Double-camera duodenoscope
By integrating forward and side-view camera modules into the duodenal endoscope using a segmented circuit board design, the problem of blind spots during endoscope insertion is solved, the installation difficulty is simplified, and the reliability of the lens and the efficiency of examination and treatment are improved.
Patent Information
- Application Number
- CN202610182057.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-09
- Publication Date
- 2026-03-17
AI Technical Summary
Existing duodenoscopes lack a forward field of view during insertion, resulting in high operational difficulty and risk. Furthermore, integrating forward and lateral camera modules within a confined head space increases structural complexity and installation difficulty, affecting reliability and durability.
The design employs a segmented circuit board, mounting the front-view and side-view camera modules on rigid and flexible segments respectively. The orientation of the camera modules is adjusted through a bending structure, and the signal transmission lines are combined in a confined space, simplifying the installation process and improving reliability.
It provides a continuous forward field of view, reduces difficulties in inserting the endoscope and operational risks, improves the efficiency of examination or treatment, simplifies the assembly process, and enhances mechanical reliability and electrical stability.
Smart Images
Figure CN121667602A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of endoscopy, in particular to a duodenoscope with double cameras. BACKGROUND
[0002] Electronic duodenoscope is an endoscope used for treatment and examination of biliopancreatic system. Since the interface papilla of biliopancreatic duct and intestinal tract is located on the lateral wall of duodenum, in order to facilitate accurate insertion of instruments into the papilla opening, the camera of duodenoscope is usually located on the side of the head end of the scope, which is called side-viewing scope. However, during the process of duodenoscope entering duodenum through mouth, pharynx, esophagus and stomach, the lack of forward vision in front of the scope body leads to the problems of high difficulty and high risk in the process of scope insertion, which increases the discomfort of patients and operation time.
[0003] To solve the problem of lack of forward vision in the process of scope insertion of the above-mentioned side-viewing scope, the prior art proposes a scheme of simultaneously integrating a forward-viewing camera at the head end of the duodenoscope to provide forward image guidance in the process of scope insertion. However, the space at the head end of the duodenoscope is extremely small and compact, and it is difficult to arrange two independent camera modules (forward-viewing and side-viewing) in the limited space and connect their signal transmission wires respectively, which greatly increases the structural complexity and installation difficulty of the head end, puts forward extremely high requirements on the manufacturing process, and also affects the reliability and durability of the lens. SUMMARY
[0004] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art, and to provide a duodenoscope with double cameras, which can integrate forward-viewing function while retaining traditional side-viewing function to solve the problem of scope insertion blind area, and through optimized structural design, reduce the difficulty and complexity of installing double camera modules in the small head end space, and improve the reliability and assembly efficiency of the product.
[0005] The present application provides the following technical solutions: In a first aspect, the embodiments of the present application provide a duodenoscope, which has a distal end, and comprises: a camera assembly, which comprises a circuit board, a forward-viewing camera module and a side-viewing camera module, the circuit board comprises a forward-viewing circuit board segment and a side-viewing circuit board segment, the forward-viewing circuit board segment comprises a forward-viewing rigid sub-segment and a forward-viewing flexible sub-segment which are electrically connected in sequence, the forward-viewing rigid sub-segment is arranged on the forward-viewing flexible sub-segment, the forward-viewing camera module is arranged on the forward-viewing rigid sub-segment, and the forward-viewing flexible sub-segment is defined to form a bending structure to adjust the shooting direction of the forward-viewing camera module; The side-view circuit board segment comprises a side-view rigid sub-segment and a side-view flexible sub-segment connected in sequence, the side-view rigid sub-segment is arranged on the side-view flexible sub-segment, the side-view camera module is arranged on the side-view rigid sub-segment, and the side-view flexible sub-segment is provided with a bending structure to adjust the shooting direction of the side-view camera module.
[0006] In some embodiments of the first aspect, the duodenoscope further comprises a front-view illumination module, the front-view rigid sub-segment has an assembly side with a first mounting surface and a second mounting surface, the front-view illumination module is arranged on the first mounting surface, the front-view camera module is arranged on the second mounting surface, and the first mounting surface and the second mounting surface have a height difference, so that the height difference between the illumination end surface of the front-view illumination module and the lens end surface of the front-view camera module after assembly meets a target height difference.
[0007] In some embodiments of the first aspect, the circuit board further comprises an adapter circuit board segment, the front-view circuit board segment and the side-view circuit board segment are arranged on the adapter circuit board segment, and one end of the front-view flexible sub-segment away from the front-view rigid sub-segment and one end of the side-view flexible sub-segment away from the side-view rigid sub-segment are electrically connected to the adapter circuit board segment.
[0008] In some embodiments of the first aspect, the front-view circuit board segment and the side-view circuit board segment are arranged at intervals.
[0009] In some embodiments of the first aspect, the adapter circuit board segment extends along the axial direction of the distal end, the front-view flexible sub-segment comprises at least two connection segments connected in sequence, the bending directions of at least two connection segments in each connection segment are different, so as to adjust the shooting direction of the front-view camera module in at least two directions.
[0010] In some embodiments of the first aspect, in the two connection segments, one is a first connection segment and the other is a second connection segment, the first connection segment and the second connection segment each have a bending state and an unfolding state, and the first connection segment and the second connection segment have different bending directions. When the first connection segment is in the bending state and the second connection segment is in the unfolding state, the extension direction of the second connection segment is parallel to the axial direction of the distal end. When the second connection segment is in the bending state, the shooting direction of the front-view camera module is towards the distal end.
[0011] In the second aspect, the embodiments of the present application provide a duodenoscope, which comprises: a head end seat arranged at the distal end of the duodenoscope and provided with an instrument passage outlet; a lifting forceps assembly, the lifting forceps assembly comprising a lifting forceps, the lifting forceps having a guide surface and a rotation axis, the lifting forceps being rotatably arranged on the head seat about the rotation axis, the guide surface facing the instrument channel outlet, the angle of the guide surface being changed by rotating the lifting forceps to guide the moving direction of the instrument extending out of the instrument channel outlet; an auxiliary jetting assembly, the auxiliary jetting assembly being arranged on the head seat and formed with an auxiliary jetting port, the auxiliary jetting port being located at the distal end, the auxiliary jetting assembly being configured to jet liquid from the auxiliary jetting port and form a jetting area, the moving path of the instrument extending out of the instrument channel outlet and guided by the guide surface passing through the jetting area.
[0012] In some embodiments of the second aspect, the duodenoscope further comprises a side-viewing camera module, the side-viewing camera module being arranged at the distal end, the intersection of the moving path of the instrument and the jetting area being located at one side of an imaging interface of the side-viewing camera module.
[0013] In some embodiments of the second aspect, an axis of the auxiliary jetting port is coplanar with an axis of the instrument channel outlet.
[0014] In some embodiments of the second aspect, the lifting forceps assembly further comprises a lifting forceps driving member, the lifting forceps driving member comprising a driving wire, a driving arm and an adapter seat, one end of the driving arm being connected with the lifting forceps, the other end of the driving arm being rotatably connected with the adapter seat, the adapter seat being connected with the driving wire, the driving arm being pulled by driving the driving wire to rotate the lifting forceps.
[0015] Embodiments of the present application have the following advantages: This application provides a duodenoscope in which the camera assembly integrates a front-view camera module and a side-view camera module onto a single circuit board. This circuit board is physically and electricalally divided into a front-view circuit board segment and a side-view circuit board segment, each carrying and electrically connecting to its corresponding camera module. This design combines the signal transmission system, which previously required two separate circuits, into one, simplifying the cabling complexity of transmitting two video signals from the distal end (head end) of the endoscope to the proximal end (operating end and image processing system). The front-view camera module is mounted on the rigid front-view sub-segment of its respective circuit board segment. By bending the flexible front-view sub-segment of this circuit board segment at a specific angle, the orientation of the front-view camera module can be precisely adjusted and fixed, ensuring its optical axis points in the direction of the endoscope's movement (forward), thereby providing a clear frontal view during insertion and guiding the endoscope safely through structures such as the oropharynx, esophagus, and stomach. The side-view camera module is mounted on the rigid side-view sub-segment of its respective circuit board segment. Similarly, by bending the flexible lateral viewing segment, the orientation of the lateral camera module can be independently adjusted so that its optical axis points to the side of the endoscope. When the lens reaches the duodenum, this lateral viewing angle can be aligned with the duodenal papilla, providing a crucial surgical field of view for subsequent bile and pancreatic duct cannulation and treatment procedures. The rigid segment provides a stable and reliable mounting platform and mechanical support for the camera module and lens, ensuring the stability and accuracy of the imaging optical path. The flexible segment acts as a flexible direction adjuster and spatial adapter. By bending the flexible part, the two camera modules and their rigid carriers can be arranged in the most compact and rational way within the extremely narrow distal space of the duodenoscope, avoiding the problems of difficult installation and fixation of traditional two independent rigid modules.
[0016] Therefore, by integrating the forward-facing camera module, a continuous and intuitive forward field of view is provided during the movement of the endoscope, enabling doctors to clearly observe the anatomical structures ahead. This significantly reduces the operational risks such as difficulty in endoscope insertion, mucosal damage, or perforation caused by blind spots, while also reducing operation time, improving examination or treatment efficiency, and reducing patient discomfort. The design of integrating the dual camera modules onto a single circuit board eliminates the need for two separate camera systems and their complex connecting cables. In particular, the segmented design combining rigidity and flexibility allows for flexible adjustment of the camera's final orientation during assembly by bending the flexible circuit board, rather than relying on multiple precision mounting brackets and angle fixers. This greatly simplifies the structure of the distal components, reduces the requirements for high-precision assembly processes, and improves assembly efficiency and consistency. The bendable nature of the flexible circuit board allows for highly optimized spatial layout of the two camera modules, better adapting to the limited internal space of the distal end of the duodenoscope. Simplified structure means fewer connection points and fewer independent components, thereby reducing the probability of failure due to vibration, bending, or connection failure, and improving the mechanical reliability and electrical stability of the entire camera system.
[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This illustration shows a schematic diagram of the structure of a circuit board according to an embodiment of the present application from one perspective; Figure 2 This invention provides a schematic diagram of the structure of a duodenoscope from one perspective, according to an embodiment of the present application. Figure 3 This invention provides a schematic diagram of the structure of a duodenoscope from another perspective, according to an embodiment of the present application. Figure 4 This illustration shows a structural schematic diagram of a duodenoscope provided in one embodiment of the present application from another perspective; Figure 5 This illustration shows a structural schematic diagram of a lifting clamp according to an embodiment of the present application from one perspective; Figure 6 This invention provides a schematic diagram of the structure of a duodenoscope from one perspective, according to another embodiment of the present application. Figure 7 This illustration shows a structural schematic diagram of a duodenoscope from another perspective, according to another embodiment of this application.
[0020] Explanation of key component symbols: 100 - Circuit board; 110 - Adapter circuit board segment; 120 - Side-view flexible segment; 130 - Side-view rigid segment; 140 - First connecting segment; 150 - Second connecting segment; 160 - Front-view rigid segment; 161 - First mounting surface; 162 - Second mounting surface; 200 - Front-view camera module; 300 - Front-view illumination module; 400 - Side water / air nozzle; 500 - Lifting clamp assembly; 510 - Lifting clamp component; 511 - Guide surface; 520 - Drive arm; 530 - Adapter base; 540 - Drive wire; 600 - Side-view camera module; 700 - Side-view illumination module; 800 - Auxiliary spray nozzle; 900 - Instrument; b - Spray area; a - Movement path; c - Imaging interface. Detailed Implementation
[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0022] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.
[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0026] In related technologies, the electronic duodenoscope is an endoscope used for the treatment and examination of the biliary and pancreatic systems. Since the interface papilla between the bile duct and the intestine is located on the lateral wall of the duodenum, the camera of the duodenoscope is usually located on the side of the endpiece to facilitate accurate insertion of instruments into the papilla opening; this structure is called a side-viewing endoscope. However, during the process of the duodenoscope entering the duodenum through the mouth, pharynx, esophagus, and stomach, the lack of a forward field of view leads to difficulties and high risks in the insertion process, increasing patient discomfort and operation time. To solve the problem of the lack of a forward field of view during insertion, existing technologies have proposed integrating a forward-looking camera at the endpiece of the duodenoscope to provide forward image guidance during insertion. However, the space at the endpiece of the duodenoscope is extremely limited and the structure is compact. Arranging two independent camera modules (forward and side-viewing) within this limited space and connecting their signal transmission wires significantly increases the structural complexity and installation difficulty of the endpiece, placing extremely high demands on the manufacturing process and affecting the reliability and durability of the lens.
[0027] As shown in Figure 1, in order to solve the above-mentioned technical problems, this application provides a duodenoscope. The duodenoscope has a distal end and includes a camera assembly. The camera assembly includes a circuit board 100, a front-view camera module 200, and a side-view camera module 600. The circuit board 100 includes a front-view circuit board segment and a side-view circuit board segment. The front-view circuit board segment includes a front-view rigid sub-segment 160 and a front-view flexible sub-segment that are electrically connected in sequence. The front-view rigid sub-segment 160 is disposed on the front-view flexible sub-segment. The front-view camera module is disposed on the front-view rigid sub-segment 160. The front-view flexible sub-segment is defined by forming a bending structure to adjust the shooting direction of the front-view camera module 200. The side-view circuit board segment includes a side-view rigid sub-segment and a side-view flexible sub-segment 120 that are electrically connected in sequence. The side-view rigid sub-segment 130 is disposed on the side-view flexible sub-segment 120. The side-view camera module is disposed on the side-view rigid sub-segment. The side-view flexible sub-segment 120 is defined to form a bent structure to adjust the shooting direction of the side-view camera module 600.
[0028] In these embodiments, a dual-camera duodenoscope is provided, with an integrated camera assembly at its distal end (i.e., the end inserted into the human body). This camera assembly includes a monolithically designed circuit board 100, which consists of a front-viewing circuit board segment and a side-viewing circuit board segment. These two segments can be integrally formed during manufacturing or electrically connected via soldering / connectors to ensure signal integrity and save space.
[0029] The forward-viewing circuit board segment includes a rigid forward-viewing sub-segment 160 and a flexible forward-viewing sub-segment. The rigid forward-viewing sub-segment 160 is made of a high-rigidity material such as FR-4 or a ceramic substrate, and a forward-viewing camera module 200 is fixedly mounted on its upper surface. This module includes a miniature CMOS image sensor, an optical lens, and necessary driving chips. The optical axis of the forward-viewing camera module 200 is oriented directly in front of the axial direction of the duodenoscope, providing a forward field of view during endoscope insertion.
[0030] The forward-facing flexible segment is made of flexible circuit materials such as polyimide, possessing excellent bending performance and electrical conductivity. During assembly, the forward-facing flexible segment is pre-designed with a bending structure of 90° or slightly less than 90°, allowing the forward-facing rigid segment 160 and its onboard forward-facing camera module 200 to be rotated from the plane of the main circuit board 100 to face directly forward. For example, this bending structure can be precisely formed using a mold hot-pressing or laser-assisted bending process, ensuring angular consistency and long-term reliability.
[0031] Similarly, the side-view circuit board segment includes a side-view rigid sub-segment 130 and a side-view flexible sub-segment 120. The side-view rigid sub-segment 130 also employs a rigid substrate on which a side-view camera module 600 is mounted for observing the papillary region of the duodenal lateral wall. For example, the optical axis of the side-view camera module 600 is oriented laterally.
[0032] The side-view flexible segment 120 is also made of flexible circuit material and is designed to have a bent structure, but its bending direction intersects with that of the front-view flexible segment.
[0033] Since the front-view and side-view circuit board segments share the same main signal cable (not shown) and signal separation is achieved through multi-layer flexible circuit wiring, the radial space occupied by the entire camera assembly at the head end can be effectively reduced, meeting the size limitations of existing duodenoscopes.
[0034] Furthermore, the rigid segment is used solely to support the camera module, while the flexible segment handles wiring and steering, avoiding the interference problems caused by the need to install two independent rigid camera modules in traditional solutions. Installation can be completed simply by embedding the 100 pre-bent flexible circuit boards into the head cavity and then fixing the rigid segment with adhesive or clips, without the need for complex alignment or multiple soldering operations.
[0035] The power, clock, and data lines of the front-view camera module 200 and the side-view camera module 600 are led out through copper foil traces within their respective flexible segments and converge into the main flexible cable (usually a multi-core coaxial or flat cable), which is then connected to the external image processing host via an internal channel of the lens body. Because the flexible segments themselves have excellent shielding performance, they can effectively suppress signal crosstalk and ensure the quality of high-definition image transmission.
[0036] In other embodiments, the forward-looking flexible segment and the side-looking flexible segment 120 may share a common flexible or rigid substrate, forming bends in different regions to further reduce the number of layers and thickness.
[0037] like Figure 1 As shown, in some embodiments, the duodenoscope further includes a forward illumination module 300. The forward rigid segment 160 has an assembly side, which has a first mounting surface 161 and a second mounting surface 162. The forward illumination module 300 is disposed on the first mounting surface 161, and the forward camera module 200 is disposed on the second mounting surface 162. The first mounting surface 161 and the second mounting surface 162 form a height difference, such that the height difference between the illumination end face of the assembled forward illumination module 300 and the lens end face of the forward camera module 200 satisfies the target height difference.
[0038] This embodiment further integrates a forward-looking illumination module 300 to provide uniform and interference-free illumination in conjunction with the forward-looking camera module 200 during the camera's movement.
[0039] The imaging components of the duodenoscope also include a forward illumination module 300. This forward illumination module 300 typically consists of one or more micro LED chips, which emit white light or light of a specific wavelength to illuminate the digestive tract cavity directly in front of the endoscope.
[0040] The forward-facing rigid segment 160 has a mounting side for mounting functional components. On this mounting side, a first mounting surface 161 and a second mounting surface 162 are designed. The first mounting surface 161 is used to fix the forward-facing illumination module 300. The second mounting surface 162 is used to mount the lens assembly of the forward-facing camera module 200.
[0041] Crucially, the first mounting surface 161 and the second mounting surface 162 are not on the same horizontal plane. Instead, a predetermined height difference is formed by performing stepped etching, immersion gold processing, or local stacking of dielectric layers on a rigid substrate. This height difference ensures that, after assembly, the illumination end face (i.e., the LED light-emitting surface) of the front-view illumination module 300 is slightly higher than, flush with, or slightly lower than the lens end face (i.e., the optical window surface) of the front-view camera module 200, depending on the optical design requirements.
[0042] This height difference structure can be achieved as follows: During the manufacturing of the front-view rigid segment 160, a multilayer PCB process is used, adding stacked dielectric layers in a designated area. The height difference between the first and second mounting surfaces is controlled by adjusting the copper thickness or dielectric layer thickness of the dielectric. A step is then ultimately formed on the substrate surface using laser or mechanical micromachining. Solder pads for the camera module and lighting module are respectively provided on the first and second mounting surfaces.
[0043] Because the height difference is integrated within the rigid segment, no additional supports or external adjustment mechanisms are required, ensuring both structural compactness and improved stability during long-term use. Even under repeated disinfection or bending stress, the relative positions of the illumination and imaging units remain unchanged.
[0044] In addition, the first mounting surface 161 and the second mounting surface 162 can be coplanar but misaligned, vertically stepped or sloping, etc., as long as the required end face height relationship can be achieved.
[0045] like Figure 2 As shown, in some embodiments, the side-view illumination module 700 includes an optical fiber bundle and a lens. The lens is independently mounted on the side of the headstock and is connected to the endoscope light source via an optical fiber to provide multiple illumination modes for the side-view camera module 600.
[0046] The side-view lighting module 700 is located between the front-view camera module 200 and the side-view camera module 600.
[0047] like Figure 2 As shown, in some embodiments, the side water vapor nozzle 400 is disposed on the side of the head end base and on the same side as the side-view camera module 600. The side water vapor nozzle 400 is used to spray water vapor onto the side-view camera module 600. The head end base has an inclined surface, and the side-view camera module 600 is disposed on the inclined surface. The inclined surface gradually increases in height in the direction away from the side water vapor nozzle 400.
[0048] like Figure 1 As shown, in some embodiments, the circuit board 100 further includes a transition circuit board segment 110, with both the front-view circuit board segment and the side-view circuit board segment disposed on the transition circuit board segment 110. The end of the front-view flexible sub-segment facing away from the front-view rigid sub-segment 160 and the end of the side-view flexible sub-segment facing away from the side-view rigid sub-segment are respectively electrically connected to the transition circuit board segment 110.
[0049] Based on the aforementioned embodiments, in order to further improve circuit integration and manufacturing consistency, this embodiment adds an adapter circuit board segment 110 to the camera assembly as a unified electrical interface platform for the front-view circuit board segment and the side-view circuit board segment.
[0050] The circuit board 100 comprises three functional parts: a front-view circuit board segment, a side-view circuit board segment, and a transition circuit board segment 110 located behind both. The transition circuit board segment 110 typically employs a rigid or semi-flexible multilayer PCB structure, possessing sufficient mechanical strength to support the front-end module, and is equipped with standardized pads or gold finger interfaces for connecting the main signal cable (not shown) and transmitting video data to an external image processing system.
[0051] One end of the forward flexible segment is fixedly connected to the forward rigid segment 160 and carries the forward camera module 200. The other end (i.e. the end away from the forward rigid segment 160) is electrically connected to the forward signal pad on the adapter circuit board segment 110 through thermo-pressure welding, laser welding, anisotropic conductive adhesive process or integral rigid-flex board process.
[0052] Similarly, one end of the side-view flexible segment 120 is connected to the side-view rigid segment 130 and carries the side-view camera module 600, while the other end (i.e. the end opposite to the side-view rigid segment 130) is electrically connected to the side-view signal pad on the adapter circuit board segment 110.
[0053] The forward-looking and side-looking image signals are initially converged on the adapter circuit board section 110 and can be led out of the lens body through the same multi-core flexible cable, which significantly reduces the number of internal wirings at the head end and avoids cable tangling or stress concentration.
[0054] The adapter circuit board segment 110 is typically located in the rear chamber of the duodenal lens end (near the beginning of the bend), where there is relatively ample space to accommodate power management chips, impedance matching circuits, or ESD protection components. The forward-looking flexible segment and the side-looking flexible segment 120 extend forward from the adapter board and bend to the front and side walls of the head end, respectively, forming a Y-shaped or T-shaped branch structure, effectively utilizing three-dimensional space and avoiding excessive thickness caused by planar stacking.
[0055] For example, the front-view rigid segment 160, the side-view rigid segment 130, the front-view flexible segment, the side-view flexible segment 120, and the transition circuit board segment 110 are integrated into one unit.
[0056] like Figure 1 As shown, in some embodiments, the front-view circuit board segment and the side-view circuit board segment are spaced apart.
[0057] Based on any of the foregoing embodiments, in order to further improve imaging quality and electrical performance, this embodiment optimizes the relative positions of the front-view circuit board segment and the side-view circuit board segment, so that they are spaced apart inside the head end to avoid mutual interference between functional modules.
[0058] The front-view circuit board segment and the side-view circuit board segment are separated from each other circumferentially or axially within the mounting cavity of the duodenal lens end, maintaining a minimum safe distance between them. The specific value is determined based on the inner diameter of the head end, the module size, and heat dissipation / electromagnetic compatibility requirements.
[0059] For example, the front-view circuit board segment is located in the central area of the front end of the head, and the side-view circuit board segment is located in the left (or right) side wall area of the head. The two are about 90° apart in the circumferential direction and do not block each other's light path.
[0060] The front rigid segment 160 protrudes slightly from the front end face of the side rigid segment 130, or vice versa, forming a front-to-back misalignment, which further reduces spatial conflict when the flexible segment bends.
[0061] An insulating barrier (such as a medical-grade epoxy resin filled area) or a metal shielding layer is set between the two circuit board segments to suppress signal crosstalk, which is especially suitable for high-frequency image transmission scenarios.
[0062] The heat generated by the LED lighting module during operation is not directly conducted to the image sensor on the other side, preventing increased image noise due to temperature drift. The spaced arrangement provides independent operating space for the bending of flexible segments, reducing the risk of solder joint breakage or damage to flexible circuits caused by compression during assembly.
[0063] like Figure 1 As shown, in some embodiments, the adapter circuit board segment 110 extends axially along the distal end, and the forward flexible sub-segment includes at least two sequentially connected connecting segments, wherein at least two connecting segments have different bending directions, so that the shooting direction of the forward camera module 200 can be adjusted in at least two directions.
[0064] Based on the aforementioned embodiments, this embodiment optimizes the layout direction of the adapter circuit board segment 110 and the structural form of the forward flexible sub-segment to achieve high degree of freedom of attitude adjustment of the forward camera module 200 in three-dimensional space.
[0065] The adapter circuit board segment 110 extends axially along the distal end of the duodenoscope (i.e., the insertion direction of the endoscope) and is located in the central region of the posterior end cavity. This arrangement facilitates direct connection with the main signal cable (which runs along the endoscope's axial direction) and reduces stress concentration caused by lateral bends. It provides a clear starting point for the anterior and lateral flexible segments 120, facilitating control of their forward extension and bending paths. It maximizes the use of axial length within a limited radial space, avoiding an increase in the diameter of the proximal end.
[0066] The forward-looking flexible segment no longer uses a single bend, but is composed of at least two sequentially connected segments, such as a first connecting segment 140 and a second connecting segment 150. Each connecting segment forms a bend angle in different directions through a preset bending process, so that the overall flexible segment can adjust the orientation and spatial position of the forward-looking camera module 200 in at least two spatial directions.
[0067] Specifically, the first connecting segment 140 bends downward from the adapter circuit board segment 110. The second connecting segment 150 connects the first connecting segment 140 and the forward rigid sub-segment 160, and bends towards the distal end, such that the forward rigid sub-segment 160 faces the distal end face.
[0068] Through the aforementioned two-stage bending, the optical axis of the forward-viewing camera module 200 can be precisely adjusted to be basically parallel to the axis of the duodenoscope body, ensuring that the image seen during the insertion process is a direct frontal view, avoiding operational misjudgments caused by image tilting or offset.
[0069] In other variations, the forward-looking flexible segment may contain three or more connecting segments to achieve fine-tuning of pitch, yaw, and even roll directions. However, considering the space constraints at the nose end, a two-section bidirectional bending structure is preferred to achieve a balance between performance and complexity.
[0070] like Figure 1 As shown, in some embodiments, in two of the connecting segments, one is a first connecting segment 140 and the other is a second connecting segment 150. Both the first connecting segment 140 and the second connecting segment 150 have a bent state and an unfolded state, and the first connecting segment 140 and the second connecting segment 150 have different bending directions. Wherein, when the first connecting segment 140 is in a bent state and the second connecting segment 150 is in an unfolded state, the extension direction of the second connecting segment 150 is parallel to the axial direction of the distal end. When the second connecting segment 150 is in a bent state, the shooting direction of the forward-looking camera module 200 is towards the far end.
[0071] Based on the aforementioned embodiments, this embodiment performs functional partitioning design on the structure of the forward-looking flexible sub-segment, making it include a first connecting segment 140 and a second connecting segment 150, which have different bending directions, and each can be set to a bent state or an unfolded state (i.e., a straight state) during manufacturing or assembly, thereby realizing multi-level control of the shooting direction of the forward-looking camera module 200.
[0072] The forward-looking flexible segment is composed of a first connecting segment 140 and a second connecting segment 150 connected in sequence. Both are made of polyimide-based flexible circuit material and the bending position is defined by a preset crease line or weakening groove.
[0073] The preset bending direction of the first connecting segment 140 is in a vertical plane perpendicular to the axis of the mirror body (e.g., bending upwards or downwards). The preset bending direction of the second connecting segment 150 is in a horizontal plane (e.g., bending to the left or right), or more critically, in this embodiment, its main bending is used to turn the forward-looking rigid sub-segment 160 from a side-biased position to a straight-forward position. The bending directions of the two segments are orthogonal to each other, ensuring that the camera module posture can be adjusted in two independent dimensions.
[0074] like Figure 2 , Figure 3 , Figure 4 and Figure 5As shown in some embodiments, this application provides a duodenoscope, which includes a headstock, a lifting forceps assembly 500, and an auxiliary spraying assembly. The headstock is located at the distal end of the duodenoscope and has an instrument channel outlet 900. The lifting forceps assembly 500 includes a lifting forceps 510, which has a guide surface 511 and a rotation axis. The lifting forceps 510 is rotatably mounted on the headstock about the rotation axis. The guide surface 511 faces the instrument channel outlet 900. By rotating the lifting forceps 510, the angle of the guide surface 511 is changed to guide and adjust the movement direction of the instrument 900 extending from the instrument channel outlet 900. The auxiliary spraying assembly is mounted on the headstock and has an auxiliary spraying port 800 located at the distal end. The auxiliary spraying assembly sprays liquid from the auxiliary spraying port 800 and has a spraying area b. The movement path a of the instrument 900, which extends from the instrument channel outlet and is guided by the guide surface 511, passes through the spraying area b.
[0075] Based on the aforementioned embodiments, this embodiment further optimizes the functional integration of the distal end of the duodenoscope, providing a tip structure that combines 90° instrument directional control and liquid-assisted jetting capabilities to improve the accuracy and safety of interventional procedures such as ERCP (endoscopic retrograde cholangiopancreatography).
[0076] The tip of the duodenoscope is located at the distal end of the endoscope and is usually made of medical-grade stainless steel or polymer composite materials (such as PEEK), which have good biocompatibility and mechanical strength. The tip has an instrument 900 channel outlet inside, which connects to the main working channel inside the endoscope body, allowing interventional instruments such as guidewires, stone retrieval baskets, and stent pushers to pass through.
[0077] The lifting clamp assembly 500 includes a lifting clamp member 510 and a drive mechanism (not shown, typically connected to the operating handle via a traction wire). The lifting clamp member 510 is rotatably mounted on the headstock via a pin or miniature bearing, with its axis of rotation approximately perpendicular to the axial direction of the scope body, located below or to the side of the exit of the instrument channel 900.
[0078] The upper surface of the lifting clamp 510 forms a guide surface 511 facing the channel outlet of the instrument 900, and its outline is arc-shaped or inclined plane, for receiving the front end of the instrument 900 extending from the outlet.
[0079] When the operator pulls the traction wire using the handle, the lifting clamp 510 rotates upwards around the axis of rotation (e.g., the rotation angle range is 0° to 90°), thereby changing the tilt angle of the guide surface 511. As the instrument 900 extends, it slides along the guide surface 511, and its direction of movement is deflected upwards, achieving precise alignment with the nipple opening.
[0080] The auxiliary injection assembly is integrated into the headstock and includes an auxiliary injection channel, one end of which is connected to the liquid injection line inside the endoscope (which can be shared with the water / gas injection channel or set independently). The auxiliary injection port 800 is located on the distal surface of the headstock, in front of or above the outlet of the instrument 900 channel.
[0081] The spray direction of the auxiliary spray nozzle 800 is optimized through fluid simulation, ensuring that the sprayed liquid (such as saline or drug solution) forms a stable spray area b in front of the tip. The spatial position of this area is precisely designed so that regardless of the rotation angle of the lifting clamp 510, as long as the instrument 900 extends forward after being guided by the guide surface 511, its path will inevitably pass through the spray area b. This achieves real-time flushing, removing blood, mucus, or air bubbles, and maintaining a clear field of vision. Alternatively, it reduces friction between the instrument 900 and tissue. Or, it delivers medication directly to the operating site (such as around the nipple).
[0082] like Figure 6 and Figure 7 As shown, in some embodiments, the duodenoscope also includes a side-viewing camera module 600, which is located at the distal end. The intersection of the movement path a of the instrument 900 and the injection area b is located on one side of the imaging interface c of the side-viewing camera module 600.
[0083] Based on the aforementioned embodiments, this embodiment further integrates a side-view camera module 600 and optimizes its installation position so that the intersection of the movement path a of the instrument 900 and the auxiliary spray area b is located on one side of the imaging interface c of the side-view camera module 600, thereby providing an intuitive and unobstructed view of key areas during clinical operations.
[0084] In addition to the headstock, forceps assembly 500, and auxiliary jet assembly, the distal end of the duodenoscope also includes a side-viewing camera module 600. This side-viewing camera module 600 is mounted on the left (or right) wall of the headstock, with its lens optical axis approximately perpendicular to the axis of the endoscope, and is used to observe the papillary region of the duodenal lateral wall.
[0085] When the clamping member 510 is at the working angle, the instrument 900 (such as a guide wire) extending from the instrument 900 channel outlet deflects upward along the guide surface 511, forming a forward and upward moving path a for the instrument 900. At the same time, the liquid ejected from the auxiliary injection port 800 forms a water column in front of the head end, i.e., the spray area b.
[0086] The two intersect at a point or a small area in space, which is defined as the intersection point. This point is usually close to the nipple opening and is the key site for intubation, injection or stone removal.
[0087] The imaging interface c (i.e., its effective field of view) of the side-view camera module 600 is designed to cover the nipple and the surrounding area. Crucially, the intersection point is located on one side of the imaging interface c, rather than in the center or completely outside the field of view.
[0088] "One side" here refers to the intersection point being located within the imaging interface c, but biased towards a certain lateral boundary (such as left / right / up / down) to avoid the instrument 90° or the jet of fluid directly obstructing the lens. This also preserves complete observation of the main structure of the nipple. For example, in this embodiment, the intersection point is preferably located in the lower left quadrant of the side-view imaging interface c, about 1 / 4 to 1 / 3 of the field of view width away from the center of the image, which ensures clear visibility while avoiding strong reflections or turbulence interference with imaging.
[0089] For example, the side-view camera module 600 is installed slightly rearward, so that the leading edge of its field of view just covers the intersection point. The auxiliary spray port 800 is located slightly to the left of the front side of the headstock, with the spray direction diagonally forward, so that the spray area b naturally falls into the left side of the side-view field of view. The rotation axis of the lifting clamp 510 and the tilt angle of the guide surface 511 are optimized through kinematic simulation to ensure that the path of the instrument 900 passes through the spray area b from the lower right to the upper left in the side-view view, and the intersection point is stably located in the preset field of view area.
[0090] like Figure 6 and Figure 7 As shown, in some embodiments, the axis of the auxiliary injection port 800 is coplanar with the axis of the channel outlet of the instrument 900.
[0091] Based on the aforementioned embodiments, this embodiment optimizes the relative spatial orientation of the auxiliary injection port 800 and the channel outlet of the instrument 900, so that their axes are located in the same geometric plane, thereby enhancing the synergistic effect of liquid injection on the path of the instrument 900.
[0092] The instrument 900 channel outlet has a central axis A1, which extends along the initial direction as the instrument 900 exits the channel. The auxiliary injection port 800 has a central axis A2, which is the main direction line of liquid injection. Axis A1 and axis A2 are located in the same plane, which is generally a vertically symmetrical plane containing the principal axis of the mirror body.
[0093] In this embodiment, the instrument 900 channel extends from the inside of the endoscope to the distal end, with an outlet located below and in front of the head end seat to facilitate the guidance of the lifting clamp 510.
[0094] The auxiliary injection channel is led out from the injection line and extends forward along the same vertical plane inside the head end seat. An auxiliary injection port 800 is opened near the outlet of the instrument 900 channel. Its axis A2 is coplanar with A1, forming a cross injection.
[0095] Because the spray direction is coplanar with the path of instrument 900, the liquid can more reliably envelop or flush the front end of instrument 900, avoiding air jetting caused by three-dimensional offset. The operator can visually predict the point of intersection between the liquid and instrument 900 through the side view image, increasing operational confidence. This coplanarity typically coincides with the rotation plane of the clamping member 510, ensuring that the path of instrument 900 remains within the spray plane regardless of changes in the clamping angle.
[0096] like Figure 2 and Figure 3 As shown, in some embodiments, the lifting clamp assembly 500 further includes a lifting clamp drive component, which includes a drive wire 540, a drive arm 520, and an adapter 530. One end of the drive arm 520 is connected to the lifting clamp component, and the other end of the drive arm 520 is rotatably connected to the adapter 530. The adapter 530 is connected to the drive wire 540. The drive arm 520 is pulled by driving the drive wire 540 to drive the lifting clamp component 510 to rotate.
[0097] Based on the aforementioned embodiments, this embodiment refines the driving structure of the lifting forceps assembly 500, providing a compact, responsive, and durable mechanical transmission solution suitable for precision operations in the confined space of the distal end of a duodenoscope.
[0098] The drive wire 540 is a high-strength medical-grade stainless steel wire or a multi-strand stranded steel cable. The distal end (front end) of the drive wire 540 connects to the adapter 530, while the proximal end (rear end) passes through the drive wire 540 channel inside the endoscope, extending to the clamping control knob or lever on the operating handle (not shown). The drive wire 540 and its channel form a sliding pair, restricting the linear motion of the drive wire 540 within the sliding pair. When the operator rotates or pulls the control, the drive wire 540 generates axial tension, triggering the clamping action.
[0099] The adapter 530 has a rotatable connection (such as a pin hole or ball socket structure) for forming a rotatable connection with the distal end of the drive arm 520 (e.g., via a miniature pin). Simultaneously, the adapter 530 is provided with a drive wire 540 connection hole or slot for securely anchoring the end of the drive wire 540 and preventing slippage.
[0100] The drive arm 520 is a rigid or semi-rigid connecting rod. One end (proximal end) is fixedly connected to the bottom of the lifting clamp 510 by riveting, welding or nesting (or integrally formed), and the other end (far end) is connected to the adapter 530 by a pin to form a rotating pair, allowing the drive arm 520 to swing around the connection point when under force.
[0101] When the operator pulls the drive wire 540 at the handle end, the drive wire 540 moves proximally, causing the adapter 530 to undergo a slight displacement or directly transmitting the pulling force. Since the adapter 530 is rotatably connected to the distal end of the drive arm 520, the pulling force is converted into a bending moment on the drive arm 520. The drive arm 520 uses its connection point with the lifting clamp 510 as a fulcrum, pushing the lifting clamp 510 to rotate upward around its axis of rotation. The guide surface 511 of the lifting clamp 510 is raised accordingly, changing the direction of the instrument 900 extending from the channel outlet of the instrument 900. After releasing the drive wire 540, under the action of a preset reset elastic element (such as a miniature spring, not shown) inside the head end or the gravity of the instrument 900 itself, the lifting clamp 510 automatically falls back to its initial position.
[0102] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.
[0103] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0104] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.
Claims
1. A duodenoscope, characterized in that, The duodenoscope has a distal end, and comprises: A camera assembly comprising a circuit board, a front-view camera module and a side-view camera module, the circuit board comprising a front-view circuit board segment and a side-view circuit board segment, the front-view circuit board segment comprising a front-view rigid sub-segment and a front-view flexible sub-segment connected in sequence, the front-view rigid sub-segment being arranged on the front-view flexible sub-segment, the front-view camera module being arranged on the front-view rigid sub-segment, the front-view flexible sub-segment being defined with a bending structure to adjust a shooting direction of the front-view camera module; The side-view circuit board segment comprises a side-view rigid sub-segment and a side-view flexible sub-segment connected in sequence, the side-view rigid sub-segment being arranged on the side-view flexible sub-segment, the side-view camera module being arranged on the side-view rigid sub-segment, the side-view flexible sub-segment being defined with a bending structure to adjust a shooting direction of the side-view camera module.
2. The duodenoscope of claim 1, wherein, The duodenoscope further comprises a front-view illumination module, the front-view rigid sub-segment has an assembly side with a first mounting surface and a second mounting surface, the front-view illumination module is arranged on the first mounting surface, the front-view camera module is arranged on the second mounting surface, the first mounting surface and the second mounting surface are formed with a height difference, so that the height difference between the illumination end surface of the front-view illumination module after assembly and the lens end surface of the front-view camera module meets a target height difference.
3. The duodenoscope of claim 1, wherein, The circuit board further comprises an adapter circuit board segment, the front-view circuit board segment and the side-view circuit board segment are arranged on the adapter circuit board segment, one end of the front-view flexible sub-segment away from the front-view rigid sub-segment and one end of the side-view flexible sub-segment away from the side-view rigid sub-segment are respectively electrically connected with the adapter circuit board segment.
4. The duodenoscope of claim 3, wherein, The front-view circuit board segment and the side-view circuit board segment are arranged in a spaced manner.
5. The duodenoscope of claim 4, wherein, The adapter circuit board segment is arranged in an axial extension along the distal end, the front-view flexible sub-segment comprises at least two connection segments connected in sequence, in each of the connection segments, the bending directions of at least two of the connection segments are different, so as to adjust the shooting direction of the front-view camera module in at least two directions.
6. The duodenoscope of claim 5, wherein, In the two connection segments, one is a first connection segment and the other is a second connection segment, the first connection segment and the second connection segment both have a bending state and an unfolded state, and the first connection segment and the second connection segment have different bending directions; When the first connection segment is in the bending state and the second connection segment is in the unfolded state, the extension direction of the second connection segment is parallel to the axial direction of the distal end; When the second connection segment is in the bending state, the shooting direction of the front-view camera module is towards the distal end.
7. A duodenoscope characterized by, The duodenoscope comprises: A head end seat located at a distal end of the duodenoscope and provided with an instrument passage outlet; The elevator assembly comprises an elevator piece having a guide surface and a rotation axis, the elevator piece is arranged on the head end seat and can rotate around the rotation axis, the guide surface faces the instrument channel outlet, and the angle of the guide surface is changed by rotating the elevator piece to guide the moving direction of the instrument extending out of the instrument channel outlet; The auxiliary jetting assembly is arranged on the head end seat and forms an auxiliary jetting port, the auxiliary jetting port is located at the distal end, the auxiliary jetting assembly is used for jetting liquid from the auxiliary jetting port and forms a jetting area, and the moving path of the instrument extending out of the instrument channel outlet and guided by the guide surface passes through the jetting area.
8. The duodenoscope of claim 7, wherein, The duodenoscope further comprises a side-view camera module, the side-view camera module is arranged at the distal end, and the intersection of the moving path of the instrument and the jetting area is located at one side of the imaging interface of the side-view camera module.
9. The duodenoscope of claim 7, wherein, The axis of the auxiliary jetting port is coplanar with the axis of the instrument channel outlet.
10. The duodenoscope of claim 7, wherein, The elevator assembly further comprises an elevator driving piece, the elevator driving piece comprises a driving wire, a driving arm and an adapter seat, one end of the driving arm is connected with the elevator piece, the other end of the driving arm is rotationally connected with the adapter seat, the adapter seat is connected with the driving wire, and the driving arm is pulled by driving the driving wire to drive the elevator piece to rotate.