Sliding stop for endoscopic pull wire pulley

Abstract

A sliding stop mechanism for an endoscope pull wire includes a pulley for connecting to the pull wire, a movable stop extending from the pulley and moving with the pulley, and a sliding stop engageable with the movable stop, wherein the sliding stop is capable of being stopped at at least two different locations along the path the movable stop travels, and the sliding stop is capable of sliding between at least two different locations when the sliding stop is engaged with the movable stop. The method includes the steps of rotating the pulley about a rotation axis along a first path to disengage the movable stop from a first fixed stop, rotating the pulley to pull the pull wire, continuing to rotate the pulley to move the movable stop past the first fixed stop, and engaging the movable stop with a second fixed stop to prevent excessive bending of the shaft.

Description

Technical Field

[0001] Priority Claim This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 507,614, filed on Jun. 12, 2023, the content of which is incorporated herein by reference.

[0002] The present disclosure generally relates to a medical device including an elongated body configured to be inserted into an incision or an opening in a patient's anatomical structure to provide a diagnostic or therapeutic action.

[0003] More specifically, the present disclosure relates to a medical device (such as an endoscope) having a controller connected to an elongated body (such as a working shaft) for adjusting a pull wire extending through the elongated body to induce bending at a distal tip portion of the elongated body.

Background Art

[0004] Endoscopes can be used 1) to provide a passage for other devices (such as therapeutic devices or tissue collection devices) towards various anatomical parts, and 2) for imaging one or more of such anatomical parts. Such anatomical parts can include the gastrointestinal tract (such as the esophagus, stomach, duodenum, pancreaticobiliary duct, intestine, and colon), the renal region (such as the kidney, ureter, bladder, urethra), and other internal organs (such as the genital system, paranasal sinuses, submucosal region, airway), etc.

[0005] Conventional endoscopes can be used in a variety of clinical procedures, including, for example, irradiating, imaging, detecting, and diagnosing one or more disease conditions; delivering fluids (e.g., saline or other preparations via fluid channels) to anatomical regions; providing pathways (e.g., via working channels) for one or more therapeutic devices for sampling or treating anatomical regions; and providing suction pathways for collecting fluids (e.g., saline or other preparations).

[0006] In conventional endoscopy, the distal portion of the endoscope can be configured to support and orient therapeutic devices, for example, by using an elevator. In some systems, two endoscopes can be configured to work together, with the assistance of an elevator, so that the first endoscope guides the second endoscope into which it is inserted. Such systems can be useful when guiding the endoscope to anatomical locations in the body that are difficult to reach. For example, some anatomical locations can only be accessed by the endoscope after insertion via a roundabout route. For example, duodenal endoscopy procedures (e.g., endoscopic retrograde cholangiopancreatography, hereafter referred to as "ERCP") involve the use of an auxiliary scope (also called a daughter scope or cholangioscope) that can be advanced through the working channel of the main scope (also called a mother scope or duodenal endoscope). Furthermore, another device (e.g., a therapeutic device) (e.g., a tissue retrieval device used for biopsy) can be inserted into the auxiliary scope. Therefore, the treatment device can be controlled and guided by pushing and pulling the shafts of the main and auxiliary scopes (for example, through the use of pull wires extending into the shafts of the main and auxiliary scopes). The pull wires are typically anchored at the distal end of the shaft and connected to a controller at the proximal end of the shaft, and are freely slidable within the shaft between them. The action of an actuator (e.g., a knob or lever) on the controller can cause a pulley to pull or tension the pull wire, thereby inducing a bend in the shaft. Typically, the pull wires are arranged in pairs to create a bend on the opposite side of the shaft by a single actuator. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] International Publication No. 2011 / 140118 Pamphlet [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] This disclosure recognizes that the challenges to be addressed by conventional medical devices (particularly endoscopes and duodenoscopy) include, among other things, the difference between the rotation of a pull wire pulley and the actual amount by which the tip of the endoscope is deflected. For example, the working shaft of an endoscope can extend along its axis. The working shaft can be flexible so that it follows the contour of the anatomical structure into which it is inserted. Bending can be guided in the working shaft by a pull wire, facilitating the guidance of the working shaft into different parts of the anatomical structure. For example, bending the distal portion of the working shaft may be useful to turn the working shaft from one anatomical duct to an adjacent anatomical duct. As described, bending of the working shaft can be achieved by using a pull wire that extends into the working shaft between the operating mechanism and the distal tip portion of the working shaft. The operating mechanism may include a pulley, into which a pair of pull wires are attached. Rotation of the pulley in a first direction can apply tension to the first pull wire, inducing bending of the work shaft in the first direction. Rotation of the pulley in a second direction can apply tension to the second pull wire, inducing bending of the work shaft in the second direction. However, typically, there is no one-to-one relationship between the bending of the work shaft and the rotation of the pulley. For example, a 90-degree rotation of the pulley does not typically result in a 90-degree bend in the work shaft. The amount of deflection of the distal tip portion of the work shaft is controlled by the radius of the pulley. A larger pulley radius induces a greater bend. However, due to space constraints within the endoscope controller, the radius of the pulley is limited. Therefore, the pulley typically needs to be rotated by a larger amount than desired to bend the work shaft. For example, excessive bending of the work shaft can cause damage to the endoscope. Furthermore, the unrestricted rotation of the pulley can result in damage to the distal end portion of the working shaft.Furthermore, additional wrapping of the pull wire results in the introduction of additional slack in the opposing pull wire on the opposite side of the pulley. Excessive slack can result in the pull wire becoming entangled in other parts of the controller. For this reason, it is typically desirable to place a stop within the controller housing to limit the amount by which the pull wire pulley can be rotated, thereby limiting the amount by which the distal end of the working channel can be bent or deflected. [Means for solving the problem]

[0009] This disclosure can help provide solutions to these and other problems by providing systems, devices, and methods for rotating a pull wire pulley beyond 360 degrees while still having a rotation stop in place. In an example, a sliding stop can be positioned to engage with a circumferential stop of the pulley and a fixed stop in an endoscope controller. The pulley can be rotated in a first direction to move the circumferential stop of the pulley beyond the first fixed stop and press the sliding stop against a second fixed stop. The pulley can be rotated in a second direction to move the circumferential stop of the pulley beyond the second fixed stop and press the sliding stop against the first fixed stop. The first and second fixed stops can be spaced apart circumferentially so that the circumferential stop of the pulley can be rotated more than 360 degrees before the movement of the sliding stop is blocked by one of the fixed stops.

[0010] In this example, the endoscope may include: an elongated flexible shaft; a first pull wire extending from the elongated flexible shaft; a handpiece housing connected to the elongated flexible shaft; a pulley mechanism disposed within the handpiece housing and connected to the first pull wire, the first pulley being connected to the first pull wire; a first movable stop extending from the first pulley and moving with the first pulley; and a sliding stop disposed within the handpiece housing and engaged with the first movable stop, wherein the sliding stop is capable of stopping at at least two different locations along the route the first movable stop travels, and the sliding stop is capable of sliding between at least two different locations when the sliding stop is engaged with the first movable stop.

[0011] In another example, a sliding stop mechanism for an endoscope pull wire may include: a first pulley for connecting to a first pull wire and for rotation around the pulley axis; a first movable stop extending from the first pulley and moving with the first pulley; and a sliding stop engageable with the first movable stop, wherein the sliding stop may be stopped at at least two different locations along the route on which the first movable stop travels, and the sliding stop may slide between at least two different locations when the sliding stop is engaged with the first movable stop.

[0012] In an additional example, a method for bending the insertion shaft of an endoscope with a pull wire may include the steps of: rotating a pulley in a first direction about a rotation axis along a first path to disengage a movable stop from a first fixed stop; rotating the pulley about a rotation axis to pull a pull wire; continuing to rotate the pulley in a first direction about a rotation axis to move the movable stop past a first fixed stop; and engaging the movable stop with a second fixed stop to prevent excessive bending of the insertion shaft. [Brief explanation of the drawing]

[0013] [Figure 1] This diagram shows a schematic representation of an endoscopic examination system, including an imaging and control system and an endoscope (e.g., a duodenoscope), in which the pull wire pulley system of this disclosure may be used together. [Figure 2] Figure 1 is a schematic diagram of the imaging and control system, showing the imaging and control system connected to the endoscope. [Figure 3] This is an exploded view of an exemplary controller for an endoscope, which can be used with the endoscopic examination systems shown in Figures 1 and 2 and may include the pull-wire pulley system of the present disclosure. [Figure 4] Figure 3 is an exemplary cross-sectional view of the controller, showing a pulley stack positioned between housing pieces to operate the pull wire of the endoscope working shaft. [Figure 5A] Figures 3 and 4 show a perspective view of the first housing piece for the controller, illustrating the rotation stop for the actuator socket and pulley stack. [Figure 5B] Figure 5A is a perspective view of the actuator socket with the sliding stop positioned between the rotating stops. [Figure 6]A perspective view of a pulley stack including first and second pulleys that can be used with the rotational stop and sliding stop of FIGS. 5A and 5B to form the stop mechanism of the present disclosure. [Figure 7] A cross-sectional view of the pulley stack of FIG. 6 showing first and second pulleys each having first and second stop spokes. [Figure 8A] A perspective view of the rotational stop ring of FIGS. 5A-7. [Figure 8B] A top view of the rotational stop ring of FIGS. 5A-7. [Figure 8C] A side view of the rotational stop ring of FIGS. 5A-7. [Figure 9A] A perspective view of the sliding stop ring of FIGS. 5A-7. [Figure 9B] A top view of the sliding stop ring of FIGS. 5A-7. [Figure 9C] A side view of the sliding stop ring of FIGS. 5A-7. [Figure 10A] A perspective view of a first pulley including a circumferential stop for the stop mechanism of the present disclosure. [Figure 10B] A top view of a first pulley including a circumferential stop for the stop mechanism of the present disclosure. [Figure 11A] A cross-sectional view of a pair of stop wall portions of a first pulley and a sliding stop ring positioned between rotational stops of a first housing piece of a controller. [Figure 11B] A perspective close-up view of a pair of stop wall portions of the circumferential stop of FIG. 11A, a slide stop of a sliding stop ring, and a rotational stop of a rotational stop ring. [Figure 12A] A first schematic view of a first pulley at a first rotational extreme end where a slide stop engages a first rotational stop through engagement of the slide stop. [Figure 12B]A second schematic view of the first pulley at a second rotational extreme end where the slide stop engages the second rotational stop through engagement of the slide stop. [Figure 13] A perspective view of a second sliding stop ring configured to engage the second pulley and the second rotational stop ring of FIGS. 6 and 7. [Figure 14] A block diagram illustrating the operation of various methods for operating the sliding stop mechanism of the present disclosure.

BEST MODE FOR CARRYING OUT THE INVENTION

[0014] FIG. 1 is a schematic view of an endoscopy system 10 including an imaging and control system 12 and an endoscope 14. The system of FIG. 1 is an example for illustrative purposes of an endoscopy system suitable for use with the systems, devices, and methods described herein (such as, for example, a stop mechanism for a pull wire). However, the pull wire devices and methods of the present disclosure can be similarly used in other configurations of an endoscopy system. According to some examples, the endoscope 14 may be insertable into an anatomical region for imaging and / or may be capable of providing a passage for other devices (such as, for example, an auxiliary scope and biopsy device, or one or more treatment devices for treating a disease state associated with the anatomical region). In an advantageous aspect, the endoscope 14 is interface-connected to the imaging and control system 12 and can also be connected to the imaging and control system 12. In the example shown, the endoscope 14 includes a duodenoscope, but other types of endoscopes can also be used with the features and teachings of the present disclosure.

[0015] The imaging and control system 12 can include a control unit 16, an output unit 18, an input unit 20, a light source unit 22, a fluid source 24, and a suction pump 26.

[0016] The imaging and control system 12 may include various ports for connecting to the endoscopy system 10. For example, the control unit 16 may include data input / output ports for receiving data from and communicating data to the endoscope 14. The light source unit 22 may include an output port for transmitting light to the endoscope 14, for example, via a fiber optic link. The fluid source 24 may include a port for transmitting fluid to the endoscope 14. The fluid source 24 may include a fluid pump and tank, or may be connected to an external tank, container, or storage unit. The suction pump 26 may include a port used to draw a vacuum from the endoscope 14 to generate suction, for example, to draw fluid from the anatomical region into which the endoscope 14 is inserted. The output unit 18 and input unit 20 may be used by the user of the endoscopy system 10 (e.g., operator) to control the functions of the endoscopy system 10 and to view the output of the endoscope 14. The control unit 16 can be additionally used to generate signals or other outputs for treating the anatomical region into which the endoscope 14 is inserted. For example, the control unit 16 can generate electrical outputs, acoustic outputs, and fluid outputs, etc., for treating the anatomical region by cauterization, cutting, and freezing, for example.

[0017] The endoscope 14 may include an insertion section 28, a functional section 30, and a handle section 32, which can be connected to a cable section 34 and a coupler section 36. The coupler section 36 is connected to a control unit 16, and the endoscope 14 can be connected to several features of the control unit 16 (e.g., an input unit 20, a light source unit 22, a fluid source 24, and a suction pump 26).

[0018] The insertion section 28 may extend distally from the handle section 32, and the cable section 34 may extend proximal to the handle section 32. The insertion section 28 may be elongated and may include a bending section and a distal end, and the functional section 30 may be attached to the distal end. The bending section may be controllable (for example, by a control knob 38 on the handle section 32) to maneuver its distal end through a winding anatomical passage (e.g., stomach, duodenum, kidney, ureter, etc.). In the example, a pair of pull wires (e.g., pull wires 224A and 224B in Figure 4) may be anchored in the functional section 30 and extend through the insertion section 28, and may also be connected to a control knob 38 to control the bending or deflection of the bending section. Furthermore, the insertion section 28 may include one or more working channels (e.g., internal lumens), and one or more working channels may be elongated to support the insertion of one or more therapeutic tools (e.g., auxiliary scopes) into the functional section 30. The working channels may extend between the handle section 32 and the functional section 30. Additional functionality (e.g., fluid passages, guidewires, and pull wires) may also be provided by the insertion section 28 (e.g., via suction or perfusion passages).

[0019] The handle section 32 may include a control knob 38 and a port 40A. As described, the control knob 38 may be connected to a pull wire (or other operating mechanism) extending through the insertion section 28. In the example, the handle section 32 may include a lever, wheel, or other control element for pushing and pulling the pull wire. Port 40A and other ports (e.g., port 40B (Figure 2)) may be configured to connect various electrical cables, guide wires, auxiliary scopes, tissue collection devices, and fluid tubes, etc., to the handle section 32 for connection to the insertion section 28.

[0020] For example, the imaging and control system 12 can be provided on a mobile platform (e.g., a cart 41) equipped with shelves for housing the light source unit 22, the suction pump 26, the image processing unit 42 (Figure 2), and the like. Alternatively, some components of the imaging and control system 12 shown in Figures 1 and 2 can be provided directly on the endoscope 14, making the endoscope "self-contained".

[0021] Functional section 30 may include components for treating and diagnosing the patient's anatomical structure. Functional section 30 may also include module 50, which may include imaging devices, lighting devices, and elevators.

[0022] Figure 2 is a schematic diagram of the endoscopic examination system 10 of Figure 1, including an imaging and control system 12 and an endoscope 14. Figure 2 schematically illustrates the components of the imaging and control system 12 connected to the endoscope 14, the endoscope 14 including a duodenoscope in the illustrated example. The imaging and control system 12 may include a control unit 16, which may include, or be connected to, an image processing unit 42, a treatment generator 44, and a drive unit 46, as well as a light source unit 22, an input unit 20, and an output unit 18. A coupler section 36 is connected to the control unit 16 via a cable 49 ( schematically shown in Figure 2), allowing the endoscope 14 to be connected to several features of the control unit 16 (e.g., the image processing unit 42 and the treatment generator 44). In the example, port 40A may be used to insert another instrument or device (e.g., a daughterscope or auxiliary scope) into the endoscope 14. Such instruments and devices can be connected to the control unit 16 independently via cable 47. In this example, port 40B can be used to connect the coupler section 36 to various inputs and outputs (e.g., video, air, light, and electricity). The control unit 16 can be configured to activate a camera to view target tissue distal to the endoscope 14. Similarly, the control unit 16 can be configured to activate a light source unit 22 to illuminate the endoscope 14 or other devices extending from it.

[0023] The image processing unit 42 and the light source unit 22 can interface with the endoscope 14 (for example, in the functional section 30) by wired or wireless electrical connections, respectively. Thus, the imaging and control system 12 can illuminate an anatomical region, collect signals representing the anatomical region, process the signals representing the anatomical region, and display an image representing the anatomical region on the output unit 18. The imaging and control system 12 may include a light source unit 22 for illuminating the anatomical region using light of a desired spectrum (e.g., broadband white light and narrowband imaging using suitable electromagnetic wavelengths). The imaging and control system 12 can be connected to the endoscope 14 (for example, via an endoscope connector) for signal transmission (e.g., optical output from the light source, video signals from the imaging system at the distal end, and diagnostic and sensor signals from diagnostic devices).

[0024] The fluid supply source 24 (Figure 1) can communicate with the control unit 16 and may include one or more sources of air, saline, or other fluids, as well as associated fluid pathways (e.g., air channels, perfusion channels, suction channels) and connectors (barb fittings, fluid seals, and valves, etc.). The fluid supply source 24 may be used as activation energy for the biasing or pressure-applying devices of this disclosure. The imaging and control system 12 may also include a drive unit 46, which may be an optional component. The drive unit 46 may include at least a motor-driven drive for advancing the distal section of the endoscope 14, as described in Patent Document 1, titled "Rotate-to-Advance Catheterization System" by Frassica et al., which is incorporated herein by reference in its entirety.

[0025] As discussed herein, the control knob 38 of the handle section 32 is connected to a pulley and is capable of alternately pulling two wires in opposite directions to bend the distal portion of the insertion section 28. According to this disclosure, a sliding stop operates in conjunction with the pulley and allows the pulley to bend in a crank-like manner in two directions over a long rotation (including more than 360 degrees) to pull the pull wires, thereby enabling the bending of the insertion section 28 by a desired amount, but may also include a hard stop to prevent damage to the insertion section 28 and the pull wires.

[0026] Figure 3 is an exploded view of a controller 200 for an endoscope, which may be used with the endoscopic examination systems of Figures 1 and 2. Figure 4 is a cross-sectional view of the controller 200 of Figure 3. Figures 3 and 4 are discussed together. In the example, the controller 200 may function similarly to the handle section 32 of Figures 1 and 2, and may include similar functionality.

[0027] The controller 200 may include a first housing component 202A and a second housing component 202B. The pulley stack 204 may be positioned between the first housing component 202A and the second housing component 202B. The shaft 206 may extend from the controller 200. The pulley stack 204 may include a pulley portion 208 and a drive portion 210. The drive portion 210 may extend through a port 212 in the first housing component 202A and may connect to a knob assembly 217. The pulley portion 208 may include a first pulley 214A and a second pulley 214B. The drive portion 210 may include a first shaft 216A and a second shaft 216B. The knob assembly 217 may include a first knob 218A and a second knob 218B.

[0028] The pulley portion 208 of the pulley stack 204 can be supported between the first housing component 202A and the second housing component 202B along the rotation axis AA and can be configured to rotate between them. As shown in Figure 4, the first pulley 214A can be positioned in the first socket 222A, and the second pulley 214B can be positioned in the second socket 222B. The drive portion 210 can extend through the port 212 so that it is accessible from outside the first housing component 202A and the second housing component 202B. The knob assembly 217 can be coupled to the drive portion 210. The first knob 218A can be connected to the first shaft 216A, and the second knob 218B can be connected to the second shaft 216B. The first pull wire 224A (Figure 4) can be connected to the first pulley 214A, and the second pull wire 224B (Figure 4) can be connected to the second pulley 214B. The first knob 218A can be bent in a turn or crank shape to rotate the first shaft 216A and the first pulley 214A independently of the second knob 218B, the second shaft 216B, and the second pulley 214B. The second knob 218B can be bent in a turn or crank shape to rotate the second shaft 216B and the second pulley 214B independently of the first knob 218A, the first shaft 216A, and the first pulley 214A.

[0029] The first pull wire 224A may include a pair of pull wires attached to the opposite side of the first pulley 214A. The second pull wire 224B may include a pair of pull wires attached to the opposite side of the second pulley 214B. The four pull wires may extend through the shaft 206, which is spaced circumferentially at 90-degree intervals, allowing the shaft 206 to be pulled in four different directions and in combination thereof. Rotation of the first knob 218A may cause one of the pull wires, including the first pull wire 224A, to become taut and the distal end portion of the shaft 206 to bend in a first direction, while the other of the pull wires, including the first pull wire 224A, becomes slack. Rotation of the second knob 218B can cause one of the pull wires, including the second pull wire 224B, to become taut and the distal end portion of the shaft 206 to bend in a different direction, while the other of the pull wires, including the second pull wire 224B, becomes slack.

[0030] The relationship between the amount of rotation of the first pulley 214A and the second pulley 214B, respectively, and the bending induced in the distal end portion of the shaft 206 can be proportional. For example, greater rotation of the first pulley 214A and the second pulley 214B can cause greater bending of the shaft 206. However, as stated above, excessive rotation of the first pulley 214A or the second pulley 214B can induce undesirable results in the shaft 206 or the first pull wire 224A and the second pull wire 224B. For example, the shaft 206 may become excessively stressed and damaged, and the pull wires 224A and 224B may become excessively slack and entangled. Therefore, the controller 200 may be provided with a stop mechanism (e.g., a sliding stop mechanism of the present disclosure) to prevent the rotation of the first pulley 214A and the second pulley 214B beyond a certain rotation limit. A typical pull wire pulley stop mechanism limits the rotation of the pull wire pulley to less than 360 degrees. The pulley stop mechanism of the present application can allow the rotation of the first pulley 214A and the second pulley 214B to more than 360 degrees, and at the same time also provides a stop to limit the deflection of the shaft 206. In particular, the pulley stop mechanism of the present disclosure may include a sliding stop, which changes the circumferential position between fixed stops on the housing and engages with a movable stop on the pulley. Therefore, the circumferential stops can be moved along a first path greater than 360 degrees, as discussed in more detail below, and the sliding stop can engage with any of the fixed stops.

[0031] Figures 5A to 13 are discussed with reference to a sliding stop mechanism incorporated on the first housing component 202A for engagement with the first pulley 214A. However, a second sliding stop mechanism of a similar structure may also be incorporated on the second housing component 202B for engagement with the second pulley 214B. For example, the stop spoke 250B (Figure 7) of the second pulley 214B may interact with the second movable ring 240B and the second stop ring 230B (Figure 13).

[0032] Figure 5A is a perspective view of the first housing component 202A for the controller 200 of Figures 3 and 4, showing the first socket 222A and the first stop ring 230A for the first pulley 214A. Figure 5B is a perspective view of the first housing component 202A of Figure 5A with the addition of a first movable ring 240A positioned adjacent to the first stop ring 230A. Figures 5A and 5B are discussed together.

[0033] The first stop ring 230A may include a first rotation stop 232A and a second rotation stop 234A, which can be attached to the stop body 236. The port 212 may include a flange 237, and the first socket 222A may include a track or trough 238. The first movable ring 240A may include a base ring 242A and a projection 244A.

[0034] The trough 238 may include an annular recess or track within the first housing component 202A surrounding the port 212. The trough 238 may include a side wall portion 226 located on the opposite side of the flange 237. The trough 238 may be sized to accommodate a first stop ring 230A and a first movable ring 240A, as can be seen in Figures 11A and 11B. The first stop ring 230A may be positioned in the outer diameter of the trough 238 close to the side wall portion 226, and the first movable ring 240A may be positioned in the inner diameter of the trough 238 close to the flange 237. As can be seen in Figures 6 and 7, the outer diameter of the first movable ring 240A may fit within the inner diameter of the first stop ring 230A.

[0035] The first stop ring 230A can be fixedly attached to the first housing component 202A. In this example, the first stop ring 230A can be inserted into the trough 238 by pressure fitting or snap-fit ​​arrangement with the side wall portion 226. The first stop ring 230A can be glued or bonded in place. In an additional example, the first stop ring 230A can include a monolithic, integrated component with the material of the first housing component 202A. In various examples, the stop body portion 236 can be omitted, and the first rotary stop 232A and the second rotary stop 234A can extend from the trough 238 of the first housing component 202A. The first rotary stop 232A and the second rotary stop 234A can include a handpiece housing stop or a fixed stop. The first rotation stop 232A and the second rotation stop 234A can be positioned in a fixed position relative to the rotation axis AA of the pulley stack 204, and can therefore be configured not to move while the pulley stack 204 is operating. The first rotation stop 232A and the second rotation stop 234A can include flanges that protrude toward the first pulley 214A away from the first housing component 202A (see Figure 11A). As can be seen in Figure 5B, the first rotation stop 232A and the second rotation stop 234A can extend beyond the base ring 242A of the first movable ring 240A. The first rotation stop 232A and the second rotation stop 234A can include a rectangular body as shown, but can also have additional shapes.

[0036] The first movable ring 240A can be radially positioned between the flange 237 and the first stop ring 230A with respect to the rotation axis AA of the pulley stack 204. The slide stop or projection 244A can project or extend radially outward from the base ring 242A and overlap with the stop body 236. Thus, the projection 244A can engage circumferentially with the first rotation stop 232A and the second rotation stop 234A, respectively. The projection 244A may include a rectangular body as shown, but may also have other shapes. The first rotation stop 232A and the second rotation stop 234A and the projection 244A may have a rectangular cross-sectional profile and may be positioned to extend across the trough 238, and the opposing surface of the projection 244A may engage with the surfaces of the first rotation stop 232A and the second rotation stop 234A on the same plane or substantially on the same plane.

[0037] Figure 6 is a perspective view of a pulley stack 204 including a first pulley 214A and a second pulley 214B, which may be used with the first stop ring 230A and the first movable ring 240A of this disclosure. Figure 7 is a cross-sectional view of the pulley stack 204 of Figure 6, showing the first pulley 214A and the second pulley 214B. Figures 6 and 7 are discussed together.

[0038] The first pulley 214A may include a first stop spoke 250A, which may include a first wall portion 252A and a second wall portion 254A for interacting with a first stop ring 230A on the first housing component 202A through a first movable ring 240A. The second pulley 214B may include a second stop spoke 250B, which has first and second walls for interacting with a second stop ring 230B (Figure 13) on the second housing component 202B through a first movable ring 240A.

[0039] The second pulley 214B can be positioned adjacent to the first pulley 214A, and the second shaft 216B extends into the first shaft 216A. The second shaft 216B can be longer than the first shaft 216A, and the tip of the second shaft 216B protrudes from the first shaft 216A. Thus, the first knob 218A can be connected to the first shaft 216A, and the second knob 218B can be connected to the second shaft 216B. The second shaft 216B can rotate independently within the first shaft 216A. Therefore, the first knob 218A can be rotated to control the rotational position of the first pulley 214A with respect to the rotation axis AA of the pulley stack 204, and the second knob 218B can be rotated to control the rotational position of the second pulley 214B with respect to the rotation axis AA of the pulley stack 204.

[0040] The first pulley 214A and the second pulley 214B may include a spool or barrel around which the first pull wire 224A and the second pull wire 224B can be mounted and wound. Thus, the first pulley 214A and the second pulley 214B may include a cylindrical component having a curved surface that forms a drum around which the pull wire can be wound without twisting or other kinks.

[0041] The first stop spoke 250A may have radially extending, axially projecting wall portions. In particular, the first wall portion 252A and the second wall portion 254A may form a wedge-shaped structure having opposing circumferential surfaces for engaging with the projection portion 244A.

[0042] Figures 8A, 8B, and 8C are perspective, top, and side views of the first stop ring 230A shown in Figures 5A to 7. Figures 8A, 8B, and 8C are discussed together. The first stop ring 230A may include a stop body 236, and the first rotary stop 232A and the second rotary stop 234A may extend from the stop body 236.

[0043] The first stop ring 230A may include an annular body configured to rotate within the trough 238 (Figures 5A and 5B). The first stop ring 230A may include opposing radial sidewalls (including sidewalls 235A and 235B) for contacting the sidewall 226 of the first socket 222A (Figure 5A) and the base ring 242A of the first movable ring 240A (Figure 5B), respectively. The base wall 233 may be configured to contact the first socket 222A (Figure 5A) and therefore may include a contour or buttresses for aligning the center of the stop body 236 with the rotation axis AA of the pulley stack 204. In the illustrated example, the base wall 233 is flat. However, as discussed with reference to Figure 13, the base wall portion 233 may include contouring or features (e.g., standoffs) to facilitate coplanar mating with the first housing component 202A. The cut portion 239 may be positioned between the first rotation stop 232A and the second rotation stop 234A. The cut portion 239 may include a segment of the stop body portion 236 having a smaller thickness than the rest. The cut portion 239 may provide clearance for the projection 244A, allowing for greater engagement between the projection 244A and the first rotation stop 232A and the second rotation stop 234A.

[0044] The first stop ring 230A may include components for addition on top of the first housing component 202A. The first stop ring 230A may be made from the same material as the first housing component 202A. As discussed, the first stop ring 230A may be integrated into the first housing component 202A. The first stop ring 230A may be made from any suitable material such as plastic or metal. The first stop ring 230A may be rigid enough to prevent the movement of the first movable ring 240A without breaking. However, the first stop ring 230A may be made from a material that has some elasticity to reduce the impact of collisions between the first stop ring 230A and the first movable ring 240A, while still being able to prevent the movement of the first movable ring 240A.

[0045] The stop body portion 236 may have a thickness T1 on the outside of the first rotation stop 232A and the second rotation stop 234A, and the cutting portion 239 may have a thickness T2 between the first rotation stop 232A and the second rotation stop 234A. The thickness T1 may be greater than the thickness T2. The first rotation stop 232A and the second rotation stop 234A may protrude a distance D1 from the stop body portion 236.

[0046] Figures 9A, 9B, and 9C are perspective, top, and side views of the first movable ring 240A shown in Figures 5A to 7B. Figures 9A, 9B, and 9C are discussed together. The first movable ring 240A may include a base ring 242A and a projection 244A.

[0047] The first movable ring 240A may include an annular body portion configured to rotate within the trough 238 (Figures 5A and 5B). The first movable ring 240A may include opposing radial sidewall portions (including sidewall portions 245A and 245B) for contacting the first stop ring 230A (Figure 5A) and the flange 237 (Figure 5A), respectively. The base wall portion 247 may be configured to contact the first socket 222A (Figure 5A).

[0048] The first movable ring 240A can be made from the same material as the first housing component 202A. The first movable ring 240A can be made from any suitable material, such as plastic or metal. The first stop ring 230A can be rigid enough to prevent the movement of the first movable ring 240A without breaking. However, the first movable ring 240A can be made from a material that has some elasticity to reduce the impact of collisions between the first stop ring 230A and the first movable ring 240A, while still being able to prevent the movement of the first movable ring 240A.

[0049] The base ring 242A may have a thickness T3, and this thickness T3 may be greater than the thickness T1 of the stop body portion 236 (Figure 8C). The projection 244A may protrude from the base ring 242 by a distance D2. This distance D2 may be greater than the distance D1 of the first rotation stop 232A and the second rotation stop 234A (Figure 8C).

[0050] Figures 10A and 10B are perspective and top views, respectively, of the first pulley 214A including the first stop spoke 250A of Figures 6 and 7. The first stop spoke 250A may include a first wall portion 252A and a second wall portion 254A. The first wall portion 252A and the second wall portion 254A may include a circumferential stop or a movable stop.

[0051] The first pulley 214A may include a disc 260, an inner rim 262, and an outer rim 264. The first shaft 216A may extend from the inner rim 262. The first stop spoke 250A may extend axially outward from the disc 260 and connect the inner rim 262 and the outer rim 264. The first wall 252A and the second wall 254A may extend from the inner rim 262 at the joint location and may be spaced apart from each other on the outer rim 264. The first stop spoke 250A may be coplanar with the top of the outer rim 264 and recessed below the top of the inner rim 262. However, in other examples, the first stop spoke 250A may protrude beyond the outer rim 264.

[0052] The first pulley 214A can be made from any suitable material, such as plastic or metal. The first pulley 214A can be rigid enough to prevent the movement of the first movable ring 240A without breaking. However, the first pulley 214A can be made from a material that has some elasticity in order to reduce the impact of collisions between the first pulley 214A and the first movable ring 240A, while still being able to prevent the movement of the first pulley 214A.

[0053] The second stop spoke 250B (Figure 7) can be configured in the same way as the first stop spoke 250A. The second pulley 214B can be configured in the same way as the first pulley 214A, except that the second stop spoke 250B may be positioned on the side opposite to the side to which the second shaft 216B extends.

[0054] Figure 11A is a cross-sectional view of the first wall portion 252A and the second wall portion 254A of the first pulley 214A, and the projection 244A of the first movable ring 240A positioned between the first rotation stop 232A and the second rotation stop 234A of the first stop ring 230A. Figure 11B is a perspective close-up view of the first wall portion 252A, the second wall portion 254A, the projection 244A, the first rotation stop 232A, and the second rotation stop 234A of Figure 11A. Figures 11A and 11B are discussed together.

[0055] The first stop ring 230A can be fixedly attached to the first housing component 202 in the first socket 222A. The first stop ring 230A is positioned around the first rotation stop 232A and the second rotation stop 234A around the longitudinal axis BB of the controller 200, allowing the first pull wire 224A to extend from the first pulley 214A to the shaft 206, as seen in Figure 4. The first stop ring 230A can additionally be positioned so that the stop body 236 is centered around the rotation axis AA.

[0056] The first movable ring 240A can be positioned adjacent to the first stop ring 230A such that the projection 244A is positioned between the first rotation stop 232A and the second rotation stop 234A. The projection 244A extends radially from the base ring 242A and can engage with the cut portion 239. Thus, the projection 244A can extend radially and slide circumferentially along the surface of the cut portion 239. The first movable ring 240A is configured to rotate freely around the flange 237. That is, the first movable ring 240A is not fixed in any rotational position by external constraints. However, the engagement of the projection 244A with either the first rotation stop 232A or the second rotation stop 234A limits the amount by which the first movable ring 240A can rotate around the rotation axis AA. As can be seen in Figure 11A, the projection 244A is taller than the first rotation stop 232A and the second rotation stop 234A, and is designed to engage with the first stop spoke 250A.

[0057] The first pulley 214A can be positioned along the rotation axis AA of the pulley stack 204, spaced apart from the first movable ring 240A and the first stop ring 230A. The first stop spoke 250A can be recessed into the outer rim 264. However, the projection 244A can be tall enough to reach beyond the outer rim 264 to engage with the first stop spoke 250A. Thus, the first knob 218A can be rotated to rotate the rotating first pulley 214A in two directions, pushing the projection 244A through engagement with the first stop spoke 250A and engaging with the first rotation stop 232A and the second rotation stop 234A.

[0058] Figure 12A is a first schematic diagram of the first pulley 214A at the first rotational end, where the first stop spoke 250A engages with the first wall 252A through the engagement of the first movable ring 240A. The first knob 218A can be rotated counterclockwise about the rotational axis AA relative to the orientation of Figure 12B, pushing the projection 244A downward and engaging with the second rotational stop 234A. As can be seen, the projection 244A, the second wall 254A, and the second rotational stop 234A can have surfaces that are generally oriented radially with respect to the rotational axis AA, so that coplanar or substantially coplanar engagement can be achieved. The first wall portion 252A and the second wall portion 254A of the first pulley 214A can be positioned in the plane above the first rotation stop 232A and the second rotation stop 234A, so that the first pulley 214A can rotate freely around the rotation axis AA without interference, without the presence of the first movable ring 240A. However, the positioning of the first movable ring 240A allows the projection 244A to have an axial length with respect to the rotation axis AA so as to engage with both the first wall portion 252A and the second wall portion 254A, and both the first rotation stop 232A and the second rotation stop 234A. The positioning in Figure 12A represents one rotational extreme end for the first pulley 214A, thereby allowing the distal end of the shaft 206 (Figure 4) to be pulled or bent by the maximum amount in the first direction. The first pulley 214A can be rotated to the opposite extreme end of rotation, as shown in Figure 12B, thereby allowing the distal end of the shaft 206 (Figure 4) to be pulled or bent to the maximum extent in the second direction.

[0059] Figure 12B is a second schematic diagram of the first pulley 214A at the second rotational end, where the first stop spoke 250A engages with the second wall 254A through the engagement of the first movable ring 240A.

[0060] The first knob 218A can be rotated clockwise around the axis of rotation AA relative to the orientation in Figure 12B, pushing the projection 244A upward and engaging with the first rotation stop 232A. From the position in Figure 12A, the first stop spoke 250A can be disengaged from the projection 244A and continue to rotate, passing over the first rotation stop 232A and the second rotation stop 234A. Subsequently, the first stop spoke 250A can engage with the projection 244A and continue to rotate, pushing the projection 244A away from the second rotation stop 234A and engaging with the first rotation stop 232A. Thus, the first pulley 214A can be rotated more than 360 degrees from the position in Figure 12A to the position in Figure 12B.

[0061] In the illustrated example, the first rotation stop 232A and the second rotation stop 234A are positioned equidistant from the longitudinal axis BB, approximately 75 degrees apart from each other, allowing equal amounts of bending of the shaft 206 in each direction. In the example, the first rotation stop 232A and the second rotation stop 234A can be positioned at a greater or less than 75 degrees apart. In the example, the first rotation stop 232A and the second rotation stop 234A can be positioned at 60 degrees, 90 degrees, 120 degrees, or 180 degrees apart. In the example, the first rotation stop 232A and the second rotation stop 234A are positioned asymmetrically around the longitudinal axis BB, allowing different amounts of bending of the shaft 206 to be guided in different directions.

[0062] Figure 13 is a perspective view of a second movable ring 240B configured to engage with the second pulley 214B and the second stop ring 230B of Figures 6 and 7. The second stop ring 230B may include a slide pad 231, with a first rotation stop 232B and a second rotation stop 234B extending from the slide pad 231. The second movable ring 240B may include a base ring 242B, a second projection 244B, a first stabilizer 246A, and a second stabilizer 246B. The second housing component 202B may include a curved side wall 203.

[0063] The second movable ring 240B can operate in conjunction with the second pulley 214B in the same manner as the first movable ring 240A and the first pulley 214A operate with each other. However, the second movable ring 240B can include additional features. For example, the base ring 242B can include a first stabilizer 246A and a second stabilizer 246B. The first stabilizer 246A and the second stabilizer 246B can extend along the surface of the second pulley 214B (e.g., the outer rim 264B (Figure 7)) and be configured to keep the second movable ring 240B parallel to the second pulley 214B or to keep it aligned and engaged with the second pulley 214B in other ways. Additionally, the front side of the base ring 242B may include a contour that is shaped inversely to the curved sidewall 203, allowing the second movable ring 240B to align parallel to the second pulley 214B. For example, the base ring 242B may include a projection or standoff that extends from the base ring 242B in the opposite direction to the second projection 244B, engages with the curved sidewall 203, and maintains the second movable ring 240B parallel to the second pulley 214B, allowing the second projection 244B to slide along the slide pad 231.

[0064] Figure 14 is a block diagram illustrating the operation of method 400 for bending a pull wire 224A (Figure 4) to induce a bend in shaft 206, for example. Although Figure 14 is discussed with reference to a first pulley 214A, operations 402–416 can also be used with a second pulley 214B. In the example, some of operations 402–416 can be omitted, and in the example, operations 402–416 can be performed in other sequences.

[0065] In operation 402, the first pulley 214A can be rotated around the rotation axis AA. For example, the first knob 218A can be rotated to rotate the first shaft 216A (Figure 4), which in turn can rotate the first pulley 214A. The first pulley 214A can be rotated to disengage the first stop spoke 250A (for example, a movable stop) from the first rotation stop 232A (for example, a fixed stop).

[0066] In operation 404 (which may constitute a substep of operation 402), the first pulley 214A is rotated, and the first stop spoke 250A is disengaged from the first side of the projection 244A (e.g., a slide stop) which is engaged with the first rotation stop 232A.

[0067] In operation 406, the first pulley 214A is rotated and can engage with the first stop spoke 250A and the second side of the projection 244A.

[0068] In operation 408, the projection 244A can be pressed so as to engage with the second rotation stop 234A.

[0069] In operation 410, the first pulley 214A is rotated around the rotation axis AA, enabling it to pull the pull wire 224A. Thus, the shaft 206 can be bent or curved to facilitate steering and performing medical procedures.

[0070] In operation 412 (which may constitute a substep of operation 406), the first stop spoke 250A can be rotated by passing the second rotation stop 234A while it is in the process of engaging with the second side of the projection 244A.

[0071] In operation 414 (operation 414 may constitute a substep of operation 408), the first stop spoke 250A engages with the second rotation stop 234A, thereby preventing excessive bending of the shaft 206.

[0072] In operation 416, the first pulley 214A is rotated in a second direction opposite to the first direction, making it possible to disengage the first stop spoke 250A from the second rotation stop 234A.

[0073] As discussed herein, the disclosure is useful in providing a sliding stop mechanism for operating or pulling a pull wire beyond 360 degrees while still having a rotation stop in place. The sliding stop mechanism makes it possible to increase the amount of angulation at the tip of the endoscope shaft without increasing the size (i.e., diameter) of the pulley, and also prevents damage to the endoscope shaft or pull wire.

[0074] Examples Embodiment 1 is an endoscope comprising: an elongated flexible shaft; a first pull wire extending from the elongated flexible shaft; a handpiece housing connected to the elongated flexible shaft; a pulley mechanism disposed within the handpiece housing and connected to the first pull wire, which applies tension to the first pull wire by rotation, wherein the pulley mechanism comprises: a first pulley connected to the first pull wire; a first movable stop extending from the first pulley and moving with the first pulley; and a sliding stop disposed within the handpiece housing and engaged with the first movable stop, wherein the sliding stop is capable of stopping at at least two different locations along the route to which the first movable stop travels, and the sliding stop is capable of sliding between at least two different locations when the sliding stop is engaged with the first movable stop.

[0075] In Example 2, the subject of Example 1 optionally includes the further feature that the handpiece housing includes a pulley socket and a first fixed stop positioned adjacent to the pulley socket.

[0076] In Embodiment 3, the subject of Embodiment 2 optionally includes the feature that the sliding stop includes a slide ring disposed between the first pulley and the pulley socket, the sliding stop extending from the slide ring and being engageable with the first fixed stop and the first movable stop; and the first pulley can be rotated to push the first movable stop and engage with the first fixed stop.

[0077] In Example 4, the subject matter of Example 3 optionally includes the feature that the pulley socket, the first pulley, and the slide ring are aligned along the axis of rotation.

[0078] In Example 5, the subject of Example 4 optionally includes the feature that the sliding stop extends axially outward from the slide ring toward the first pulley and engages with the first movable stop; and extends radially outward from the slide ring and engages with the first fixed stop.

[0079] In Example 6, the subject of Example 5 optionally includes the feature that the sliding stop is longer in the axial direction than the first fixed stop.

[0080] In Example 7, one or more of the themes from Examples 5 to 6 optionally include the feature that the pulley socket includes a circular track; a first fixed stop is positioned within the circular track; and a slide ring includes an annular body portion configured to rotate on the circular track about a rotation axis radially inward of the first fixed stop.

[0081] In Example 8, the subject of Example 7 optionally includes a second fixed stop positioned circumferentially spaced from the first fixed stop within a circular track; and a second pull wire extending from an elongated flexible shaft and connected to the first pulley.

[0082] In Example 9, the subject of Example 8 optionally includes the following features: the first pulley is rotatable in a first direction, and the first movable stop pushes the sliding stop to engage with the first fixed stop; and the first pulley is rotatable in a second direction, and the first movable stop pushes the sliding stop to engage with the second fixed stop.

[0083] In Example 10, one or more themes from Examples 4 to 9 optionally include the feature that the first pulley is capable of rotating more than 360 degrees in any direction about the axis of rotation.

[0084] In Example 11, one or more subjects from Examples 3 to 10 optionally include the feature that the pulley mechanism further includes: a first shaft extending from a first pulley through the handpiece housing in a pulley socket; and a first knob extending from the first shaft.

[0085] In Example 12, one or more subjects from Examples 1 to 11 optionally include: a second pulley mounted in a handpiece housing and rotating independently of the first pulley; a second pull wire extending from an elongated flexible shaft and connected to the second pulley; a second movable stop extending from the second pulley; a second fixed stop disposed in the handpiece housing adjacent to the second pulley; and a second slide ring extending from the second slide ring and having a second sliding stop that is engageable with the second fixed stop and the second movable stop.

[0086] Embodiment 13 is a sliding stop mechanism for an endoscope pull wire, the sliding stop mechanism comprising: a first pulley for connection to a first pull wire and for rotation around a pulley axis; a first movable stop extending from the first pulley and moving with the first pulley; and a sliding stop engageable with the first movable stop, wherein the sliding stop is capable of being stopped at at least two different locations along the route on which the first movable stop travels, and the sliding stop is capable of sliding between at least two different locations when the sliding stop is engaged with the first movable stop.

[0087] In Example 14, the subject of Example 13 is optionally included a handpiece housing stop and a slide ring, the sliding stop extending from the slide ring, the slide ring being rotatable between the first and second flanges, the first pulley can be rotated in a first direction to push the first movable stop and engage with the first flange, and can also be rotated in a second direction to push the first movable stop and engage with the second flange.

[0088] In Example 15, the subject of Example 14 optionally includes a handpiece housing, the handpiece housing includes a pulley socket including a handpiece housing stop and an annular track, the pulley socket having a first flange and a second flange extending from the annular track, the first pulley further includes a first shaft, the first shaft extending from the first pulley along the pulley axis and outward from the handpiece housing in the pulley socket.

[0089] In Example 16, the subject of Example 15 optionally includes the features that the sliding stop extends axially outward from the slide ring toward the first pulley and engages with the first movable stop; and extends radially outward from the slide ring and engages with the first flange.

[0090] In Example 17, the subject matter of Example 16 optionally includes the feature that the sliding stop is longer axially than the first flange.

[0091] In Example 18, one or more of the themes from Examples 15 to 17 optionally include the feature that the handpiece housing stop is fixed to the handpiece housing.

[0092] Example 19 is a method for bending the insertion shaft of an endoscope using a pull wire, the method comprising: rotating a pulley in a first direction about a rotation axis along a first path to disengage a movable stop from a first fixed stop; rotating the pulley about a rotation axis to pull a pull wire; continuing to rotate the pulley in a first direction about a rotation axis to move the movable stop past a first fixed stop; and engaging the movable stop with a second fixed stop to prevent excessive bending of the insertion shaft.

[0093] In Example 20, the subject of Example 19 optionally includes the feature that the pulley can be rotated more than 360 degrees along the first path, disengaging the first fixed stop and engaging the second fixed stop.

[0094] In Example 21, one or more of the themes from Examples 19 to 20 optionally include the feature that the step of rotating the pulley in a first direction about the axis of rotation along a first path and disengaging the movable stop from the first fixed stop includes: a step of disengaging the movable stop from the first side of the sliding stop which is engaged with the first fixed stop; a step of rotating the movable stop to engage with the second side of the sliding stop; and a step of pushing the sliding stop to engage with the second fixed stop.

[0095] In Example 22, the subject of Example 21 optionally includes the feature that the step of rotating the pulley in a first direction about the axis of rotation along a first path to disengage the movable stop from the first fixed stop includes the step of rotating the movable stop over a second fixed stop while traveling until it engages with the second side of the sliding stop.

[0096] In Example 23, one or more of the themes from Examples 19 to 22 optionally include the step of rotating the pulley in a second direction about the axis of rotation along a second path to disengage the movable stop from the second fixed stop.

[0097] Each of these non-limiting embodiments can stand on its own or can be combined with one or more of the other embodiments in various permutations or combinations.

[0098] Note The above detailed description includes references to the accompanying drawings, which form part of the detailed description. The drawings illustrate specific embodiments in which the present invention may be put into practice. These embodiments are also referred to herein as “examples.” Such examples may include elements in addition to those shown or described. However, the inventors also intend examples in which only those elements shown or described are provided. Furthermore, the inventors also intend examples in which any combination or permutation of those elements shown or described (or one or more embodiments thereof) is used with respect to a particular example (or one or more embodiments thereof) or with respect to other examples (or one or more embodiments thereof) shown or described herein.

[0099] In the event of any inconsistency in usage between this document and any document incorporated by reference, the usage in this document shall prevail.

[0100] In this document, the terms "a" or "an" are used to include one or more, independently of any other instances or uses of "at least one" or "one or more," as is common in patent literature. In this document, the term "or" is used to refer to non-exclusive "or," so that "A or B" includes "A but not B," "B but not A," and "A and B," unless otherwise indicated. In this document, the terms "including" and "in which" are used as plain English equivalents of the terms "comprising" and "wherein," respectively. Furthermore, in the following claims, the terms "including" and "comprising" are open-ended, meaning that a system, device, article, composition, formulation, or process containing elements in addition to those listed after such terms in the claims is still considered to fall within the scope of those claims. Furthermore, in the following claims, terms such as “first,” “second,” and “third” are used merely as labels and are not intended to impose numerical requirements on those objects.

[0101] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. Other embodiments can be used, for example, by those skilled in the art who have considered the above description. The abstract is provided to enable the reader to quickly confirm the nature of the technical disclosure. It is submitted with the understanding that it is not to be used to interpret or limit the scope or meaning of the claims. Also, in the above detailed description, various features may be grouped together in order to streamline the disclosure. This should not be interpreted as meaning that any disclosed feature not claimed is essential to any claim. Rather, the subject matter of the invention may lie in fewer features than all the features of a particular disclosed embodiment. Accordingly, the following claims are incorporated into the detailed description herein as examples or embodiments, and it is intended that each claim stands alone as a separate embodiment, and such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined by reference to the appended claims, along with the entire scope of equivalents to which such claims are entitled. [Explanation of Symbols]

[0102] 10 Endoscopy System 12 Imaging and control systems 14 Endoscopy 16 Control Unit 18 Output Units 20 Input Units 22 Light Source Unit 24 Fluid supply source 26 Suction pump 28 Insertion Section 30 Functional Sections 32 Handle section 34 Cable Sections 36. Coupler Section 38 Control knob 40A Port 40B Port 41 Cart 42 Image Processing Units 44 Therapy Generator 46 Drive Unit 47 Cables 49 Cables 50 modules 200 controllers 202A First Housing Component 202B Second Housing Component 203 Curved side wall section 204 Pulley Stack 206 shaft 208 Pulley section 210 Drive section 212 ports 214A First pulley 214B Second pulley 216A First shaft 216B Second shaft 217 Knob Assembly 218A First knob 218B Second knob 222A First Socket 222B Second Socket 224A First pull wire 224B Second pull wire 226 Side wall section 230A First stop ring 230B Second stop ring 231 Slide Pad 232A First rotation stop 232B First rotation stop 233 Base wall section 234A Second rotation stop 234B Second rotation stop 235A Side wall section 235B Side wall part 236 Stop main unit 237 Flange 238 Trough 239 Cut section 240A First movable ring 240B Second movable ring 242 Base Ring 242A Base Ring 242B Base Ring 244A Protrusion 244B Second projection 245A Side wall section 245B Side wall section 246A First stabilizer 246B Second stabilizer 247 Base wall section 250A First Stop Spoke 250B Second stop spoke 252A First wall section 254A Second wall section 260 discs 262 Inner rim 264 Outer rim AA Rotation axis BB Longitudinal axis D1 Distance D2 distance T1 Thickness T2 thickness

Claims

1. A long, slender, flexible shaft, A first pull wire extending from the aforementioned elongated flexible shaft, The handpiece housing is connected to the aforementioned elongated flexible shaft, A pulley mechanism disposed within the handpiece housing, connected to the first pull wire, and applying tension to the first pull wire by rotation, The first pulley connected to the first pull wire, A first movable stop extending from the first pulley and moving together with the first pulley, Displaced within the handpiece housing, a sliding stop that can engage with the first movable stop, Includes, The sliding stop is capable of stopping at at least two different locations along the route on which the first movable stop travels, and the sliding stop is capable of sliding between the at least two different locations when the sliding stop is engaged with the first movable stop, the pulley mechanism, Endoscopes, including those mentioned above.

2. The aforementioned handpiece housing is Pulley socket and A first fixed stop positioned in close proximity to the pulley socket, The endoscope according to claim 1, further comprising:

3. The sliding stop includes a slide ring disposed between the first pulley and the pulley socket. The sliding stop extends from the slide ring and is engageable with the first fixed stop and the first movable stop. The endoscope according to claim 2, wherein the first pulley can be rotated to push the first movable stop and engage with the first fixed stop.

4. The endoscope according to claim 3, wherein the pulley socket, the first pulley, and the slide ring are aligned along the axis of rotation.

5. The aforementioned sliding stop is, Extending axially outward from the slide ring toward the first pulley, and engaging with the first movable stop, The endoscope according to claim 4, which extends radially outward from the slide ring and engages with the first fixing stop.

6. The endoscope according to claim 5, wherein the sliding stop is longer in the axial direction than the first fixed stop.

7. The pulley socket includes a circular track, The first fixed stop is located within the circular track, The endoscope according to claim 5, wherein the slide ring includes an annular body portion configured to rotate on the circular track about the axis of rotation in a radially inward direction of the first fixed stop.

8. Within the circular track, a second fixed stop is positioned at a circumferential distance from the first fixed stop, A second pull wire extends from the aforementioned elongated flexible shaft and connects to the first pulley, The endoscope according to claim 7, further comprising:

9. The first pulley is capable of being rotated in a first direction, and the first movable stop pushes the sliding stop to engage with the first fixed stop. The endoscope according to claim 8, wherein the first pulley is capable of being rotated in a second direction, and the first movable stop pushes the sliding stop to engage with the second fixed stop.

10. The endoscope according to claim 4, wherein the first pulley is capable of rotating more than 360 degrees in any direction about the axis of rotation.

11. The aforementioned pulley mechanism is A first shaft extending from the first pulley through the handpiece housing in the pulley socket, A first knob extending from the first shaft, The endoscope according to claim 3, further comprising:

12. A second pulley is mounted inside the handpiece housing and rotates independently of the first pulley, A second pull wire extends from the aforementioned elongated flexible shaft and is connected to the second pulley, A second movable stop extending from the second pulley, A second fixed stop is disposed inside the handpiece housing in close proximity to the second pulley, A second slide ring having a second sliding stop that extends from the second slide ring and is engageable with the second fixed stop and the second movable stop, The endoscope according to claim 1, further comprising:

13. A sliding stop mechanism for an endoscope pull wire, A first pulley for connecting to a first pull wire and for rotation around the pulley axis, A first movable stop extending from the first pulley and moving together with the first pulley, A sliding stop that can engage with the first movable stop, Includes, A sliding stop mechanism wherein the sliding stop is capable of being stopped at at least two different locations along the route on which the first movable stop travels, and the sliding stop is capable of sliding between the at least two different locations when the sliding stop is engaged with the first movable stop.

14. A handpiece housing stop including a first flange and a second flange that define the at least two different locations, A slide ring on which the sliding stop extends, the slide ring being rotatable between the first flange and the second flange, It further includes, The sliding stop mechanism according to claim 13, wherein the first pulley can be rotated in a first direction to push the first movable stop and engage with the first flange, and can also be rotated in a second direction to push the first movable stop and engage with the second flange.

15. It is a handpiece housing, The aforementioned handpiece housing stop, A pulley socket including an annular track on which the first flange and the second flange extend, Including a handpiece housing, The sliding stop mechanism according to claim 14, wherein the first pulley further includes a first shaft extending from the first pulley along the pulley axis and outward from the handpiece housing in the pulley socket.

16. The aforementioned sliding stop is, Extending axially outward from the slide ring toward the first pulley, and engaging with the first movable stop, The sliding stop mechanism according to claim 15, which extends radially outward from the slide ring and engages with the first flange.

17. The sliding stop mechanism according to claim 16, wherein the sliding stop is longer in the axial direction than the first flange.

18. The sliding stop mechanism according to claim 15, wherein the handpiece housing stop is fixed to the handpiece housing.

19. A method for bending the insertion shaft of an endoscope using a pull wire, The steps include rotating the pulley in a first direction around the axis of rotation along a first path to disengage the movable stop from the first fixed stop, The steps include rotating the pulley around the aforementioned axis of rotation to pull the pull wire, The steps include: continuously rotating the pulley in the first direction around the rotation axis, so that it passes the first fixed stop and moves the movable stop; The steps include engaging the movable stop with the second fixed stop to prevent excessive bending of the insertion shaft, Methods that include...

20. The method according to claim 19, wherein the pulley can be rotated more than 360 degrees along the first path to disengage the first fixed stop and engage the second fixed stop.

21. The step of rotating the pulley in the first direction about the rotation axis along the first path, thereby disengaging the movable stop from the first fixed stop, The steps include: disengaging the movable stop from the first side of the sliding stop which is engaged with the first fixed stop; The steps include rotating the movable stop and engaging it with the second side of the sliding stop, The steps include pressing the sliding stop to engage it with the second fixed stop, The method according to claim 19, including the method described in claim 19.

22. The step of rotating the pulley in the first direction about the rotation axis along the first path, thereby disengaging the movable stop from the first fixed stop, The method according to claim 21, comprising the step of rotating the movable stop over the second fixed stop while moving until it engages with the second side of the sliding stop.

23. The method according to claim 19, further comprising the step of rotating the pulley in a second direction about the axis of rotation along a second path to disengage the movable stop from the second fixed stop.

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