between motor 15 and the tip or head 13 of the scope 8. Further, the motor 15 is directly or indirectly connected to an antenna 17, which is in communication with the VR computer 6 and/or the headset 1 (processors and software of the VR computer 6 are integrated into the headset 1). Consequently, movements and more in particular rotations of the headset 1 can be detected by the gyroscope 5, which generates orientation change signals, that may be transmitted to the VR computer 6 or directly to the scope 8. On the basis of detection signals from the gyroscope 5, corresponding with actual movements of the headset 1, motor 15 can be actuated to adapt or just an orientation of the head or tip 13, or a carrier 18 therein, to correspond with the change of perspective of a user, operator or physician, who is carrying the headset 1.

As indicated above, the headset 1 comprises inward oriented display 3, which is provided with signals from the image capturing elements 11, 12 to represent a three dimensional of the interior of the body, into which the tip or hit 13 of the scope 8 is inserted. When an orientation of the headset 1 changes, a field of view from the image capturing elements 11, 12 is also changed and adapted to the change in orientation of the headset. Consequently, the user, operator or physician is presented with images from the image capturing elements 11, 12 in much the same way as if the operator, user or physician is actually inside the cavity, into which the head or tip 13 of the scope 8 is inserted. Thus, the impression is created for the user, operator or physician, that he is looking around in the interior of the body, into a cavity of which the head or tip 13 is inserted. Movements of their head of the user directly translated into changes in the field of view, generated by the image capturing elements 11, 12.

This mechanism of changing the perspective view into the interior of the body, into which their head or tip 13 is inserted, is further clarified on the basis of figures 2 and 3. Therein, movement of the headset 1 are shown with circular arrows A and B in figure 2, which translate into arched movements of the head or tip 13 of the scope 8 to redirect the field of view, generated by the image capturing elements 11, 12, in correspondence with arrows A’ and B’.

Figure 4 shows a worked open view of the carrier 18, without an outside layer forming the head or tip 13 and the elongate body 10, into or onto which carrier 18 image capturing elements 11, 12 are arranged. The carrier 18 may be spherical in shape and be freely rotatable with in the head or tip 13. At the back side of the carrier 18, image signal conductors can extend in the direction of the handle 9 in figure 1. Likewise, connection elements 19, 20,22, 23 may be provided for driving rotation of the spherical carrier 18. The connection elements may be cables. Such cables may be arranged at opposing sides of the carrier 18, and in pairs, such that pulling one of the cables 19 will cause rotation of the carrier 18 and an increase in length of an opposing cable 20, and vice versa. Similarly, cables 22, 23 are arranged in a pair. Together, all of the cables 19, 20, 22, 23 allow drive of rotation of the carrier 18 within their head or tips 13 in all directions, and back.

The elongate body 10 may comprise a lumen to accommodate the connection elements, in the form of cables or otherwise.

This is further depicted in more detail in figure 5, where cables 19, 20 of a pair are wound on a spindle which is connected to a motor 21, which could form the same drive as motor 15 in figure 1. When the spindle, connected to motor 21, is rotated in one of the directions indicated by double circular arrow C, cable 19 may be shortened in the direction of arrow E’, while the other cable 20 is released from the spindle to increase in length in the direction of arrow E.

Consequently, a controlled rotational movement of the carrier 18 can be realised. Conversely, when cable 20 is shortened in the direction of arrow D, through rotation of the spindle in the opposing direction of the double circular arrow C, cable 19 will be released in the direction of arrow D’ to increase in length. Likewise, the other two cables 22, 23 can be controlled to rotate the carrier 18 in an accurate manner, reflecting in high detail movements of the headset 1 in figure 1.

It is self evident, that on the basis of the above description of the particular embodiments in detail, which are shown in the appended drawing, many additional and alternative embodiments will fall within the grasp of the normal skilled person, where such additional and/or alternative embodiments should all be considered to be encompassed by the scope of protection for embodiments according to the present disclosure as defined in the appended claims, and in particular the appended independent claim. For instance, motor 15 may be integrated into handle 9. The elongate body may be linear and less flexible than what is implied by the curvature of the elongate body 10 in figure 1. A VR computer 6 may be omitted, depending on a feasible level of integration of the function thereof into the headset and/or into the scope. Communications may be wired, even though this is anticipated to constitute a limitation on the freedom of movement of the user, operator or physician. In figures 3, four and five a spherical carrier is disclosed, which may be replaced by any other carrier, which does not need to necessarily rotate around a centre thereof.

For instance, the image capturing elements 11, 12, which could be a lens or an independent miniature camera, could be arranged on a crossbar, the movement of which can be to rotate around a middle axis extending between the image capturing elements 11,12 and/or on a hinge type structure in case of a T-shaped crossbar. Other image capturing elements 11,12 than lenses, which could be combined with optical cables or wires, and miniaturised cameras in combination with conductors for electrical signals, are also possible. Whatever this shape or form of a carrier 18, image capturing elements 11,12 could be connected independently each to its own carrier, for independent movement of the more than one image capturing elements, although this is anticipated to decrease the quality of three-dimensional images, which may be presented to a user, operator or physician, but were such a configuration may still prove useful, for instance in combination with a computer having a control to independently adapt a field of view, generated by each of the separate image capturing elements 11, 12. Any one of the motors 15,21 may be integrated into the carrier 18 and/or the head or tip 13 of the scope 8, to obviate the need for the connection elements, in the form of cables or otherwise. Many other additional and/or alternative features and aspects are possible within the scope of protection for embodiments according to the present disclosure and as defined in the appended claims, and should therefore all be considered encompassed in said scope of protection.

Claims (8)

A system, comprising: - a medical scope for imaging, such as an endoscope or a laproscope, with a maneuvering part and an elongated body, and a set of image-recording elements in or near a head of the medical scope for imaging, opposite the maneuvering part with respect to the elongated part; and - a control which is adapted to adjust an orientation of the image-recording elements in or at the head of the medical scope for imaging. The system of claim 1, wherein the controller comprises a virtual reality device, with a headset to be worn by a user of the medical scope for imaging, such as a doctor, and which is adapted to generate signals for orientation change, when the headset is moved and, in particular, rotated, and a computer adapted to receive the orientation change signals from the headset and to drive the image recording elements in or near the head of the medical scope for imaging in accordance with the signals for orientation change and, consequently, with movement of the headset. The system of claim 2, wherein the headset includes a gyroscope that is adapted to generate the signals for orientation change for the computer. The system according to claim 1, 2 or 3, wherein the control comprises a drive at a distance from the top of the medical scope for imaging and is connected to the image-recording elements via connecting elements such as tension elements. The system of any preceding claim, wherein the image recording elements are arranged in or connected to at least one carrier. The system of claim 5, wherein the carrier is common to the set of image recording elements. The system according to claims 4 and 5 or 4 and 6, wherein tensile elements acting on the carrier on opposite side thereof are connected to a joint pulling and release drive, such as a coil. The system of any preceding claim, wherein communications are wireless or wired.