Endoscope with panning camera and related methods

Abstract

The present invention relates to an endoscope with a pannable camera and related methods. An endoscope and related methods include a proximal handle and a distal shaft having an insertion end. A housing including a camera assembly can be mounted on the insertion end of the shaft and includes at least one lens, and an image sensor. The camera assembly housing is rotatable about an axis perpendicular to the long axis of the shaft, thereby providing a variable field of view to the camera assembly. The rotatable camera assembly housing can be mounted to the insertion end of the shaft so that the rotatable housing of the camera assembly includes the most distal element of the endoscope shaft or insertion end. The endoscope can include a circuit board having a first portion disposed within the proximal handle and one or more extensions of a light source extending within the shaft to the camera assembly and / or near the distal end of the shaft. At least one light emitter can be mounted on the insertion end of the shaft and is configured to project light in a direction toward or away from the field of view of the camera assembly.

Description

[0001] This application is a divisional application of the patent application with application number 201680058991.6 (PCT / US2016 / 049743) filed on April 9, 2018, with an international application date of August 31, 2016, and the invention name is “Endoscope with Pannable Camera and Related Methods”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application is a non-provisional application, claiming the benefit of U.S. Provisional Patent Application No. 62 / 306,288 (Attorney Docket No. R44), entitled “Endoscope with Pannable Camera and Related Method,” filed on March 10, 2016, and U.S. Provisional Patent Application No. 62 / 212,871 (Attorney Docket No. Q57), entitled “Pannable Camera and Related Method,” filed on September 1, 2015, the entire contents of which are incorporated herein by reference. background Technical Field

[0005] The present disclosure relates to endoscopic instruments for viewing and working in relatively inaccessible spaces; and in some aspects endoscopic instruments for operating in narrow anatomical spaces within the body using an endoscope or arthroscope or the like. Background Art

[0007] The use of endoscopic instruments in medicine has been widely used, allowing remote observation and operation in inaccessible spaces. These instruments are also useful in automobiles, aviation, plumbing, electronics and many other industries. In the field of medical or veterinary practice, endoscopy or arthroscopy is often used to observe or treat anatomical areas when minimal or no incision is required, or to avoid interfering with nearby tissues. For example, in plastic surgery, one or more arthroscopic instruments introduced into the joint through one or more small skin incisions can be used to approach the condition of joints such as knees or shoulders. These instruments can also be used to repair various intra-articular tissues. The standard techniques for open surgery to observe and repair these anatomical areas may be relatively more time-consuming, may cause greater risks and trauma to the patient, and may require longer recovery time. In addition, anesthesia associated with open surgery may be more complicated, riskier and more expensive. In order to improve the field of view, the endoscope can be equipped with an active flexible distal section that can be controlled by the user at the handle end of the instrument. This may not be an effective option when the tip of the instrument is positioned in a restricted space that may not accommodate the range of motion required by the distal section of the curved endoscope. In medical applications, one such example includes intra-articular surgery. In general, if it is impractical to use an instrument with an active flexible distal section, it may be preferred to use an instrument with a rigid insertion shaft. A non-flexible shaft may provide improved optical or image reproduction, increased space for additional functions within the instrument, and greater durability. However, a rigid endoscope or arthroscope has a limited field of view and may need to be frequently repositioned or rotated to increase the field of view. Some endoscopes or arthroscopes must be removed from the patient's body to exchange components to change the field of view. The intubation system can help this method, but it may also increase the complexity of the operation and the size of the incision. These limitations may reduce operator efficiency, increase operation time, and may increase the risk of iatrogenic injury. In medical and other applications, it would be advantageous for an endoscope to have an increased or variable field of view without using an active flexible distal section. It may also be advantageous to combine multiple functions in a single catheter to reduce the overall diameter of the shaft of the endoscope. In addition, due to repeated use, cleaning and / or sterilization, current instruments are prone to degradation in function and optical quality. The manufacturing and assembly costs are low enough that even if they cannot be reused, it is economically unfavorable, and such an endoscope design is also advantageous. The costs of repeated cleaning or sterilization and repackaging would be eliminated, and the sterility, quality and reliability of disposable devices could also be more easily standardized. Summary of the invention

[0008] The endoscope may include a proximal handle and a shaft having a distal insertion end, and a camera assembly is mounted in a rotatable housing at the distal insertion end. The rotatable housing is configured to rotate about an axis substantially perpendicular to the long axis of the insertion end, and the rotatable housing is the most distal element of the endoscope at the insertion end. The camera assembly may include a lens adjacent to an image sensor, which may be a CMOS or CCD device. A pull wire may extend from the handle to the insertion end of the shaft, the pull wire is wound around a portion of the rotatable housing, and is configured to rotate the housing when the pull wire moves back and forth in the endoscope shaft. The housing may have a range of motion that provides a field of view to the camera assembly, the field of view including an area that is in line with the long axis of the insertion end and an area that is at least perpendicular to the long axis of the insertion end. In some cases, this may include a range of about 0 degrees to about 120 degrees relative to the long axis of the insertion end, or a range between about 35 degrees and about 115 degrees. The housing may be a spherical housing composed of two half shells, wherein a cutout of one or both shells is configured to accommodate an image sensor or a camera assembly (e.g., a lens plus an image sensor). The light source may be mounted on the rotatable housing so that it may illuminate the field of view that the camera assembly is pointing at.

[0009] In another aspect, the endoscope may include a proximal handle and a shaft having a distal insertion end, the camera assembly being configured to rotate about an axis substantially perpendicular to the long axis of the insertion end. The light source may be positioned at the insertion end of the shaft and oriented to project light in a direction substantially perpendicular to the long axis of the insertion end. The rotational range of the camera assembly's field of view may include an area illuminated by the light source, or alternatively, it may exclude an area illuminated by the light source. In this case, the illumination provided by the light source to the image sensor or camera is indirect light, reflected light, or ambient light. The light source may include one or more LEDs.

[0010] On the other hand, the endoscope may include a printed circuit board (PCB) including a base located within the handle of the endoscope, and one or more elongated extensions of the PCB, the elongated extensions being configured to extend from the base of the PCB within the handle through the shaft of the endoscope and terminate at the distal insertion end of the shaft. The base of the PCB may be a composite of a flexible board mated with a rigid board or a flexible board sandwiched between rigid boards, at least one extension including a flexible board extension, or at least one extension including a rigid board extension, or at least two extensions including a flexible board extension and a rigid board extension. The proximal leg of the flexible board extension may be at an angle of about 90 degrees to the proximal end of the rigid board extension, and the distal leg of the flexible board extension may be bent backward to be parallel to the rigid board extension. The proximal leg of the flexible board extension may then be folded so that the distal leg of the flexible board extension is aligned adjacent to the rigid board extension. Both the rigid board extension and the flexible board extension may extend through the lumen of the shaft of the endoscope. The PCB and its extension can be coated with a waterproof coating or membrane so that the extension can pass through the fluid-carrying lumen of the endoscope shaft. The flexible board extension can be connected to a rotatable image sensor (such as a CMOS or CCD) in the distal insertion end of the endoscope shaft, while the rigid board extension can be connected to one or more fixed light sources at the insertion end of the shaft. The flexible board extension is configured to have sufficient slack to allow the image sensor to rotate freely within a predetermined rotation range.

[0011] In another aspect, an endoscope may include a proximal handle housing configured to house an electronic processing board for processing signals from an image sensor positioned at the distal end of the shaft of the endoscope. The distal handle housing is configured to hold the electronic processing board in a fixed position relative to the distal handle portion. One or more magnets are attached to the inner wall of the proximal handle housing, the magnets being positioned proximate to a Hall effect sensor on the electronic processing board. Thus, the proximal handle housing is rotatable relative to the distal handle housing, and the Hall effect sensor is configured to provide a signal to the electronic processor indicating a relative rotation of the proximal handle housing relative to the distal handle housing. The electronic processor may be connected to a user interface that displays an image generated by the image sensor, and the rotational orientation of the image may therefore be altered by a change in the relative rotation of the proximal handle housing relative to the distal handle housing.

[0012] On the other hand, the endoscope includes a handle that surrounds an electronic processing board for processing signals from an image sensor located at the distal end of the shaft of the endoscope. A button on the handle includes a member that surrounds a magnet that is located above or near the portion of the electronic processing board where the Hall effect sensor is located. Therefore, pressing, releasing, or moving the button changes the magnetic field near the Hall effect sensor to a sufficient degree to change the signal generated by the Hall effect sensor. The button can be configured to cause an electronic controller connected to the electronic processing board to start recording an image generated by the image sensor, stop recording an image generated by the image sensor, or take a photo of an image generated by the image sensor based on the user's movement or release of the button. The button can also be configured to cause an electronic controller connected to the electronic processing board to turn on, extinguish, or adjust a light source located at the distal insertion end of the shaft of the endoscope based on the user's movement or release of the button. The movement or release of the button can include a short duration or a longer duration press of the button, two or more presses and releases of a predetermined sequence of buttons, or a release of the button between two presses of two or more variable durations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] These and other aspects will become more apparent from the following detailed description of various embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0014] Figure 1 is a representative illustration of a two-component handle design for an endoscope;

[0015] Figure 2 Shows Figure 1 Additional features of the illustration;

[0016] Figure 3A An exemplary side view of an endoscope is shown;

[0017] Figure 3B shows an exemplary perspective view of another endoscope;

[0018] Figure 4 An exploded view showing an example of a handle proximal portion of an endoscope;

[0019] Figure 5 An exploded view showing an alternative example of a handle proximal portion of an endoscope;

[0020] Figure 6 An exploded view showing an alternative example of a handle proximal portion of an endoscope;

[0021] Fig. 7A A top perspective view of an example of a handle distal portion of an endoscope is shown;

[0022] Figure 7Bshows a side view of an example endoscope with a portion of the handle removed;

[0023] Figure 7C A detailed view of a portion of an example handle distal portion of an endoscope is shown;

[0024] Figure 8 An exploded view of an example of a handle distal portion and a rotation sensing assembly of an endoscope is shown;

[0025] Fig. 9A A partially assembled view of an exemplary endoscope handle is shown;

[0026] Fig. 9B shows a partial cross-sectional view of a handle of an endoscope including an example rotation sensing device;

[0027] Fig. 10A is a representative illustration of a fluid barrier that allows auxiliary tool components to pass from the handle to the endoscope catheter;

[0028] Fig. 10B A representative illustration of a pass barrier having a flexible member is shown;

[0029] Fig.11A An exploded view of an example of an inner jacket mount for use as a barrier to passing fluids is shown;

[0030] Fig. 11B Example embodiments of partitions or passing fluid barriers are shown;

[0031] Fig. 11C Another example embodiment of a baffle or pass fluid barrier is shown;

[0032] Fig.11D An embodiment of a pass barrier through which a plurality of auxiliary tool components extend is shown;

[0033] Fig.12 An exploded view of an example of a pivot control assembly is shown;

[0034] Fig.13 A perspective view showing an example of a sealing member;

[0035] Fig.14 A partially assembled view of an exemplary endoscope is shown with the inner sheath mount, pivot control structure or assembly, and sealing member in their assembled positions;

[0036] Fig.15 Another partially assembled view of an example endoscope is shown with the penetration barrier, pivot control structure, and printed circuit board enclosed in a protective material or housing;

[0037] Fig.16 shows a perspective view of an outer jacket mounting;

[0038] Fig.16A shows a perspective view of the outer sheath and mounting of an endoscope;

[0039] Fig. 16B yes Fig.16A A rear perspective view of the outer jacket and mounting member;

[0040] Fig.17 shows a close-up partial view of the endoscope with the inner sheath mount, inner sheath, and outer sheath in their assembled positions;

[0041] Fig.17A An exemplary trocar or obturator for insertion into an outer sheath of an endoscope is shown;

[0042] Fig.18 An example of a camera assembly mount separated from an inner housing is shown;

[0043] Fig.19 An alternative example of a camera assembly mount as part of the inner housing is shown;

[0044] Fig. 20 Depicted along Fig.19 The line 20-20 is intercepted Fig.19 A cross-sectional view of an example camera assembly mount and inner housing;

[0045] Fig.21 An example of a camera assembly, a portion of an outer housing, and a portion of a camera assembly mount is shown;

[0046] Fig. 22 An alternative example of a camera assembly, a portion of an outer housing, and a portion of a camera assembly mount is shown;

[0047] Fig.23 An alternative example of a camera assembly, a portion of an outer housing, and a portion of a camera assembly mount is shown;

[0048] Figure 23.1 shows a perspective view of the distal end of an endoscope shaft with a camera assembly mounted at the tip of the shaft without a guard, shield or tip structure;

[0049] Figure 23.2 A rotatable camera housing with a pull wire is shown, along with a row of LEDs at the exposed end of the endoscope shaft (with the surrounding sheath removed);

[0050] Figure 23.3 and Figure 23.4 Each half of the spherical rotatable housing for the camera assembly is shown;

[0051] Figure 23.5 and Figure 23.6The pivot and support elements that allow the housing of the camera assembly to rotate are shown;

[0052] Fig.24 A perspective view of a camera assembly is shown;

[0053] Fig.25 shows a side view of a camera assembly and camera assembly mount with walls of the camera assembly mount removed for clarity;

[0054] Fig.26 shows a side view of an alternative exemplary camera assembly and camera assembly mount with walls of the camera assembly mount removed for clarity;

[0055] Fig. 27 shows a side view of an alternative exemplary camera assembly and camera assembly mount with walls of the camera assembly mount removed for clarity;

[0056] Figure 28 to Figure 32 Some possible rotational positions of alternative camera assemblies are depicted;

[0057] Fig.33 An example camera assembly is shown;

[0058] Figure 33.1 shows the relationship between the camera assembly and LEDs and their respective power and communication PCB extensions;

[0059] Figure 33.2 The form factor of a PCB for an endoscope is shown, the PCB having an extension member for the endoscope shaft;

[0060] Figure 33.3 Shows Figure 33.2 A PCB, wherein one flexible extension is folded over another extension of the PCB;

[0061] Figure 33.4 shows how the PCB extension is positioned in the endoscope shaft (with the sheath removed);

[0062] Figure 33.5 A partially assembled endoscope is shown showing the through-fluid barrier or bulkhead and the PCB;

[0063] Figure 33.6 The relationship between the endoscope PCB and other internal components of the endoscope handle is shown;

[0064] Figure 33.7 shows a fluid carrying lumen and PCB extension within an inner sheath of an endoscope shaft;

[0065] Figure 33.8 The internal fluid pathways within the endoscope handle are shown;

[0066] Fig.34 An example camera assembly with an attached fiber optic bundle and electronic flex cable is shown;

[0067] Fig.35 shows a top view of an exemplary camera assembly and camera assembly mount;

[0068] Fig.36 A perspective view showing a camera assembly and a flexible fiber optic bundle or ribbon;

[0069] Fig.37 shows a perspective view of a camera assembly having a monolithic camera housing and light emitting features;

[0070] Fig.38 Shows Fig.37 A side view of a camera assembly;

[0071] Fig.39 An example of a flexible optical fiber bundle or ribbon is shown;

[0072] Fig.40 Shows Fig.39 A side view of a flexible optical fiber ribbon;

[0073] Fig.41 A perspective view showing an example of a light projection element;

[0074] Fig.42 A perspective view showing another example of a light projection element;

[0075] Fig.43 A perspective view showing another example of a light projection element;

[0076] Fig.44 Shows Fig.43 a bottom perspective view of the light projection element shown;

[0077] Fig.45 Shown along Fig.43 The line 43-43 is intercepted Fig.43 and Fig.44 A cross-sectional view of the light projection element shown;

[0078] Fig.46 Shown along Fig.43 The line 44-44 is intercepted Fig.43 and Fig.44 A cross-sectional view of the light projection element shown;

[0079] Fig.47 Shown along Fig.43 The line 45-45 is intercepted Fig.43 and Fig.44 A cross-sectional view of the light projection element shown;

[0080] Fig.48 It is shown that there is installed Fig.43 a top perspective view of a camera assembly of a light projection element;

[0081] Fig.49 Shown along Fig.24 A cross-sectional view of an example camera assembly taken along line 61-61;

[0082] Fig.50 Shown along Fig.34 A cross-sectional view of an example camera assembly taken along line 62-62;

[0083] Fig.51 Shown along Fig.34 A cross-sectional view of an example camera assembly taken along line 62-62;

[0084] Fig.52 A representative illustration of a camera assembly at the distal end of an endoscope is shown in addition to an example sensor and a plurality of example illumination sources;

[0085] Fig.53 depicts a top view of an example printed circuit board including an extension portion for protruding into an endoscope shaft;

[0086] Fig.54 depicts a side view of an example printed circuit board including a protruding portion;

[0087] Fig.55 depicts an example flow chart detailing a number of example steps that may be used to control at least one variable light source of an endoscope based on received sensor data using a processor;

[0088] Fig.56 shows a side view of a protruding portion of a printed circuit board having mounted thereto an example camera assembly, an example sensor, and a plurality of example light sources;

[0089] Fig.57 Shown include Fig.56 A top view of the distal tip of an example endoscope showing an example protruding portion of a printed circuit board;

[0090] Fig.58 Shown along Fig.57 A cross-sectional view of the distal tip of the endoscope taken along line 72-72;

[0091] Figure 58.1 showing a perspective view of a distal end of an endoscope shaft with a light source positioned on the shaft to project light in a direction generally away from a field of view of a camera assembly;

[0092] Fig.59An example endoscope and an example calibration device are depicted;

[0093] Fig.60 A flow chart including a number of example steps that may be used to calibrate illumination parameter values ​​of a variable illumination source of an endoscope is described;

[0094] Fig.61 A partially assembled view of the endoscope is shown with the handle printed circuit board, power / HDMI cable, illumination fiber optics, and irrigation lines in their assembled positions;

[0095] Fig.62 A block diagram of an example image processing system is shown; and

[0096] Fig.63 Depicted are example diagrams illustrating how input from a rotation sensing assembly may be used to correct an image. DETAILED DESCRIPTION

[0097] The terms "endoscope" and "arthroscopy" as used herein are intended to be used interchangeably and to be given their broadest interpretation, each term referring to an instrument having an elongated portion for insertion into an otherwise difficult-to-access space for visual inspection, diagnosis, and / or treatment or repair. In the field of medical or veterinary practice, such a space may include a body cavity or organ cavity, a joint space, a tissue plane, or other body structure. The instrument may also be used in many non-medical (e.g., industrial) applications where the diameter of the endoscope insertion portion needs to be minimized, or where the space in which the endoscope must operate is too confined to allow the use of an active flexible distal section.

[0098] Figure 1 , a two-part handle design for an endoscope 10 is shown in FIG. The example endoscope 10 includes a handle proximal portion 16 and a handle distal portion 30. The handle proximal portion 16 can be a housing. As shown, the handle distal portion 30 can extend at least partially into the handle proximal portion 16. The handle distal portion 30 and the handle proximal portion 16 can rotate relative to each other. In some embodiments, a user can hold the handle proximal portion 16 still while rotating the handle distal portion 30 with a thumb or finger. The endoscope 10 can have multiple features, such as, but not limited to, a rotation sensing assembly, a fluid conduit, an illumination, an imager or camera assembly, a pivoting control for an imager, and the like.

[0099] Figure 21. Additional features of the endoscope 10 are shown in FIG. The endoscope 10 includes a handle proximal portion 16 and a handle distal portion 30. In this example, at least a portion of the insertion shaft or insertion portion 14 is fixed to the handle distal portion 30 and moves with the handle distal portion 30. The handle distal portion 30 includes a handle protrusion or finger 36 that provides a surface for the user to press against to facilitate rotation of the handle distal portion 30 relative to the handle proximal portion 16. In some embodiments, the user's hand can hold the handle proximal portion 16 still while rotating the handle distal portion 30 using one of the user's fingers or thumb.

[0100] In some embodiments, one or both of the handle proximal portion 16 and the handle distal portion 30 may function as a housing or provide support structure for other components of the endoscope 10 . Figure 2 The endoscope 10 shown may include a rotation sensing assembly 150. The rotation sensing assembly 150 can track the rotation of the handle distal portion 30 relative to the handle proximal portion 16. In some embodiments, the rotation sensing assembly 150 may include components that are stationary relative to the handle proximal portion 16 and components that are stationary relative to the handle distal portion 30. For example, the rotation sensing assembly 150 may include a potentiometer and a bolt slot shaft. The potentiometer can be mounted, for example, to a support member of an internal housing that includes the handle proximal portion 16. Alternatively, the handle distal portion 30 may also include a support member for mounting one or more components of the rotation sensing assembly 150 (see, for example, Figure 8 In either case, the rotation or pan component of the rotation sensing assembly is arranged to move in proportion to the degree of rotation of the handle distal portion 30 relative to the handle proximal portion 16.

[0101] Figure 3A, an exemplary embodiment of an endoscope (or, for example, an arthroscope) 10 is shown in FIG. The endoscope 10 can be used for various endoscopic procedures, including arthroscopy, etc. As shown, the endoscope 10 includes a handle 12 and an insert or shaft 14, which may include an elongated hollow shaft, and one or more actuating members, electrical / communication lines, lighting or optical transmission cables and / or fluid channels may be located in the elongated hollow shaft. As shown, in an embodiment, the handle 12 can be generally cylindrical and rounded in shape. The insert 14 can also be generally cylindrical in shape and extend along the longitudinal axis. In an embodiment, the insert 14 can be rigid and relatively straight. In other embodiments, the insert 14 can be bent or angled along at least a portion of its length. In yet other embodiments, the insert 14 can include a semi-rigid, ductile material that allows it to bend and remain in a desired shape. The diameter of the insert 14 is significantly smaller than the diameter of the handle 12. In some embodiments, the diameter of the insert 14 can be approximately 5.5 mm or less. The insertion portion 14 of the endoscope 10 may have substantially the same length as the handle 12. In alternative embodiments, the length and shape of the handle 12 and the insertion portion 14 may differ substantially.

[0102] At least a portion of the insert 14 can be detached from the handle 12. In such embodiments, the insert 14 or a detachable portion of the insert 14 can be coupled to the handle 12 in any of a variety of ways, including but not limited to friction fit, snap fit, threaded connection, bayonet mounting, etc. In some embodiments, the insert 14 can be a disposable component, and the handle 12 can be a reusable component. In embodiments where the insert 14 is disposable, the insert 14 can be discarded after use. In other embodiments, the insert 14 can be sterilized after use by autoclave, solution immersion, or other suitable sterilization procedures. In a preferred embodiment, both the handle 12 and the insert 14 are disposable and can be discarded after use, thereby eliminating the need and cost of sterilization procedures and equipment (except for pre-use sterilization using ethylene oxide, radiation, etc. during, for example, manufacture, assembly, or packaging of the device). In addition, by making both the handle 12 and the insert 14 of the endoscope 10 disposable, there is no loss of function or reliability due to repeated use and repeated cleaning. Making the entire endoscope 10 disposable has other benefits, some of which will be discussed below.

[0103] Preferably, the disposable endoscope 10 can be equipped with a device to prevent its reuse, especially if sterilizing the used instrument may reduce its function. For example, the endoscope 10 can include a memory chip storing an identification code that can be recognized by an electronic processor in a base unit to which the endoscope 10 must be connected for operation and display of images. The connection can include wired communication between a controller in the base unit and a memory chip in the endoscope 10, or wireless communication using, for example, an RFID device installed in the endoscope 10. (Other types of wireless transmission, such as Bluetooth or Wi-Fi, can also be used). In an embodiment, the base unit can be programmed to encode the memory device on the endoscope 10 when it is first used, and can be programmed to read and recognize a code indicating that the endoscope 10 has been previously used whenever the endoscope 10 is subsequently reconnected to any base unit. Once a "used" endoscope 10 is identified, the controller can be programmed to prevent electronic and imaging communications between the endoscope 10 and the base unit. The code and its communication can be encrypted to enhance system security. Alternatively, the endoscope 10 may include a disabling feature in its software that renders the endoscope 10 inoperable after use.

[0104] like Figure 3A As shown, the handle 12 of the endoscope 10 may include a number of different features. The handle 12 may include a handle proximal portion 16. The handle proximal portion 16 may be relatively smooth, as shown in FIG. 3A. The handle proximal portion 16 may include one or more hollow portions. The handle proximal portion 16 may also be shaped so that it includes a number of ergonomic attributes. In some embodiments, at least a portion of the handle proximal portion 16 may not have a smooth surface and may include a texture and / or a rubberized or elastic surface layer of the type of knurling, ribbed, roughened, honeycombed, etc., to facilitate gripping the endoscope 10 during operation of the endoscope 10. In an exemplary embodiment, the handle proximal portion 16 is formed with a plurality of finger grooves 18. In some embodiments, the handle proximal portion 16 may be made of a material having a soft feel or otherwise comfortable to hold (e.g., rubber or other elastomer). In some embodiments, a pistol grip-like component (not shown) may be included as part of the handle proximal portion 16.

[0105] like Figure 3A As shown, the handle proximal portion 16 may be divided into two separate portions. Figure 3AThe handle proximal portion 16 in the embodiment includes a handle top portion 20 and a handle bottom portion 22. The handle top portion 20 and the handle bottom portion 22 of the handle proximal portion 16 can be manufactured as two separate parts and connected together by any suitable means, such as adhesives, screws, snap fits, etc. As shown, the handle top portion 20 is smooth and has a different contour than the handle bottom portion 22. This can help the user quickly and easily determine the orientation of the endoscope 10 by feel. In some embodiments, the handle top portion 20 and the handle bottom portion 22 may include surface materials with different tactile sensations (e.g., metal to plastic, metal to elastomer, smooth to textured, etc.).

[0106] The handle 12 of the endoscope 10 may also include a handle distal portion 30. Figure 3A As shown, the handle distal portion 30 extends from the handle proximal portion 16 toward the insertion portion 14. The diameter of the handle distal portion 30 can be smaller than the diameter of the handle proximal portion 16. As shown, the length of the handle distal portion 30 can be longer than the handle proximal portion 16, but in alternative embodiments, the relative sizes of the handle distal portion 30 and the handle proximal portion 16 can be different.

[0107] At least a portion of the handle distal portion 30 may have a Figure 3A Grip texture shown. Figure 3A In the illustrated example embodiment, the gripping texture is a series of spiral ribs 32. In other embodiments, other gripping textures may also be used, such as non-spiral ribs, nubs, bumps, grooves, honeycomb patterns or other forms of knurling or checkered patterns, etc. As shown, the spiral ribs 32 in the illustrated example embodiment surround a majority of the outer diameter of the handle distal portion 30. In some embodiments including a gripping texture on the handle distal portion 30, the gripping texture may not be formed as a continuous portion of the handle distal portion 30. In such embodiments, the gripping texture may be an "outer layer" or sleeve applied to the handle distal portion 30. The gripping texture outer layer may be coupled to the handle distal portion 30 by any suitable means, such as, but not limited to, adhesives, snap fits, various fasteners, overmolding, etc. In some embodiments, the gripping texture outer layer may be made of a different material than the handle distal portion 30. For example, the gripping texture outer layer may be a softer, elastomeric or rubber material that is more comfortable / less slippery to grip than the handle distal portion 30 material.

[0108] exist Figure 3AIn an exemplary embodiment of the present invention, the handle distal portion 30 includes a handle protrusion 34 that protrudes from the top of the handle distal portion 30. In this example, the handle protrusion 34 does not protrude sharply upward from the rest of the handle distal portion 30. Instead, the handle protrusion 34 can be configured to bend gently upward from the rest of the handle distal portion 30. In this example, the spiral rib 32 does not extend above and on the top of the handle protrusion 34. Other features of the handle protrusion 34 will be further described below.

[0109] In one aspect, what protrudes from the bottom of the handle distal portion 30 may be a handle fin or paddle 36. In this example, the handle fin 36 may be configured to bend gently from the rest of the handle distal portion 30 toward the lower or subordinate position of the endoscope 10. The spiral rib 32 may or may not extend to the top of the handle fin 36 and its bottom. In other embodiments, the handle fin 36 may be configured to protrude from the top of the handle distal portion 30, and the handle boss 34 may be configured to protrude from another side of the handle distal portion 30. The handle fin 36 may be arranged to correspond to the position of the entry point for various cables, flushing, etc. in the endoscope that the doctor may be familiar with. This may be desirable because such an entry point is usually used as a surface pressed against to facilitate rotation and as an orientation mark. Other features of the handle fin 36 will be further described below.

[0110] Figure 3B , an alternative embodiment of an endoscope (or, for example, an arthroscope) 10 is shown. As shown, the endoscope 10 includes a handle 12 and an insert or shaft 14, which may include an elongated hollow shaft, and one or more actuating members, electrical / communication lines, lighting or optical transmission cables and / or fluid channels may be located within the elongated hollow shaft. At least a portion of the shaft 14 can be removed from the handle 12. In an example embodiment, the shaft 14 of the endoscope includes an outer sheath or catheter 318 attached to a mounting structure 15, and the mounting structure 15 can facilitate attachment and detachment of the catheter to the handle 12 by any of a variety of means, including but not limited to friction fit, snap fit, threaded connection, bayonet mounting, etc.

[0111] like Figure 3B As shown, the handle 12 of the endoscope 10 can include a handle proximal portion 16 that encloses a printed circuit board (PCB) (and other components) for controlling or processing image data detected by a sensor at the distal end of the shaft, and / or for powering a light source (e.g., an LED) at the end of the shaft. It can also house a fluid conduit for connection to a fluid-carrying lumen within the shaft 14. The handle proximal portion 16 can be divided into two separate portions. Figure 3BThe handle proximal portion 16 in the embodiment includes a first handle half shell 21 and a second handle half shell 23. The first handle half shell 21 and the second handle half shell 23 of the handle proximal portion 16 can be manufactured as two separate parts and connected together by any suitable means such as adhesive, screws, snap fit, etc. during assembly, and can be symmetrical. For example, the first handle half shell 21 can be ultrasonically welded to the second handle half shell 23 using any ultrasonic welding technology. In addition, alternatively or optionally, the handle half shells 21, 23 can be manufactured using injection molding techniques known in the art.

[0112] The handle 12 of the endoscope 10 may also include a handle distal portion 30. Figure 3B As shown, the handle distal portion 30 extends from the handle proximal portion 16 toward the shaft 14. Protruding from the bottom of the handle distal portion 30 may be a handle fin or paddle 36. The handle distal portion 30 also includes a recess 35 sized to accommodate the finger contact portion 98 of the pivot control structure 100 (see, e.g., Fig.14 ). An example of a pivot control structure 100 is also described below and is used for a pivotable sensor housing at the distal end of the rotation axis 14.

[0113] Figure 3B Also shown is a display or camera control button 37. It can be used to capture images produced by the image sensor at the distal end of the shaft 14. In some embodiments, the user can press the button 37 using a predetermined pattern or sequence to, for example, turn on or off video recording of the image shown on the field of view display of the image sensor at the distal end of the shaft 14, record a snapshot of the image shown on the field of view display of the image sensor at the distal end of the shaft 14, change the brightness of the light element (e.g., LED) at the end of the endoscope shaft 14, or adjust other characteristics of the sensor or displayed image (e.g., white balance, color saturation, digital magnification, etc.). Preferably, the sensor characteristics and LED illumination are controlled by a processor associated with a graphical user interface connected to the endoscope, rather than by the endoscope PCB itself, so as to reduce the amount and cost of onboard processing power of the endoscope PCB.

[0114] The button 37 can operate an electromechanical switch on the main PCB located in the distal portion 30 of the endoscope handle. In order to ensure maximum moisture resistance of the PCB electronic components, a magnetic or optical sensor assembly is preferably used to detect the movement of the button 37. Figure 33.5As shown in FIG. 5 (showing the relative positions of some components within the handle 12), in one embodiment, a Hall effect sensor on the endoscope PCB 518 can be positioned below and near the location of the shaft 38 connected to the button 37. The button 37 can be spring loaded, and the end of the shaft 38 closest to the PCB 518 can be made to include an embedded magnet. As the button shaft 38 moves closer to or further away from the PCB-based Hall effect sensor, the sensor can generate appropriate signals corresponding to the position of the button shaft 38 and the duration of its stay in that position.

[0115] Figure 4 and Figure 5 Shows Figure 3A The handle proximal portion 16 of the illustrated example embodiment of the handle top portion 20 and the handle bottom portion 22. The handle top portion 20 and the handle bottom portion 22 are shown in a decoupled or disassembled view. The handle proximal portion 16 forms a shell-like structure when assembled. The handle bottom 22 may include a flange 40 that wraps around the bottom portion inner wall 42 at a distance from the top surface 46 of the handle bottom portion 22. As shown, there is a curved or U-shaped cutout 44 in the handle bottom portion 22 that is arranged at an angle substantially perpendicular to the top surface 46 of the handle bottom portion 22. Two protruding piles 47 may be included near the rear of the handle bottom portion 22. The protruding piles 47 may extend slightly above the flange 40 and be angled substantially perpendicular to the top surface of the flange 40.

[0116] like Figure 4 and Figure 5 As shown, a portion of the handle top portion 20 may be sized so that this portion may be overlapped by the handle bottom portion 22 when the handle proximal portion 16 is assembled. The overlap portion 48 may be as shown in FIG. Figure 4 and Figure 5 3. The overlapping portion 48 can be shown as being gradually indented from the handle top portion outer surface 50. The height of the overlapping portion 48 can be selected so that it is approximately equal to or slightly greater than the distance between the top of the flange 40 of the handle bottom portion 22 and the top surface 46 of the handle bottom portion 22. In such an embodiment, when fully assembled, the bottom surface 52 of the handle top portion 20 (referring to the orientation when assembled) abuts the top of the flange 40 of the handle bottom portion 22. In addition, in such an embodiment, the handle top outer surface 50 and the handle bottom outer surface 54 can be flush with each other and form an almost continuous surface with little gap between the two. In some embodiments, there can be a small gap (the small gap shown in Figure 3) between the handle top portion outer surface 50 and the handle bottom portion outer surface 54.

[0117] As shown, the handle top 20 may include a pin cutout 59, the shape and arrangement of the pin cutout 59 so that they can receive the protruding pile 47 in the handle bottom 22. The handle top portion 20 may include a curved cutout 58 located at the docking portion or proximal portion of the handle top portion 20. As shown, the curved cutout 58 can be recessed into the handle top portion 20 at an angle substantially perpendicular to the bottom surface 52 of the handle top portion 20 (referring to the orientation when assembled). When the handle proximal portion 16 is assembled, the curved or U-shaped cutout 44 of the handle bottom portion 22 and the curved cutout 58 of the handle top portion 20 can form a generally circular or oval handle void or opening 60 together, which will be further described below. It should be understood that the use of the terms "cutout", "cut" and the like here should not be interpreted as implying that material must be physically removed by a cutting or material removal process. In some embodiments, the curved or U-shaped cutout 44 and the curved cutout 58 can be formed during the manufacturing process without physically removing material.

[0118] like Figure 4 As shown, the handle base portion 22 may include an axle support member 63 . Figure 4 The shaft support member 63 has a substantially corresponding Figure 5 The shaft support member 63 also includes a column. The column protrudes vertically from the midpoint of the semicircular portion, leaving a semicircular portion of approximately 90 degrees on each side of the column. The shaft support portion 65 protrudes vertically from the top of the column of the shaft support member 63 toward the distal end of the handle proximal portion 16. The shaft support portion 65 may include a recess, the sensor gear shaft 120 (see Figure 8 ) can be seated in the recess. When the handle proximal portion 16 is fully assembled, the column of the shaft support member 63 can be approximately the length of the radius of the semicircular portion. The shaft support member 63, the toothed protrusion 62 and the toothed protrusion 64 will be further described below.

[0119] like Figure 5 As shown, the handle bottom portion 22 may alternatively or optionally include a curved toothed protrusion 62. The curved toothed protrusion 62 is complemented by a similar toothed protrusion 64 included on the handle top portion 20. The toothed protrusion 62 and the toothed protrusion 64 may be arranged so that they are in line with each other and form a ring gear or an inner ring gear when the handle proximal portion 16 is fully assembled.

[0120] like Figure 4 and Figure 5 As shown, the face of the handle bottom portion 22 opposite the curved or U-shaped cutout 44 and the face of the handle distal portion 20 opposite the curved cutout 58 may include a semicircular opening or void 70. The curved or U-shaped track 72 may be recessed into the edge of the semicircular void 70 along the entire arc of each semicircular void 70, as shown in FIG. Figure 4 and Figure 5 shown.

[0121] Figure 6 Shows Figure 3B An example embodiment of a handle first half shell 21 and a handle second half shell 23 of a handle proximal portion 16 is shown. The handle first half shell 21 and the handle second half shell 23 are shown in a decoupled or disassembled view. The handle proximal portion 16 forms a shell-like structure when assembled. One of the first handle half shell 21 or the second handle half shell 23 may include a slot 41 sized to fit a matching wall extension 43 in the other of the first handle half shell 21 and the second handle half shell 23 to facilitate assembly. Similar to Figure 4 and Figure 5 , Figure 6 The exemplary embodiment of includes curved cutouts 58. These cutouts 58 allow access to the interior volume of the proximal handle portion 16 when the proximal handle portion 16 is assembled.

[0122] It may be useful to be able to track the rotational orientation of the handle proximal portion 16 relative to the handle distal portion 30, the shaft 14, and a sensor or camera at the distal end of the shaft. In embodiments, this may be accomplished through interaction between a Hall effect sensor and an associated magnet. The Hall sensor may be positioned on the handle proximal portion 16, with the magnet positioned on an internal component within the handle proximal portion 16, or one or more magnets may be positioned in the handle proximal portion 16, with one or more associated Hall effect sensors mounted on a PCB within the handle proximal portion 16. In some embodiments, one or more magnets 51 may be embedded in or attached to a portion of the handle 12. Figure 6 In the illustrated example embodiment, the proximal handle portion 16 includes two magnets 51 disposed generally opposite each other. In other embodiments, a different number of magnets 51 may be used. As shown, in this case, each of the first handle half shell 21 and the second handle half shell 23 includes a magnet 51 inserted into the inner wall of each half. In the illustrated example embodiment, the magnet 51 is coupled to a retaining structure 53 that holds the magnet 51 in place in the proximal handle portion 16. The magnets may optionally be composed of any suitable rare earth or transition metal or alloy thereof.

[0123] Figure 3A The distal end portion 30 of the example handle is Fig. 7A 1 is shown isolated from the rest of the handle 12. Fig. 7AThe handle distal portion 30 is shown in a generally top-down perspective. As shown, the spiral ribs 32 and the front handle raised portion 34 described in detail above are visible on the handle distal portion 30. As shown by the seam extending along the vertical center plane of the handle distal portion 30, the handle distal portion 30 can be constructed into two or more separate parts (30a and 30b in the exemplary embodiment) that are coupled together by any suitable means or combination of suitable means, such as snap fit, adhesive and / or screws.

[0124] Fig. 7A The handle distal end portion 30 also includes Figure 3A When the endoscope 10 is assembled, as shown in FIG. Figure 3A As shown, a portion of the handle distal portion 30 can be housed within the handle proximal portion 16. For example, the housed handle electronic component portion 80 is removed from the external handle distal component 82 (which is in the Figure 3A and Fig. 7A The handle electronic component portion 80 that is housed will be further described below.

[0125] Between the contained handle electronics portion 80 and the outer handle distal portion 82 is a minor diameter span 84. As shown, the minor diameter span 84 may include a rounded groove 86 recessed in the outer surface of the minor diameter span 84. In some embodiments, when fully assembled, the minor diameter span 84 of the handle distal portion 30 may be disposed within the semicircular opening 70 of the handle proximal portion 16. The rounded groove 86 in the minor diameter span 84 and the curved or U-shaped track 72 in the semicircular opening 70 may be in a straight line. This may allow the handle distal portion 30 and the handle proximal portion 16 to rotate relative to each other when the endoscope 10 is used. Optionally, a ball bearing (not shown) or other type of bearing may travel along the rounded groove 86 in the minor diameter span 84 of the handle distal portion 30 and the U-shaped track 72 in the semicircular opening 70 of the handle proximal portion 16. In a preferred embodiment, an O-ring (not shown) may be placed in the rounded groove 86 of the minor diameter span 84 of the handle distal portion 30. An O-ring (not shown) may be used as a dynamic seal between the handle proximal portion 16 and the handle distal portion 30. In such an embodiment, the handle proximal portion 16 and the handle distal portion 30 may rotate relative to each other while sealing the interior of the handle proximal portion 16 against a liquid.

[0126] When the handle proximal portion 16 and the handle distal portion 30 are rotated relative to each other, the handle fin or paddle 36 or other protrusion can be used as an orientation mark for the user. The orientation can be checked by sight or feel. In some embodiments, the grip texture on the handle fin / paddle 36 can be different from the spiral rib 32 on the rest of the handle distal portion 30 to facilitate orientation checking by feel.

[0127] like Fig. 7A As shown, the handle raised portion 34 may include a button 90. In some embodiments, the handle raised portion 34 may include more than one button 90, or may not include a button at all. The button 90 may be located elsewhere on the handle distal portion 30 or elsewhere on the handle 12. In some embodiments, the handle raised portion 34 may include a button 90, and one or more additional buttons 90 may be located elsewhere on the handle 12. In some embodiments, the button 90 may be a mechanically actuated switch, which includes a depressible member that completes or disconnects a circuit when pressed. The button 90 may include a switch based on magnetism or the Hall effect, which is by embedding a magnet in a portion of the button near the Hall effect sensor in the handle distal portion 30. Other types of buttons or switches may be used. The button 90 may be assigned multiple functions that may be activated by various user operations. In some embodiments, one or more of the buttons 90 may be sealed relative to the outer handle portion 82 to inhibit liquid penetration.

[0128] Button 90 may be an image capture button. In such an embodiment, pressing button 90 may cause a photograph of the imaging display generated by endoscope 10 to be recorded. In some embodiments, a user may double-click button 90, long-press button 90, or hold button 90 to cause a display device connected to endoscope 10 to begin recording video. To stop recording video, a user may double-click button 90, long-press button 90, or release button 90. In some embodiments, a user may only need to press and release button 90 to stop recording video. In some embodiments, when endoscope 10 is recording video, a single press of button 90 by a user may cause a still image to be recorded without pausing video recording. In other arrangements, a quick press and release of button 90 may trigger the recording of a still image, while a longer press and release or press and hold may trigger the recording of a video clip.

[0129] The handle raised portion 34 may further include a slide button recess 92. Fig. 7A As shown, the slide button recess 92 is arranged to allow a slide button or finger contact portion 98 (see Fig.14 ) moves forward and backward while limiting lateral movement. In some embodiments, the slide button can be a pivot control or a pivot control structure 100 (see, for example, Fig.14 ). In some embodiments, comprising Fig. 7A In the example embodiment shown, the slide button recess 92 may be slightly curved to conform to the shape of the handle portion in which it is located.

[0130] like Fig. 7AAs shown, the slide button recess 92 may include a plurality of ridges or detents 94 that may engage with corresponding elements on the slide button to provide a series of discrete positive stops as the user moves the slide button forward and backward. Some embodiments may not include the ridges 94. In some embodiments, the pivot control structure 100 (see Fig.12 ) with which the user can interact can be pivoted by means of a pivot control structure notch 96 (see Fig.14 ) protrudes, and the pivot control structure recess 96 is located in the slide button recess 92 of the handle raised portion 34. Fig. 7A In the exemplary embodiment of the present invention, this portion of the pivot control structure 100 includes a finger contact portion 98. As shown, for ergonomic reasons, the finger contact portion 98 can have an inclined profile. The pivot control structure 100 will be further described below.

[0131] Figure 7B and Figure 7C An alternative embodiment of a recess 35 is shown which may be used to accommodate the finger contact portion 98 of the pivot control structure 100. For clarity, a portion of the handle proximal portion 16 and the handle distal portion 30 have been removed. Figure 7C Depicted Figure 7B Detailed view of area 7C. Figure 7C As best shown in FIG. 1 , in some embodiments, the recess 35 includes a ridge 94 for use similar to Fig. 7A The stepwise movement of the pivot control structure of the slide button recess 96 is shown. Alternatively, the recess 35 can be generally smooth and can be curved to accommodate the travel path of the pivot control structure 100.

[0132] The interior of the distal handle portion 30 may include a shelf 95 located below the recess 35. The profile of the surface of the shelf 95 may be similar to the profile of the recess 35. The shelf 95 may include one or more ridges or detents 94 to provide a series of discrete positive stops when the user moves the pivot control structure 100 forward and backward. These ridges 94 may interact with one or more arms 97 extending from the pivot control structure 100. The arm 97 can move freely on the smooth portion of the shelf 95 without ridges or ridges 94. When one of the arms 97 encounters a ridge 94, the ridge may abut the corresponding arm in the arm 97 and prevent further displacement of the pivot control structure 100 until a force sufficient to overcome the mechanical interference provided by the ridge 94 is applied. That is, the ridge 94 may form a force stop that prevents the finger contact portion 98 from being actuated to leave the rest position. According to an embodiment, the ridges 94 may be placed in pairs along the surface of the shelf 95. Each of the raised strips or ridges 94 in the pair of raised ridges 94 may be separated by approximately the width of an arm 97 of the pivot control structure 100 .

[0133] Figure 8An exemplary handle distal portion 30 is shown in greater detail without the insert 14 attached. Figure 8 10. An example rotation sensing assembly 150 is also shown in the figure. As shown, the handle distal portion 30 is manufactured into two separate parts 30a and 30b. In an example embodiment, the two separate parts 30a and 30b of the handle distal portion 30 include a plurality of screw holes 102, and the screw holes 102 can be threaded. The two separate parts 30a and 30b of the handle distal portion 30 can be connected together using screws (not shown) or other suitable fasteners. In some embodiments, the two separate parts 30a and 30b can be connected together by snap fit, ultrasonic welding, adhesives, etc.

[0134] In some embodiments, one of the two separate parts 30a and 30b of the handle distal portion 30 may include a post-shaped protrusion 104 that fits into a complementary post receiving cavity 106 on the other of the two separate parts 30a and 30b. This can help align and / or couple the two separate parts 30a and 30b together. In some embodiments, including Figure 8 In the illustrated embodiment, the outer handle distal portion 82 may be substantially hollow. In some embodiments, the hollow portion of the outer handle distal portion 82 may not be fluid-tight. Figure 8 In the example embodiment shown, for example, a drainage channel 108 may be included in the handle fin 36. The drainage channel 108 may allow any fluid that enters the hollow portion of the outer handle distal portion 82 to easily drain. Alternative embodiments may include additional and / or different drainage arrangements.

[0135] The handle distal portion 30 may also include a rotation sensor holder 110, such as Figure 8 When the endoscope 10 is fully assembled, the rotation sensor holder 110 can hold the rotation sensing assembly 150. As shown, the rotation sensing assembly 150 can include a forward gear 112. The forward gear 112 is arranged around a forward gear shaft 114. Figure 8 As shown, a drive gear 116 is also disposed on the forward gear shaft 114, so that rotation of the forward gear 112 causes the drive gear 116 to also rotate. The drive gear 116 can mesh with a sensor shaft gear 118 disposed on the sensor gear shaft 120. When the forward gear 112 rotates, the sensor shaft gear 118 and the sensor gear shaft 120 will also rotate. The use of a gear assembly can allow the attached potentiometer 122 to be placed in an eccentric position away from the central rotation axis of the handle distal portion 30, which can advantageously allow other internal structures (such as irrigation catheters, fiber optic bundles, electronic flexible cables, or other electronic components) to be placed in the center.

[0136] and Figure 8As in the example embodiment of FIG. 1 , the sensor gear shaft 120 may include a spline or keyway (eg, D-shaped) portion. The keyway portion is operatively engaged with one or more rotary potentiometers 122. Figure 8 In the exemplary embodiment of FIG. 1 , there are two rotary potentiometers 122. The potentiometers 122 may be mounted or otherwise attached to a portion of a printed circuit board in a mounting element or handle, as described with reference to FIG. Fig.61 The potentiometers 122 each include a key slot (e.g., D-shaped) void into which a corresponding key slot portion of the sensor gear shaft 120 fits. As the sensor gear shaft 120 rotates, the resistance of the potentiometer 122 will change proportionally. Since the resistance will predictably change with the amount of rotation of the sensor gear shaft 120, the measured resistance of the potentiometer 122 can be used to determine the amount of rotation that has occurred between the handle proximal portion 16 and the handle distal portion 30 (and extending to the insertion portion 14).

[0137] In some embodiments, the housing of each potentiometer 122 may be mounted to a contained element of the handle electronics portion 80 (or other element attached to the handle distal portion 30), and thus fixed relative to the handle distal portion 30 (and extending to the insertion portion 14), while the shaft or rotating hub of the potentiometer 122 is connected to the handle proximal portion 16. In other embodiments, the housing of the potentiometer 122 may be fixed relative to the handle proximal portion 16, while the shaft or rotating hub of the potentiometer 122 may be connected to an element of the handle distal portion 30 or the handle electronics portion 80.

[0138] Figure 8The example embodiment in includes two rotary potentiometers 122 stacked together and rotationally offset from each other. In alternative embodiments, the potentiometers 122 may be spaced apart from each other but share a common axis of rotation (e.g., the common axis moves the cursors of both potentiometers 122). This arrangement allows a controller receiving resistance values ​​from both potentiometers 122 to calculate the degree of rotation of the sensor shaft (and ultimately the components at the distal end of the endoscope) with a desired accuracy through 360 degrees of rotation, thereby helping to eliminate computational "blind spots" when measuring the rotation of components (e.g., a camera) at the distal end shaft of the endoscope. Any blind spots created by the position of the cursor of one potentiometer 122 at the end of its range of motion can be compensated by the cursor of a second potentiometer 122 that is not positioned at the end of its range of motion. In alternative embodiments, more than two rotationally offset potentiometers 122 may be used. For computational simplicity, the rotational offset between the potentiometers 122 may be 180 degrees, but other angular offsets may be used to achieve the same result, as long as the rotational offset allows any blind spots created by one potentiometer 122 to overlap with the functional range of another potentiometer 122. In alternative embodiments, the gear ratios between the forward, drive and sensor shaft gears 112, 116, 118 may vary depending on the degree of accuracy required to measure rotation, the sensitivity of the potentiometer 122, and other factors. In alternative embodiments, the rotation sensing assembly 150 may use a conveyor belt instead of one or more gear assemblies. For example, the drive gear 116 and the sensor shaft gear 118 may be replaced by a conveyor belt. Other rotation-to-rotation arrangements known in the art may also be used. In some embodiments, the forward gear shaft 114 may include a bolt slot feature (e.g., a D-shaped portion) that directly engages the potentiometer 122 for operative engagement. Rotational sensors other than the potentiometer 122 may also be used. Alternative embodiments may include rotational sensors, such as a rotary encoder, a rotary variable differential transformer, or other encoding device. In embodiments using a rotary encoder, the encoder may be a Gray encoder, a magnetic encoder (e.g., see Fig. 9B ), optical encoders, etc.

[0139] In an embodiment, the sensor gear shaft 120 may not extend to the shaft bearing portion of the shaft support member 63. Instead, the rotation sensing assembly 150 may be supported by the rotation sensor holder 110. This arrangement allows an unlimited degree of rotation of the handle distal portion 30 relative to the handle proximal portion 16, among other benefits. In addition, as will be appreciated by those skilled in the art, it allows components of the rotation sensing assembly 150 to be located off-center. This can provide benefits during assembly. For example, it can simplify flushing the line 434 (see Fig.61 ), power cable 432 (see Fig.61 ) and other wiring.

[0140] In other embodiments, the shaft support member 63 and the potentiometer 122 can be directly connected via a shaft. A shaft with a spline or a keyway on the distal end can extend from the shaft bearing portion of the shaft support member 63 and extend through a corresponding spline or a keyway (e.g., a D-shaped) gap in the potentiometer 122. Since the shaft support member 63 can be fixed relative to the proximal handle portion 16, rotation of the distal handle portion 30 relative to the proximal handle portion 16 will change the resistance measured by the potentiometer 122. As described above, since the resistance will predictably change with rotation of one handle portion relative to the other, the resistance measurement can be used to determine whether the distal handle portion (and ultimately, for example, Fig.21 The amount of rotation achieved by the distal end of the endoscope or camera assembly 350 shown.

[0141] In other embodiments, the rotation sensing assembly 150 may include a rangefinder, which may be disposed on the handle electronic component portion 80 (see Fig. 7A ). The inner wall of the handle proximal portion 16 (see Figure 4 ) may include a raised surface of variable thickness or variable height that wraps around most or all of the 360 ​​degrees of the inner wall of the handle proximal portion 16 and changes thickness or height in a predetermined manner along its circumferential path. As the handle proximal portion 16 and the handle distal portion 30 rotate relative to each other, the rangefinder may provide a signal to the controller that varies based on the distance from the changing surface (its changing thickness or height) read by the rangefinder. The signal may be related to the thickness / height or distance measured by the rangefinder relative to a predetermined base position, where the surface has a specified thickness or height, and is related to a specified angular rotation of the handle distal portion 30 relative to the handle proximal portion 16. The distance may be compared to a previous distance to determine the amount of rotation that has occurred. The rangefinder may be any type of rangefinder (e.g., a mechanical position sensor, an acoustic rangefinder, a laser or other optical rangefinder, etc.).

[0142] In yet another alternative embodiment, an optical mouse-like sensor device can be used. The sensor can be mounted on one of the contained handle electronics portion 80 or handle proximal portion 16, and can be configured to track the movement of another of the contained handle electronics portion 80 or handle proximal portion 16. In such an embodiment, the amount and direction of movement sensed by the sensor can be used to determine the amount and direction of rotational displacement that has occurred. In some embodiments, the surface tracked by the sensor can have a reference grid, a plurality of unique indicators, patterns, markings or other distinguishing features that allow the sensor to determine the rotational orientation at startup. Other types of rotation sensing components 150 known to those skilled in the art can also be used in various embodiments.

[0143] like Figure 8As shown, the rotation sensor holder 110 of the handle distal portion 30 can be shaped so that when the two separated parts 30a and 30b of the handle distal portion 30 are connected together, the rotation sensing assembly 150 can be captured between the two separated parts 30a and 30b. Each side of the rotation sensor holder 110 can include a forward gear shaft groove 124 and a sensor gear shaft groove 126. When assembled, the forward gear shaft groove 124 and the sensor gear shaft groove 126 can be used as bearing surfaces for the forward gear shaft 114 and the sensor gear shaft 120, respectively. Each side of the rotation sensor holder 110 can also include a holder gap 128. The size and shape of the holder gap 128 can be such that when the handle distal portion 30 is fully assembled, the drive gear 116, the sensor shaft gear 118 and the potentiometer 122 can be assembled in the rotation sensor holder 110.

[0144] Fig. 9A A partially assembled view of the handle 12 of the endoscope 10 is shown. Fig. 9A Only the handle bottom portion 22 of the handle proximal portion 16 is shown. As shown in the figure, a portion of the handle bottom portion 22 of the handle proximal portion 16 has been cut away. Fig. 9A In the illustrated embodiment, the handle distal portion 30 is assembled from two separate parts 30a and 30b (see Figure 8 ). For clarity, one of the halves (30b) of the handle distal portion 30 is Fig. 9A was removed. (In Fig. 9A In the illustrated embodiment, the handle distal portion 30 is assembled from two separate parts 30a and 30b (see, for example, Figure 8 ). For clarity, one of the halves (30a) of the handle distal portion 30 is Fig. 9A ) The handle electronics portion 80 housed therein may be located within the interior of the handle proximal portion 16. The outer handle distal portion 82 extends beyond the handle proximal portion 16 and is exposed to the environment.

[0145] As described above, the rotation sensing assembly 150 is disposed within the rotation sensor holder 110. As shown in the figure, the forward gear 112 of the rotation sensing assembly 150 can be meshed with the ring gear formed by the toothed protrusion 62 and the toothed protrusion 64 (at Figure 5 16). In such an embodiment, when the handle 12 is fully assembled, any rotation of the handle distal portion 30 relative to the handle proximal portion 16 will cause the forward gear 112 to rotate because the forward gear 112 is engaged with the ring gear formed by the toothed protrusions 62 and 64. This rotation can then pan through the rest of the rotation sensing assembly 150, allowing the rotation sensing assembly 150 to measure the rotation. In a preferred embodiment, the overall gear ratio can be approximately 1:1.

[0146] Alternatively, the handle proximal portion 16, rather than a gear element, is similar to Figure 4 As shown, a slotted shaft or a partially slotted shaft may be included that is fixed to the shaft support portion 65 of the shaft support member 63. The slotted portion of the shaft may be configured to mate with the hub of one or more potentiometers 122 retained in the rotation sensor holder 110. Thus, when the handle distal portion 30 is rotated relative to the handle proximal portion 16, the cursor of the one or more potentiometers 122 can convert the relative position of the handle distal portion 30 and the proximal portion 16 into a resistance value that can be used to determine the rotational orientation.

[0147] Reference now Fig. 9B , an alternative embodiment of an example handle 12 of an endoscope 10 including a rotation sensing assembly 150 is shown. Fig. 9B Only the first half shell 21 of the handle is shown in the figure to make the interior of the handle 12 visible. In addition, a part of the first half shell 21 of the handle has been cut away.

[0148] Fig. 9B A housing 431 for a printed circuit board (PCB) is shown, which includes electronic components for processing image data from an image sensor at the distal end of the shaft and, optionally, for powering a light source (e.g., an LED) at the distal end of the endoscope shaft. The housing 431 is an optional structure, as the PCB may also or additionally be encapsulated in a waterproof material. The waterproof material may be any suitable potting material, such as polyparaxylene or other chemical vapor deposition polymers to coat and protect the various electronic components mounted on the PCB. A magnet 51 is also shown included in the first half shell 21 of the handle. The printed circuit board within the housing 431 may include one or more magnetic position sensors 430g, such as a Hall effect sensor or a sensor array. As described above with respect to Figure 6As described, in some embodiments, each of the first half shell 21 of the handle and the second half shell 23 of the handle may include a magnet 51 or a plurality of magnets 51. In an embodiment, two magnets 51 are positioned relative to each other in each half of the handle 16. When the handle proximal portion 16 rotates relative to the handle distal portion 30, the magnet 51 moves relative to the housing 431 and the enclosed printed circuit board. The magnetic sensor 430g on the printed circuit board can detect the relative position of the magnet 51 by the change in magnetic field strength and position when the magnet moves relative to the printed circuit board. In an embodiment, a single three-axis position sensor is used to sense the magnet 51. Data from one or more sensors can be transmitted to a controller or processor for converting the sensor data into the rotational position of the handle proximal portion 16 relative to the handle distal portion 30 (and relative to the rotational position of the optical sensor or camera on the distal end of the endoscope shaft). Therefore, the displayed image of the camera's field of view can be rotated to any desired orientation without actually moving the camera on the distal end of the endoscope shaft.

[0149] Reference now Fig. 10A In an embodiment, the insertion portion 14 of the endoscope 10 includes a catheter 157, through which an operation or function can be performed. In industrial or medical applications, the catheter 157 can be used to allow instruments to pass through to manipulate objects at the end of the insertion portion 14 (instruments are, for example, graspers, forceps, clamps, wire baskets, dilators, knives, scissors, magnetic pickups, etc.). Fluids (gas or liquid) can also be transmitted from the space where the insertion portion 14 is located to an external source or from an external source to the space where the insertion portion 14 is located. In medical applications, such a catheter 157 can be used to insufflate gas in a body cavity, exhaust gas from a body cavity, flush the space with liquid, or aspirate liquid and / or suspended particles from the space. The catheter 157 can optionally carry auxiliary tool components, such as optical transmission, information transmission, power transmission, and mechanical control components, thereby saving space in the insertion portion 14 and helping to reduce the overall diameter of the insertion portion 14. The optical transmission components can include, for example, optical fiber bundles, optical fiber ribbons, optical guides, light projection elements, etc. The information transmission component may include, for example, a cable bundle or belt that connects the imager or image sensor at the end of the insertion portion 14 to an image processing unit located in the handle 12 or outside the endoscope 10. Such a cable can also provide power to the image sensor. The mechanical control component may include, for example, a push rod, a pull wire, etc., to control the movement of elements near the end of the insertion portion 14. This may include, for example, an actively flexible distal section of the insertion portion 14, which can be actively bent using a mechanical control component extending from the handle 12. It may also include, for example, a rotatable camera or camera mount at the end of the insertion portion 14, which can be actively moved using a mechanical control component extending from the handle 12.

[0150] In an embodiment, the fluid-carrying conduit 157 within the insertion shaft or insertion portion 14 is configured to enclose auxiliary tool components of the endoscope 10, such as fiber optic bundles, communication cables, and mechanical actuators. In another embodiment, the conduit 157 can be connected to a camera assembly 350 (see, for example, FIG. 14 ) at the distal end of the insertion shaft 14. Fig.21 ) fluid communication. The camera assembly 350 may include a camera sensor or imager having a connection to a communications cable. In this case, the camera sensor and communications cable connection and the internal components of any associated lens assembly may be sealed to prevent exposure to liquids present within the conduit 157. If at least a portion of the endoscope 10 is configured as a single-use device, i.e., disposed of after use in a medical procedure, it is feasible to allow the camera assembly 350, lens assembly, communications cable, mechanical actuators (e.g., pull wires), and fiber optic cables or bundles to be exposed to a "wet" conduit. Any technical difficulties in adequately sterilizing the components within the conduit are thus avoided.

[0151] Some components of the endoscope 10, particularly the electronic components located within the handle portion 12, should preferably be kept dry. A partition or barrier 159 between the conduit 157 of the insertion portion 14 and the interior of the handle 12 may allow components to pass from the handle 12 to the conduit 157 of the insertion portion 14 (at Fig. 10A The barrier 159 may include a passage (represented by line segment 155 and referred to as a through component) while also inhibiting fluid from penetrating from the conduit 157 into the interior space of the handle 12. The barrier 159 may include a channel (hole, slit, etc.) through which the through component 155, such as the auxiliary tool component described above, can reach the conduit 157 of the insertion portion 14 from the handle 12. The channel may be formed to provide a relatively tight fit around the outer surface of the through component 155. In some embodiments, an elastic gasket, an O-ring or other similar element may further help inhibit fluid from penetrating from the conduit 157 of the insertion portion 14 into the interior space of the handle 12. The barrier 159 may include a wall separating the joining area between the handle 12 and the proximal end of the insertion portion 14. The joining area may be near the area where the conduit 157 is connected to a conduit port, which provides an external fluid connection for the conduit 157. The barrier 159 may alternatively comprise a block through which a wiring channel connects an auxiliary tool hole on a first side of the block that communicates with the conduit 157 to one or more features (e.g., a conduit port) on a second side of the block opposite the first side of the block or on a third side of the block (which may be substantially perpendicular to the first side of the block in some embodiments). A channel for cables, ribbons, wires, push rods, or other components from the handle 12 may be formed on a second side of the block, opposite the first side of the block, and may be aligned with the auxiliary tool hole of the block. The conduit 157 may be formed by a sheath (e.g., a sheath) connected or attached to the handle 12 of the instrument. Fig.17In some embodiments, the barrier 159 between the handle 12 and the sheath of the insertion portion 14 may include a sheath mount for supporting the sheath of the insertion portion 14 proximally near its origin at the handle 12 and attaching or connecting it to the handle 12. In some embodiments, the insertion portion 14 may include a cannula and the sheath may be positioned within the cannula. The cannula may be mounted to the handle 12 via a disconnect feature, thereby allowing the cannula to remain in place while the endoscope 10 (including the handle 12 and the sheath) can be withdrawn from position.

[0152] Now refer to Fig. 10B In some embodiments, the barrier 159 may include a flexible or elastomeric member 153. One or more through members 155 may extend through the flexible member 153 of the barrier 159 to the conduit 157 of the insertion portion 14. In some embodiments, one or both of the entry point and exit point of the through member 155 in the flexible member 153 may be sealed with a sealing member or sealant 151. The sealing member or sealant 151 may prevent fluid from flowing between the conduit 157 and the handle 12. The sealing member or sealant 151 may also hold the through member 155, thereby preventing it from moving relative to its entry and / or exit points in the flexible member 153. Any suitable sealing member or sealant 151 may be used, such as glue, epoxy resin or other adhesive. In other embodiments, the through member may be connected to the flexible member 153 by solvent bonding, thermal bonding, etc. In still other embodiments, the flexible member 153 may be formed in an appropriate position around the through member 155 during the manufacturing process so that a seal is formed between the through member 155 and the flexible member 153.

[0153] As the through member 155 moves (e.g., actuating a pull wire to rotate the camera assembly), the flexible member 153 may stretch or bend because the through member 155 is fixed and prevented from shifting relative to their entry and exit points in the flexible member 153 due to the sealing member or sealant 151. Thus, fluid may be substantially or completely inhibited from entering or leaking into the handle from the conduit 157 while allowing the through member 155 to move back and forth. The through member 155, which remains in a fixed position and does not shift, does not necessarily need to pass through the flexible member 153. Instead, these components may pass through a rigid portion of the barrier 159, which may or may not be coupled to the flexible member 153. The flexible member 153 may be configured, for example, as an elastomeric member, a flexible membrane, a soft wall, a bellows-like arrangement, a diaphragm, etc.

[0154] about Fig. 10A The barrier described in 159 Fig.11A160 and may also be referred to as an inner sheath mount 160. As shown, the inner sheath mount 160 includes a distal portion 161a and a proximal portion 161b, which are Fig.11A The distal end portion 161a may be separated from each other to expose the interior of the inner sheath mount 160. As shown, the distal end portion 161a may include a notch 162 on each side of the distal end portion 161a. Fig.11A As shown in the example embodiment of FIG. 1 , a portion of the inner surface 164 of the distal portion 161a (when assembled) can be recessed. An irrigation or suction wiring channel 166 can also be recessed in the distal portion 161a of the inner sheath mount 160. As shown, the irrigation wiring channel 166 is located within the recessed surface 164. The irrigation wiring channel 166 can be in communication with an auxiliary tool hole 168 at a first end. In an example embodiment, the auxiliary tool hole 168 can be substantially located near the center of the distal portion 161a within the recessed surface 164 (although in other embodiments, the auxiliary tool hole 168 need not be centered).

[0155] The proximal portion 161b of the inner sheath mount 160 may also include notches 170 on the right and left sides thereof, similar to the notches 162 in the recessed distal portion 161a. The notches 170 may extend all the way through the proximal portion 161b. The notches 162 and 170 of the inner sheath mount 160 may be sized to receive a protrusion of the handle distal portion 30, which may help hold the inner sheath mount 160 in place when the endoscope 10 is fully assembled.

[0156] The proximal portion 161b may also include a raised portion 172 (when assembled) on the inner surface. As shown, the outer dimensions of the raised portion 172 are similar to the concave surface 164 in the distal portion 161a. When assembled, the raised portion 172 may be pressed into the concave surface 164 so that the distal portion 161a and the proximal portion 161b are coupled together. In certain embodiments, glue or another suitable adhesive between the concave surface 164 and the raised portion 172 may be used to couple the proximal portion 161b to the distal portion 161a. This may also be used to form a hydraulic seal between the two components.

[0157] The proximal portion 161b may include many other features. As shown, the proximal portion 161b includes an irrigation or suction channel 174. When the proximal portion 161b is mated with the distal portion 161a, the irrigation or suction channel 174 can be positioned to align with the second end of the irrigation wiring channel 166. When the endoscope 10 is in use, the irrigation or suction fluid can flow between the auxiliary tool hole 168 and the irrigation channel 174 via the irrigation wiring channel 166.

[0158] like Fig.11AAs shown in the exemplary embodiment of FIG. 1 , the proximal portion 161b of the inner sheath mount 160 may include a sheath mount slot 176. As shown, the sheath mount slot 176 may be horizontally oriented (orientation refers to the orientation of the sheath mount slot 176). Fig.11A 161b of the inner sheath mount 160, generally aligned with the auxiliary tool hole 168. In alternative embodiments, the sheath mounting slot 176 may be oriented differently. Fig.11A In the exemplary embodiment of FIG. 1 , the sheath mounting slot 176 extends through the entire proximal portion 161b at an angle that is substantially perpendicular to the plane of the interior surface of the proximal portion 161b (when assembled).

[0159] The proximal portion 161b of the inner sheath mount 160 may also include a plurality of apertures 178. In the example embodiment of FIG. 11A, the apertures 178 are small diameter holes that extend through the entire proximal portion 161b and can be used to allow a channel for pulling or pushing a cable or wire from within the handle through the distal end of the endoscope 10. The proximal portion 161b may also include a fiber optic channel 179. In an example embodiment, the apertures 178 and the fiber optic channel 179 are angled perpendicular to the inner surface of the proximal portion 161b (when assembled). In alternative embodiments, the apertures 178 and the fiber optic channel 179 may be angled differently or may have different diameters. As shown, the apertures 178 are arranged around the sheath mounting slit 176. When the inner sheath mount 160 is fully assembled, the sheath mounting slit 176 and the apertures 178 are aligned with the auxiliary tool hole 168 of the distal portion 161a.

[0160] In alternative embodiments, the shape, location, size, etc. of some features of the barrier or inner jacket mount 160 may be different. Additional features may be included or certain features may be omitted from the barrier or inner jacket mount 160. In some embodiments, there may be a greater or lesser number of apertures 178. In some embodiments, the apertures 178 may not be arranged in a Fig.11A Spatial arrangement shown. There may be more than one flush channel 174. In some embodiments, the inner sheath mount 160 may be associated with or include a gasket to further inhibit fluid from penetrating sensitive areas within the endoscope handle.

[0161] Handle electronics portion 80 (see, for example, Fig. 7A) is configured to enclose mechanical and electronic components that are preferably protected from excessive fluid penetration. (Small amounts of fluid or moisture need not inhibit proper mechanical or electrical operation of the endoscope, particularly if the electronic components are coated with a moisture barrier film.) The handle distal outer portion 82 (pivot control housing) is configured to house the pivot control structure and actuation cables for controlling movement of the camera assembly in the distal end of the endoscope shaft or insertion shaft, and can be exposed to liquids with relatively minimal effect on the operation of the endoscope. Therefore, it is more important to maintain a liquid seal between the handle electronics portion 80 and the handle distal outer portion 82. As shown in FIG. Fig.13 and Fig.14 A diaphragm or passage barrier such as the sealing member 210 shown may be configured to provide a tight seal (e.g., an elastomeric seal) around an electronic flex cable, fiber optic bundle, or other structure that must pass from the distal end of the endoscope to its proximal end before exiting. Fig.11A and Fig.14 As shown, a pass-through barrier such as the inner sheath mount 160 may allow for a lower degree of sealing, particularly as it may be applied to any pull wires or cables passing from the pivot control structure to the distal end of the endoscope shaft. Any fluid that penetrates the handle distal portion 82 may be allowed to flow out of the housing through one or more drain holes or channels in a subordinate portion of the housing, such as Figure 8 Channel 108 is shown.

[0162] In an alternative embodiment, a barrier 159 (see FIG. 15A ) is provided between the distal end portion of the handle or the pivot control housing 82 and the shaft of the endoscope. Fig. 10B ) may include a completely sealed structure that also allows movement of a pull cable or actuation cable extending from the pivot control housing to the distal end of the endoscope shaft. For example, the barrier may include a flexible (or soft) diaphragm, a pleated elastic diaphragm, an accordion-structured rubber sheath, a bellows structure, or an otherwise displaceable diaphragm that is attached to the housing at its periphery, the diaphragm forming a fluid seal around any structure near its central region, and its central region can move freely back and forth distally and proximally to allow free movement of any pivot control cables passing therethrough. With a more complete seal for this portion of the endoscope, the need for a second seal between the pivot control housing and the handle electronics portion 80 can be reduced or eliminated.

[0163] Fig. 11BAn alternative embodiment of a diaphragm or through barrier 159 including a flexible member 153 is shown. As shown, the through barrier 159 includes a rigid structure 167 and the flexible member 153. The rigid portion or structure 167 can serve as a frame to which the flexible member 153 is attached or fused. In some embodiments, a dual molding process can be used to couple the flexible member 153 and the rigid portion or structure 167 together during manufacturing. The rigid structure 167 can include one or more mating features 173, which can be sized to mate with matching mating features of the handle distal portion 30 (see, e.g., Fig.15 In some embodiments, the mating feature 173 is aligned with a mating portion of the handle distal portion 30 (see, e.g., Fig.15 ) can be interacted with by barrier 159 and the distal portion of the handle (see e.g. Fig.15 ) to form a seal between.

[0164] Now also refer to Fig. 11C To facilitate forming such a seal, a gasket member 163 may be included around the perimeter of the through barrier 159. Such a gasket member 163 may be provided along an outer edge 165 ( Fig. 11B ) is placed. Alternatively, during the manufacturing process, a double molding process can be used to attach the gasket member 163 to the through barrier 159. The gasket member 163 can completely surround the rigid structure 167 and can be formed of a compressible or elastic material, such as

[0165] Still refer to Fig. 11B and Fig. 11C , the flexible member 153 includes a plurality of pass-through elements. A plurality of apertures 178 are included in the exemplary flexible member 153. Additionally, the flexible member 153 may include an optional illumination or fiber optic channel 179. In embodiments where illumination is provided, for example, by one or more LEDs at the distal end of the endoscope shaft, such an illumination channel 179 may not be required. Additionally, the flexible member 153 may include a slit or slot 177 therein. In an exemplary embodiment, the slit 177 extends from the flexible member 153 through the rigid structure 167 to the edge of the barrier 159.

[0166] Pass-through elements and passages through the barrier 159 may also be provided in the rigid frame structure 167 through the barrier 159. For example, it may be desirable to provide a pass-through element or passage associated with a fixed or non-displaceable component in the rigid structure 167 through the barrier 159. In the illustrated embodiment, a rigid structure passage 169 is shown as providing a passage through the rigid structure 167.

[0167] A catheter attachment site or port 256 may also be included on the barrier 159. As shown, the catheter attachment port 256 protrudes from the rigid structure 167 and may optionally include a barb fitting to which a flexible tube or catheter may be secured. The catheter attachment site 256 may include a lumen extending through the barrier 159. Fig. 11B In the example embodiment shown, the lumen is an irrigation or aspiration channel 174 through which fluid can pass from one side through the barrier 159 to the other.

[0168] Now also refer to Fig.11D , when assembled, the various through components 155 can pass through the apertures 178, channels 179, and slits 177 in the through barrier 159. Once these through components 155 have been positioned in the through barrier 159, a sealing member or sealant 151 can optionally be applied to one or both of the entry points and / or exit points of the through components 155 in the through barrier 159. In an exemplary embodiment, the sealing member or sealant 151 is a fixing agent such as an adhesive, although any suitable sealing member or sealant can be used in other embodiments. The sealing member or sealant 151 can prevent fluid communication through the through elements in the through barrier 159. In addition, when applied to the flexible member 153, it can fix the through components 155 so that they will not be displaced relative to their entry and exit points in the flexible member 153. As a result, in this case, displacement of the through components 155 will cause the flexible member 153 to move back and forth as well.

[0169] Fig.12 1 shows an example exploded view of an embodiment of a pivot control structure 100. The pivot control structure 100 can control the pivoting of the structure. The structure can be, for example, in the insertion portion 14 (see Figure 3A ) at the distal end of the camera assembly 350 (see Fig.21 In alternative embodiments, the pivot control structure 100 may be used to alternatively or additionally control the bending of the flexible portion of the insertion portion 14. Some embodiments of the pivot control structure 100 may include gear arrangements, motors, multi-bar linkages, dials, etc. that are different from the embodiments disclosed below.

[0170] Fig.12 The example pivot control structure 100 in FIG. 1 is shown in an exploded view. The finger contact portion 98 described in detail above is shown separated from the pivot control structure 100. As shown, the bottom surface of the finger contact portion 98 may optionally include a plurality of protruding studs 180. Fig.12 In the example embodiment shown, there are four generally cylindrical protruding pegs 180 (the number and shape of the protruding pegs may vary). The finger contact portion 98 also includes a finger contact groove 182 located in a lower surface of the finger contact portion 98 .

[0171] Below the finger contact portion 98, an example embodiment of a pivot portion 184 of the pivot control structure 100 is shown. The top of the pivot member 184 of the pivot control structure 100 may include a slider 186. A finger contact post 188 protrudes from the center of the slider 186, which is arranged to cooperate with the finger contact slot 182. Optionally, finger contact post holes 190 are located on each side of the finger contact post 188. When the finger contact portion 98 is attached to the pivot control structure 100, the finger contact slot 182 can slide onto the finger contact post 188 on the slider 186. In addition, when assembled, the protruding post 180 of the finger contact portion 98 (if present) can be seated in the finger contact post hole 190 of the slider 186.

[0172] The pivot control structure 100 can interact with one or more features of the endoscope to allow the endoscope to be locked or maintained in a desired orientation. As shown, the bottom surface of the slider 186 of the pivot member 184 can optionally include one or more latching rods or detent elements 192. In other embodiments, multiple latching rods 192 can be provided along the bottom of the slider 186, arranged to engage with the opposite raised features or ridges 94 on the handle 12.

[0173] The latch lever or detent element 192 can interact with the raised feature or ridge 94 of the slide button recess 92 of the handle raised portion 32 described above (at Fig. 7A 94). When the pivot control structure 100 is displaced by the user, the space between the ridges 94 can act as a detent in which the latch rod 192 of the slider 186 can be "parked". This helps prevent the pivot control structure 100 from drifting or moving after it has been moved to the desired position by the user and released. This also helps ensure that the pivot control structure 100 is not accidentally displaced during use of the instrument. In an alternative embodiment, and as described above with respect to Figure 7C As mentioned, in some embodiments, the pivot control structure 100 may include an arm 97 that acts as a latch lever or detent element 192 .

[0174] As shown, the pivot member 184 of the pivot control structure 100 includes a curved inner shield 194. When assembled, the inner shield 194 is stacked below the slider 186 and below the handle housing. The post 196 can span the distance between the top surface of the inner shield 194 and the bottom surface of the slider 186. In some embodiments, the latch rod 192 can be located on the top of the inner shield 194. In such an embodiment, the above-mentioned ridge 94 can be located on the inner wall of the housing of the handle distal portion 30, so that the ridge 94 can form a detent for the latch rod 192 on the inner shield 194. As described above, this allows the pivot control structure 100 to be "parked" in a desired position.

[0175] The pivot arm 198 may extend from the bottom surface of the inner shield 194. In the exemplary embodiment, the pivot arm 198 includes two mechanical cable attachment points or holes 202. One hole 202 is located on one side of the pivot 204, while the second hole 202 is located on the other side of the pivot 204. In the illustrated embodiment, forward movement of the slider 186 causes the mechanical cable connected to the lower hole 202 to retract proximally, while rearward movement of the slider 186 causes the mechanical cable connected to the upper hole 202 to retract proximally. In order to accommodate relatively unimpeded passage of optical fiber or cable from the proximal end of the handle to the distal end of the handle, the pivot arm 198 may be slotted, for example, on its pivot 204 so that the passing cable can rest freely on the pivot 204 (or a concentric sleeve or hub around the axis 204). This arrangement will allow passage with minimal lateral or vertical displacement.

[0176] Now refer to Fig.12 and Fig.14 , the pivot arm 198 is configured to have a lateral displacement portion 199 around the pivot area 200 and the pivot axis 204. Therefore, the hub or sleeve (when assembled) around the pivot 204 is shown as serving as a bearing surface on which the passing cable 250 can rest. The lower portion of the pivot arm 198 extends downward from a position below the hub or sleeve of the pivot 204. In some embodiments, the lower portion of the pivot arm 198 can optionally be vertically aligned with the upper portion of the pivot arm 198 so that the mechanical cable connected to the point or hole 202 is also vertically aligned. In other embodiments, one or more cables (e.g., cable 250) can travel around (or through) the hub of the pivot 204 in a variety of other ways so that its path is rarely blocked by the pivot arm 198 of the pivot control structure 100.

[0177] Optionally, secondary through seals provide additional barriers between the fluid that can penetrate into the housing of the handle distal portion 30 and the housing of the handle proximal portion 16 that can accommodate the electronic component part 80. The seal may include an orifice, hole or slit, through which components such as but not limited to optical fiber bundles, electronic cables and / or fluid conduit pipes can pass. The size of the hole or slit can be arranged to provide a tight fit on these components when these components pass through the seal. In an embodiment, the secondary through seal is formed by rubber or other elastomeric materials to enhance its fluid sealing properties. In some embodiments, for example, in those embodiments including the through barrier 159 that includes the flexible member 153, the secondary through seal may not be included. In such an embodiment, the electronic component part 80 and the external handle portion 82 can be the same volume or the volume connected.

[0178] Fig.13 2 shows an example embodiment of a second seal, namely a sealing member 210. The shape of the sealing member 210 can be generally rectangular, such as Fig.13 As shown. Fig.13 As shown, one end of the sealing member 210 can be a first (e.g., rectangular) shape, while the second end of the sealing member 210 can be a second shape (e.g., having rounded edges or being rounded). This can provide advantages during assembly to ensure that the sealing member 210 is installed in the proper orientation. The sealing member 210 can include a plurality of openings. In an example embodiment, the sealing member 210 includes an opening 212 for a fiber bundle (e.g., an illumination fiber), an opening 214 for a flexible cable (i.e., an electronic cable), and an opening 216 for a fluid conduit (e.g., an irrigation line). Fig.13 In the illustrated example embodiment, the illumination fiber aperture 212, the flex cable aperture 214, and the irrigation line aperture 216 extend through the entire sealing member 210. The illumination fiber aperture 212 has a relatively small diameter to match the diameter of the fiber bundle or light pipe. The flex cable aperture 214 is a slit that matches the size and shape of the electronic flex cable. The irrigation line aperture 216 is cylindrical and has a larger diameter than the illumination fiber aperture 212. The illumination fiber aperture 212, the flex cable aperture 214, and the irrigation line aperture 216 are arranged substantially perpendicular to the front surface (relative to the front surface) of the sealing member 210. Fig.13 ) extends through the sealing member 210 at an angle. In alternative embodiments, the apertures in the sealing member 210 may be different in number, size or shape. In some embodiments, the sealing member 210 may include additional holes, for example, for wiring to the button 90.

[0179] like Fig.13 As shown in the exemplary embodiment of FIG. 1 , the sealing member 210 may also include a plurality of gasket arms 218. Fig.13 In an exemplary embodiment, the gasket arms 218 protrude away from the top and bottom surfaces of the sealing member 210 near the rear edge of the sealing member 210. As shown, there can be two gasket arms 218. In some embodiments, the gasket arms 218 can be straight. In an exemplary embodiment, the gasket arms 218 include two straight portions connected by an arcuate portion that bends the gasket arms 218 away from the sealing member 210.

[0180] Fig.14 An example embodiment of half (30a) of the handle distal portion 30 is shown. As shown, the inner sheath mount 160, the pivot control structure 100, and the sealing member 210 are assembled and placed within the illustrated half (30a) of the handle distal portion 30. A flexible cable 250 (e.g., a flexible electronic communication / power cable) is also shown. Fig.14 In the illustrated exemplary embodiment, the distal end portion 161a of the inner sheath mount 160 includes a sheath mounting hub 252. The sheath mounting hub 252 extends distally along the same axis as the auxiliary tool hole 168 (see FIG. Fig.11A). In an exemplary embodiment, the sheath mounting hub 252 can be hollow and substantially cylindrical. The inner diameter of the sheath mounting hub 252 can optionally be approximately equal to or slightly larger than the diameter of the auxiliary tool hole 168. In an exemplary embodiment, the sheath mount mounting tab 254 protrudes upward from the outer surface of the sheath mounting hub 252. The sheath mounting tab 254 is located near the surface of the insertion side piece 160a, and the sheath mounting hub 252 protrudes from the insertion side piece 160a. When a sheath (e.g., Fig.17 When the inner sheath 312 (shown in FIG. 1 ) is mounted to the sheath mounting hub 252 , the mounting tabs 254 can be used to properly orient the sheath, and the mounting tabs 254 can optionally also be used as locking members to secure the sheath to the sheath mounting hub 252 and the sheath mount 160 .

[0181] In other embodiments, the sheath mounting tabs 254 may be disposed on the inner surface of the sheath mounting hub 252. This may be desirable because it eliminates the need to nest the inner sheath mounting hub 252 within the sheath, thereby eliminating the limitation of the sheath catheter diameter. Thus, higher flow rates through such a catheter may be achieved. Alternatively, the sheath mounting hub 254 may not be included in some embodiments. The sheath may instead be oriented and secured to the sheath mounting hub 252 with any suitable clamp (not shown).

[0182] As shown, the flexible cable 250 extends through the inner sheath mount 160. The flexible cable 250 passes through the sheath mounting hub 252 into the distal portion 161a of the inner sheath mount 160. The flexible cable 250 also passes through the sheath mounting slot 176 of the proximal portion 161b.

[0183] The proximal portion 161b of the inner sheath mount 160 includes a fluid conduit attachment site or port 256. The fluid conduit attachment site 256 can be a hollow, generally cylindrical protrusion that extends from the proximal portion 161b of the inner sheath mount 160 toward the right side of the page (relative to the right side of the page). Fig.14 ) extension. Flush line 434 (see Fig.61 ) can slide over the outer surface of the fluid conduit port 256, which can optionally be barbed to help retain the installation portion of the conduit. As shown, the right edge of the fluid conduit port 256 can be chamfered in a manner that also facilitates installation of the pipe section into the port 256. In addition, as shown in FIG. Fig.14As shown, the proximal end of the fluid conduit port 256 tapers to a slightly larger diameter than the rest of the port 256 surface. This can act as a barb and help ensure that once attached, the tubing of the irrigation line 434 (see FIG. 61 ) is not easily dislodged. In an alternative embodiment, the conduit port 256 can extend and fit into the irrigation line orifice 216 of the sealing member 210. The barbed portion / attachment site for the irrigation line 434 can then be placed on the sealing member 210.

[0184] The pivot control structure 100 is pivotally coupled to the handle distal portion 30, such as Fig.14 As shown, the pivot shaft 204 extends through the pivot hole 200 in the pivot arm 198 of the pivot control structure 100. The end of the pivot shaft 204 (or surrounding hub) inserted into the far wall of the handle distal portion 30 can be seated in a pivot bearing 260 protruding from the inner wall of the handle distal portion 30. When fully assembled, the opposite end of the pivot shaft 204 can be similarly seated in a pivot bearing 260 protruding from the inner wall of the other half (30b) of the handle distal portion 30.

[0185] like Fig.14 As shown, the slider 186 and the inner shroud 194 of the pivot control structure 100 can be offset from each other by a distance slightly greater than the wall thickness of the handle distal portion 30 by a post 196. The post 196 can extend through the above-mentioned pivot control structure recess 96. The curvature of the slider 186 and the inner shroud 194 can be selected so that the slider 186 and the inner shroud 194 can move freely forward and backward under user input without interfering with the wall of the handle distal portion 30 housing. The length of the pivot control structure recess 96 can determine the amount of pivot displacement that can be generated by the user input to the pivot control structure 100.

[0186] In some embodiments, the walls of the pivot control structure recess 96 may apply friction to the post 196. In such embodiments, the friction may allow the pivot control structure 100 to "park" in one position. In such embodiments, the walls of the pivot control structure recess 96 may be made of a high friction material such as rubber or other elastic material. In such embodiments, the pivot control structure 100 may not need to include the latch bar 192 or ridge 94 described above.

[0187] The endoscope 10 may also include a mechanical pivot actuator in the form of a cable or wire, a conveyor belt, or a push rod. The actuator may be any elongated member, solid, braided, or otherwise shaped, extending from the handle of the endoscope 10 to the movable element at the distal end of the insertion portion. The elongated member may be flexible or substantially rigid. The elongated member may be circular (as in the example of a cable), oval, relatively flat, or may have any other shape or cross-section. In some embodiments, the actuator may be a conveyor belt.

[0188] In an endoscope having a panning camera or camera mount located at or near the distal end of the shaft or insertion portion, the panning camera or camera mount can be rotated using a pull wire or push rod. In a pull wire embodiment, the panning cable can be attached or connected to the cable attachment hole 202, or pass through the cable attachment hole 202 to form a loop. In some embodiments, two panning cables can be attached to each cable attachment hole 202. In a preferred embodiment, both ends of a single panning cable are attached to each cable attachment hole 202 to form a loop. Alternatively, a single cable can pass through the cable attachment hole 202 near the midpoint, and then the end of the cable is connected to the rotatable camera or camera mount distally. The panning cable can extend from the cable attachment hole 202 in the pivot arm 198 and pass through one or more apertures 178 in the proximal portion 160b of the inner sheath mount 160. The panning cable can then extend through the auxiliary tool hole 168 and through the conduit formed by the inner sheath, optionally extending along the length of the electronic flexible cable 250 and / or the optical fiber bundle. By pivoting the pivot control structure 100, the pan cable connected to one of the cable attachment holes 202 will be pulled, while the cable connected to the other attachment hole 202 will be relaxed. By attaching one or more pan cables associated with one cable attachment hole 202 to one side of the pivot point and attaching one or more pan cables associated with the other cable attachment hole 202 to the opposite side of the pivot point, the pivot control structure 100 can be used to selectively rotate the pivot object distally in the insertion portion of the endoscope. In other embodiments, a similar wiring mechanism can be used to actively bend the flexible distal section of the insertion portion.

[0189] In some embodiments, the pivot arm 198 of the pivot control structure 100 may be pivoted via a gear arrangement. In such embodiments, the finger contact portion 98, the finger contact post 188 (see FIG. Fig.12 ), slider 186, vertical column 196 and inner shield 194. At least a portion of the user input gear contained in the handle distal portion 30 can protrude beyond the handle raised portion 34. The user input gear can rotate about a pivot disposed in the handle distal portion 30. Such rotation can be initiated by the user, for example, through the user's finger or thumb. The user input gear can mesh with a pivot gear disposed about the pivot 204 of the pivot arm 198 of the pivot control structure 100. In such an embodiment, when the user input gear rotates, the pivot gear and the pivot arm 198 are also rotated, acting on a pivot actuator (e.g., a pan wire, actuation wire, or pull wire) as described above. In some embodiments, there can be an intermediate gear or any number of intermediate gears between the user input gear and the pivot gear to provide any desired gear reduction to meet movement accuracy and ergonomic requirements.

[0190] In other embodiments, the pivot arm 198 can be rotated via a motor (e.g., a brushless motor, a stepper motor, etc.). The rotation via the motor can be controlled by one or more user input devices, such as buttons 90. In embodiments including at least one button 90, the button or buttons 90 can control the speed and direction of movement of the pivot arm 198.

[0191] In some embodiments, the pivot 204 may protrude outside of the handle distal portion 30. In such embodiments, the user may directly rotate the pivot 204 (or an overlapping hub or sleeve). In some embodiments, the portion of the pivot 204 that protrudes from the handle distal portion 30 may include a knob, dial, crank, etc., so that the user may easily rotate the pivot 204 by grasping and rotating the knob, dial, crank, etc.

[0192] like Fig.14 As shown, the seal member 210 is positioned in the gasket recess 270. The gasket recess 270 may include a gasket arm recess 272. As described above, various components can pass through the seal member 210. As shown, the printed circuit board 430a (e.g., see FIG. 44 ) connected to the electronic component portion 80 contained in the proximal portion 16 of the handle is Fig.61 ) can pass through the flexible cable opening 214 of the sealing member 210 and extend beyond the sealing member 210, through the housing and sheath mount 160 of the handle distal portion 30, and ultimately travel distally in the insertion portion of the endoscope. Fig.61 ) and fiber optic bundles (e.g., illumination fibers 364, see FIG. 61) may pass through their respective irrigation line openings 216 and fiber optic bundle openings 212 and extend through the housing of the handle distal portion 30 similar to the flexible cable 250. In some embodiments, the sealing member 210 may not be included. Instead, the electronic component 80 may not be separated from the rest of the handle 12. In such embodiments, the enclosed printed circuit board 431 (see, e.g., FIG. 15) may be coated or encapsulated in a protective coating or layer, such as potting. In embodiments that include the sealing member 210, the printed circuit board (see, e.g., FIG. 15) may be coated or encapsulated in a protective coating or layer, such as potting. Fig.15 ) can still be encapsulated in a protective coating or layer. Additionally or alternatively, the inner sheath mount 160 can include a flexible member 153 similar to that shown in Figures 11B-C that forms a seal around any passing components (e.g., flexible cables 250, actuators / cables, lighting fibers, etc.) and moves with the displacement of any passing components passing through the inner sheath mount 160.

[0193] Fig.14 Only half of the gasket recess 270 is shown in FIG. The other half of the gasket recess 270 can be located at the other half (e.g., 30b, see FIG. 30b ) of the handle distal end portion 30 that is not shown. Figure 8 ) on. When fully assembled, the sealing member 210 is captured between the two halves of the gasket recess 270. When fully assembled, the sealing member 210 can ensure that fluids that may be present in the handle distal portion 30 can be prevented from penetrating the handle proximal portion 16, which houses electronic components including the electronic component portion 80. The sealing member 210 can be made of a material with suitable flexibility (e.g., elasticity) or other suitable gasket material, and can be pressed into the gasket recess 270 to ensure a tight seal. In some embodiments, the sealing member 210 can be held in place using an adhesive.

[0194] Fig.15 Another example embodiment of half (30a) of the handle distal portion 30 is shown. As shown, the barrier 159 and the pivot control structure 100 are assembled and placed in the illustrated half (30a) of the handle distal portion 30. The housing 431 of the printed circuit board that has been encapsulated in the protective material 752 is also shown in an appropriate position within the portion 30a of the handle distal portion 30. In some embodiments, the protrusion 430h can be a ribbon cable or a flexible cable 250 (see, for example Fig.14 159). The printed circuit board may be in communication with components at the distal end of the shaft 14 via one or more ribbon cables that pass through the bulkhead or through the barrier 159. These cables may or may not need to be slid slightly back and forth through the bulkhead to accommodate rotational movement of the sensor or camera housing at the distal end of the endoscope shaft, or to accommodate bending and extension of the shaft 14 if the shaft 14 is a flexible shaft. Alternatively, the PCB may include an extension 430h of the PCB itself that extends through the barrier 159 into the shaft or insert 14. In some specific embodiments, the printed circuit board and its extension 430h may be similar to those described with respect to Figure 33.2 and Figure 33.3 or Fig.53 As shown and described. The sealant 151 is shown in place around the protrusion 430h. In some embodiments, the barrier 159 may include a peripheral gasket 163 (see, e.g. Fig.11D ). The barrier 159 may be coupled to the handle distal portion 30 in any number of ways, including but not limited to adhesives, epoxies, glues, solvent bonding, press fit, and the like.

[0195] Fig.15 The pivot control structure 100 is similar to Fig.12 and Fig.14 However, the pivot control structure 100 may include an arm 97 that is similar to the one described above with respect to the pivot control structure 100. Figure 7C Furthermore, in this particular embodiment, the pivot arm 198 of the pivot control structure 100 does not include a pull wire attachment hole 202 (see, e.g., Fig.14 ). Instead, a fastener 203 or similar structure including an eyelet 201 may be attached to or provided as part of the pivot arm 198. A pull wire may be attached to the pivot arm through the eyelet 201, and the pivot control structure 100 may be used to actuate the pull wire, such as to bend the flexible shaft or the insert 14 or to rotate a camera assembly in the insert 14. The pull wire may be passed through the flexible member 153 through the barrier 159 to actuate components in the insert 14.

[0196] like Fig.15 As shown, the barrier 159 may be the only barrier separating the insert 14 from the electronic components housed in the handle distal portion 30 and the proximal portion 16. The sealing member 210 may not be included (see, for example, Fig.14 ). In some embodiments, the electronic component portion 80 may not be separated or fluidically isolated from the rest of the handle 12. Fig. 11C As mentioned, in some embodiments, the pass barrier 159 may include a peripheral gasket member 163 to provide additional sealing.

[0197] Fig.16 An example embodiment of an outer sheath or sleeve mount 300 is shown. Fig.16A and Fig. 16B As shown, the outer sheath or sleeve 318 can be used to provide additional protection for components in the distal end of the insertion portion, or to allow a user to retract the insertion portion of the endoscope while leaving the sleeve 318 in place to allow the insertion portion of the endoscope to be reinserted later. As shown, the sleeve mount 300 can have a frustoconical shape, with a larger diameter portion proximally forming a connector (e.g., a bayonet mount) for mounting the sleeve 318 on the inner sheath 312 (e.g., see Fig.17 ). The cannula mounting hole 302 can extend through the cannula mounting member 300 to merge with the cannula passage. The cannula or outer sheath mounting hole 302 can be configured to receive and retain a cannula 318. The cannula 318 can be configured to act as a sleeve on the inner sheath 312 of the insert.

[0198] As shown, the female bayonet mounting portion 304 includes two slots 306. The slots 306 may optionally have different sizes to ensure the correct orientation of the sleeve 318 relative to the mating (male) connector on the distal portion of the handle distal portion 30. In some embodiments, the slots 306 of the female bayonet mounting portion 304 may include linings into which the male bayonet mounting portion 308 may be spring loaded using, for example, Belleville washers. In such embodiments, the spring-loaded connection can help ensure that the two components (sleeve 318 and handle distal portion 30) are more securely locked together.

[0199] In some embodiments, the cannula mount 300 may include alignment features thereon so that the cannula 318 is properly oriented with the cannula mount 300 during assembly and ultimately aligned with the inner sheath 312 (e.g., see FIG. 1 ) when installed on the inner sheath 312 of the insert. Fig.17 ) are properly oriented. Fig.16 In an exemplary embodiment of the present invention, an outer shield mounting tab 310 may protrude from the inner wall of the outer shield mounting hole 302. The outer shield mounting tab 310 may extend from the distal surface of the female bayonet mounting portion 304, which may then be used to align the bayonet mount 300 with a sleeve 318 having a mating slot during assembly. Alternatively, the need for such a feature may be eliminated by coupling the outer shield or sleeve 318 and the sleeve mount 300 with an appropriate clamp.

[0200] Fig.17 A partial cross-sectional view of an example embodiment of a distal surface of the handle distal portion 30 is shown. An inner sheath 312 is mounted on the sheath mounting hub 252 of the inner sheath mount 160. The inner sheath 312 includes a sheath mounting recess 314. The inner sheath mounting recess 314 can be sized to receive the sheath mounting tab 254 on the sheath mounting hub 252. In such an embodiment, the sheath mounting tab 254 and the inner sheath mounting recess 314 can ensure that the inner sheath 312 is properly oriented on the endoscope 10.

[0201] Inner sheath 312 (and / or outer sheath or sleeve 318, see Fig.16 ) can be formed of any of steel, a variety of hardened plastics, or other rigid and durable materials. Alternatively, the inner sheath 312 or a portion thereof can be flexible, allowing the insertion portion of the endoscope to be bent as needed to be inserted into the non-position line target area. In these embodiments, the user can abandon the use of an outer sheath or sleeve 318, or the sleeve 318 itself can also be made of similar flexible materials.

[0202] The male bayonet mounting portion 308 is Fig.17 The male bayonet mounting portion 308 may include two prongs 316. The prongs 316 may be sized to fit within the legs of the L-shaped slot 306 of the female bayonet mounting portion 304, also referring now to Fig.16 The outer sheath 318 and cannula mount 300 can be coupled to the handle distal portion 30 by aligning the prongs 316 with the slots 306, pressing the bayonet mount onto the prongs 316, and then rotating the bayonet mount to lock it in place. As shown, the two prongs 316 are optionally sized differently so that the outer sheath mount 300 can have only one possible orientation when coupled to the handle distal portion 30.

[0203] Still referring to Figure 16 to Figure 17, an outer sheath or sleeve 318 can be slid over the inner sheath 312 to form a sleeve. The inner diameter of the outer sheath 318 can be only slightly larger than the outer diameter of the inner sheath 312 to ensure a tight fit. The outer sheath 318 can include an outer sheath recess 320. The outer sheath recess 320 can be sized to receive the outer sheath mounting tab 310 when the endoscope 10 is fully assembled. In some embodiments, the outer sheath 318 can be friction fit, glued or otherwise fused or attached to the wall around the outer sheath mounting hole 302. The outer sheath mounting tab 310 can help ensure the correct orientation of the outer sheath 318 when the endoscope 10 is fully assembled.

[0204] When the shaft or insertion portion 14 (see FIG. 3 ) of the endoscope 10 is inserted into the target area, the outer sheath 318 and outer sheath mount 300 can be separated from the rest of the endoscope 10 as described above. This can allow the outer sheath 318 to act as a cannula, remaining in place to allow the endoscope 10 to be reintroduced into the target area.

[0205] Fig.17A 318. A trocar or obturator 319 suitable for use with the outer sheath 318 is shown. During the introduction of the endoscope into the surgical field, the trocar can be inserted into the outer sheath 318 to assist in the desired position of the outer sheath 318, after which the trocar can be withdrawn and the inner sheath 312 of the shaft 14 can be inserted. If the shaft 14 needs to be substantially repositioned within the surgical field during the procedure, the endoscope shaft 14 can be withdrawn from the patient while the outer sheath 318 remains in place, the trocar can be introduced into the outer sheath 318, and the trocar / outer sheath assembly can be repositioned as needed. Once in place, the trocar can be withdrawn from the outer sheath 318, and the endoscope shaft with the inner sheath 312 can then be reinserted into the outer sheath 318. In the example shown, the trocar 319 includes a solid shaft portion 321 with a sharp end 323 or a blunt end 323 and a base 325. The base 325 is optionally equipped with a locking mount that mates with the locking mount of the distal handle portion 30 of the endoscope handle so that the trocar can be secured to the outer sheath 318 when in use. If desired, the outer sheath or cannula 318 can be used as a conduit through which other instruments can be introduced into the target area. The outer sheath 318 can also be used as a conduit through which fluids can be introduced into or withdrawn from the target area.

[0206] The camera assembly housing 330 or the remote working portion is Fig.18312, is shown separated from the distal end of the inner sheath 312. In this embodiment, the distal working portion of the insertion portion of the endoscope can be constructed separately from the inner sheath 312 and then fitted to the distal end of the inner sheath 312 during assembly. In other embodiments, the inner sheath 312 can be constructed as a single piece including the distal working portion. In embodiments where the distal working portion is constructed separately, the distal working portion can be made of a material different from the inner sheath 312. In addition, it can be composed of multiple assembled parts.

[0207] exist Fig.18 In an exemplary embodiment of the present invention, the distal edge of the inner sheath 312 includes an inner sheath distal notch 322. The camera assembly housing 330 may include a nesting segment 332 having a shape and outer diameter suitable for insertion into the distal end of the inner sheath 312 during assembly of the endoscope 10. The nesting segment 332 may include a nesting segment tab 334 or other alignment feature. The nesting segment tab 334 may be sized so that it may fit into the inner sheath distal notch 322 when the endoscope 10 is assembled. The nesting segment tab 334 and the inner sheath distal notch 322 may help ensure that the camera assembly housing 330 is properly oriented and aligned when the endoscope 10 is assembled.

[0208] The camera assembly housing 330 may further include a working section 336. As shown, Fig.18 The working section 336 in the camera assembly mount 330 may include a top void 338, with or without a bottom void 340. The top void 338 and the bottom void 340 may extend along most of the working section 336 of the camera assembly mount 330. The working section 336 of the camera assembly mount 330 may include a rounded tip 342 at the distal end. As shown, the rounded tip 342 may optionally include an embossed opening 344. The edges of the embossed opening 344 may be beveled, chamfered, or rounded. In an example embodiment, the embossed opening 344 is continuous with the top void 338. In some embodiments, the top void 338 and the bottom void 340 may be similarly embossed.

[0209] The rounded tip 342 is for example Fig.18 The rounded tip 342 shown can provide many benefits. The rounded tip 342 can facilitate insertion of the insertion portion 14 into the patient's target area. In some cases, this can eliminate the need for a trocar. In arthroscopic applications, the profile of the rounded tip 342 allows the endoscope 10 to be manipulated into a narrow space within a joint. The rounded tip 342 can also allow the surgeon to apply pressure to the tissue in the target area without trauma. The rounded tip 342 can also be used as a protective feature for the camera assembly 350.

[0210] like Fig.18 As shown, the inner wall of the working section 336 of the camera assembly housing 330 includes two camera mounting pivot bearings 346. Fig.18In the example embodiment shown, the camera pivot bearing 346 projects substantially perpendicularly from the inner side wall of the camera assembly mount 330. The camera assembly housing 330 may be made of steel, any number of hardened plastics, or any other rigid material of suitable strength.

[0211] exist Fig.18 In the illustrated example embodiment, the inner wall of the working section 336 of the camera assembly housing 330 includes a plurality of cable guide holes 348. In a preferred embodiment, there may be only two cable guide holes 348. One cable guide hole 348 may be located on one side wall, while the other cable guide hole 348 may be located on the opposite side wall. Preferably, the cable guide holes 348 may be disposed below the camera mount pivot bearing 346 so that the distal end of the control cable may be moved relative to the camera, camera mount, or camera assembly 350 (e.g., see FIG. 1 ) to which it is connected. Fig.23 ) forms an angle. The camera assembly housing 330 may also include one or more constraint features. Fig.16 In the example embodiment shown, there are two restriction notches 349. One restriction notch 349 is located on one side wall, and the other restriction notch 349 is located on the opposite side wall. Fig.16 As shown, the limiting notch 349 is generally in line with the cable guide hole 348. The cable guide hole 348 and the limiting notch 349 will be further described below.

[0212] Fig.19 An embodiment of the distal working portion or camera assembly housing 330 and inner sheath 312 constructed as a single component is shown. Fig. 20 , showing the Fig.19 20-20 of the camera assembly housing 330. In embodiments where the distal working portion or camera assembly housing 330 and inner sheath 312 are constructed as a single component, they may be made of steel. In this case, the tip shape of the inner sheath 312 and camera assembly housing 330 may be formed by a rolling process. Various voids, openings, and other features such as those described above may then be post-machined into the components. Fig.19 In the exemplary embodiment, the camera assembly housing 330 includes only the camera mounting pivot bearing 346 .

[0213] It may be advantageous to form the inner jacket 312 and the camera assembly housing 330 as a single component. Among the advantages, one is that the strength of the component may be greater. Another advantage is that no nested parts are required. Thus, the "choke point" in the cross-sectional area of ​​the junction of the inner jacket 312 and the camera assembly housing 330 is eliminated. This can provide many benefits. Removing such a choke point allows more available space for various components, such as auxiliary tool components within the inner jacket 312 and the camera assembly housing 330. In addition, removing such a choke point allows for increased flow of flushing fluid within the inner jacket 312 and the camera assembly housing 330. Alternatively or additionally, the overall diameter of the inner jacket 312 and the camera assembly housing 330 can be reduced. The inner jacket 312 and the camera assembly housing 330 can also be thickened. This helps to increase the thickness of the component. Since the thickening will increase the strength of the component, it can also allow the outer jacket or sleeve 318 to be thinner. The thinner outer sheath or sleeve 318, in turn, allows for a larger diameter inner sheath 312 and camera assembly housing 330. That is, the cross-sectional area of ​​the conduit within the insert 14 can be made larger without increasing the overall diameter of the insert 14 (including the outer sheath 318, inner sheath 312, and camera assembly housing 330). The thickening also allows the camera mount pivot bearing 346 to have a larger bearing surface, thereby allowing the pressure exerted on the bearing to be spread over a larger area.

[0214] Fig.21 The tip of the insertion portion 14 is shown (at Figure 3A The camera assembly housing 330, the camera assembly 350 and the outer sheath or sleeve 318 are shown in an assembled view. Fig.21 As shown, the rounded tip 342 of the camera assembly housing 330 protrudes beyond the distal end of the outer sheath or sleeve 318. The viewing notch 352 is recessed into the top of the outer sheath 318. The camera assembly 350 can pan over the entire viewing range defined by the opening formed by the combination of the embossed opening 344 and the viewing notch 352. In some embodiments, the pannable range can be approximately 180°. When panning, the camera assembly 350 can be positioned on the camera pivot bearing 346 (e.g., see FIG. 2 ). Fig.18 ) is pivoted on the upper part. The pan actuation will be further described below.

[0215] In some embodiments, when the insertion portion 14 (see FIG. 3 ) of the endoscope 10 is inserted into the target area, the outer sheath 318 can be rotated to an insertion position (not shown). In the insertion position, the viewing notch 352 may not be aligned with the embossed opening 344 and the top gap 338. This can help protect the camera assembly 350 during the insertion process, and in medical applications, can reduce the risk of damage to the tissue when the insertion portion 14 is inserted. After insertion, the outer sheath 318 can be rotated back to the position where the viewing notch 352 is aligned with the embossed opening 344 and the top gap 338, so that the full visual range is available again.

[0216] In some embodiments, a cap or window material may cover or be placed in the opening defining the viewing notch 352 and the embossed opening 344 to protect the camera assembly 350. In some embodiments, the distal edge of the outer sheath 318 and the viewing notch 352 may be embossed, rounded, beveled, etc. to help prevent damage that may result from having sharp edges.

[0217] In an exemplary embodiment, no cap or window is used. This arrangement provides a number of benefits. For example, by not using a cap or window at the tip of the insertion portion 14, the cost of the endoscope can be reduced because expensive scratch and wear resistant materials such as sapphire, specialized glass, etc. are not used. Not having a cap or window can also eliminate any undesirable reflections from the surface of the cap or window, which might otherwise affect the clarity of any image captured by the camera. In addition, by not using a cap or window, flushing of the target area can be achieved through the inner sheath 312 of the endoscope 10 (see FIG. 1 ). Fig.15 ) catheter. This allows the overall diameter of the insertion portion 14 to be kept small while maintaining flushing capabilities. In addition, the flushing flow within the inner sheath 312 can help to remove / clean any debris or material from the camera assembly 350 and any associated lenses. In one example, a user can effectively flush the camera assembly 350 by panning the camera assembly 350 during flushing so that the flushing flow flushes the lens assembly 354 of the camera assembly 350 (see, e.g., FIG. 1 ). Fig.24 ) and carry away debris or unwanted material. As an additional benefit, the flushing flow can also help cool the image sensor 380 associated with the camera assembly 350 (see, for example, Fig.49 ).

[0218] As shown, the embossed opening 344 and viewing recess 352 can be sized to protect the camera assembly 350 without requiring a cap or window. Fig.21In an exemplary embodiment of the present invention, the embossed opening 344 and the viewing recess 352 partially surround the camera assembly 350, which is recessed from the outer surface formed by the embossed opening 344 and the viewing recess 352. Therefore, the embossed opening 344 and the viewing recess 352 define the edge of the protective member of the camera assembly 350. The partial encapsulation helps to protect the movable parts of the camera assembly 350 and any associated parts (such as control cables, cables, information cables, etc.) from contact with external objects during insertion of the insertion portion into the target area or during use of the instrument once in the target area. The embossed opening 344 and the viewing recess 352 provide an unrestricted field of view for the camera assembly 350 while exposing only a small portion of the camera assembly 350 to possible damage caused by objects outside the insertion portion (e.g., a medical device such as a razor). This helps to ensure that the camera assembly 350 is not damaged during insertion or during the procedure.

[0219] As the camera assembly 350 rotates, the distance between the camera assembly 350 and the outer jacket 318 will change. As a result, the amount of outer jacket 318 that falls into the field of view of the camera assembly 350 will also change. The greater the distance from the camera assembly 350 to the inner jacket 318, the greater the amount of outer jacket 318 that will be in the field of view of the camera assembly 350. Thus, the optimal amount of protection can be achieved by varying the width of the viewing notch 352 while still providing the camera assembly 350 and an unrestricted field of view.

[0220] Fig. 22 The insertion portion 14 (in Figure 3A 318 ) in which the viewing notch 352 has a varying width. The varying width of the viewing notch 352 allows the viewing notch 352 to be just outside the field of view of the camera assembly 350 at any angular orientation of the camera assembly 350. This allows the outer sheath 318 to surround the camera assembly 350 to a greater extent.

[0221] Fig.23 The insertion portion 14 (in Figure 3A Another alternative embodiment of the tip of the invention is best shown in FIG. 1 , wherein the tip includes a plurality of openings 353 separated by rods 351 instead of the Fig. 20 352 is shown. This arrangement can provide additional protection for the camera assembly 350. In order to minimize the amount that the rod 351 obscures the field of view of the camera assembly 350, the rod 351 can be made of a transparent material. In other embodiments, the rod 351 can be made of an opaque material, such as the same material as the outer sheath 318.

[0222] Alternatively, partially cover the viewing recess 352 (see Fig. 22 ) or one or more openings 353 (see Fig.23) can be mounted to the shaft or insert 14 (see e.g. Figure 1 ) distal tip. Such a covering member may be, for example, a cage that allows a substantially clear field of view of the camera assembly 350 while providing additional protection for the camera assembly 350. In some embodiments, the covering member may include an optically transparent partial covering.

[0223] In another embodiment, the camera assembly can be mounted at the distal end of the endoscope shaft without the protective tip structure 342. Although the tip structure 342 can provide some protection for the camera assembly, it can also inhibit the camera's full field of view at all positions within its range of motion. FIG. 23.1 shows an example of an alternative arrangement. In this example, the sensor or camera housing 500 itself is constructed to provide adequate protection to the enclosed camera assembly (e.g., lens and sensor assembly). For example, the camera housing 500 can be at least partially constructed of steel or a similarly rugged material; at least one shell of the housing can be constructed to resist rough abuse when the insertion end of the endoscope is introduced or repositioned. The exposed portion of the housing 500 preferably has an exosphere, ellipsoid (oblate spheroid, prolate, etc.) or dome shape, or a rounded shape providing rounded edges to help prevent damage to tissue when the endoscope shaft is inserted or moved into the surgical field. Placing the camera assembly in a reinforced and at least partially rounded housing 500 at the distal end or tip 550 of the endoscope shaft 14 provides an unobstructed view of a greater portion of the surgical field without risking damage to the camera assembly or nearby tissue. In this example, the sensor or camera housing 500 can be rotated about an axis 504 using a pull wire 502, cable or belt so that the optical axis of the camera assembly (lens and sensor assembly) can be aimed from less than zero degrees to greater than ninety degrees relative to the long axis of the distal end 550 of the endoscope shaft 14. If the sensor or camera assembly is arranged to have a wide field of view, the range of motion of the camera housing can be arranged to provide an optical axis range of motion between about 35 degrees and about 115 degrees relative to the long axis of the endoscope shaft at the distal end or insertion end of the endoscope shaft. In this arrangement, the operator is still able to observe the surgical field directly opposite the distal end of the endoscope shaft, and is also able to observe an area of ​​the surgical field behind the endoscope tip. This arrangement may also allow an operator to flush the surface of the camera assembly to remove any accumulated surface debris by rotating it to a position equal to or greater than 90 degrees.

[0224] Fig.24 The camera assembly 350 is shown separately in FIG. Figures 18 to 23 The rounded tip 342 of the working end of the distal endoscope shaft shown provides physical protection, so this arrangement is more suitable for Fig.23As shown, a ribbon cable or flexible cable 250 is coupled to the camera assembly 350 and can provide a power and data communication path to and from the camera assembly 350. The camera assembly 350 can be any suitable structure configured to support a camera of the endoscope 10. In embodiments where the camera assembly 350 is pannable, the camera assembly 350 can include a pivot actuator attachment feature.

[0225] As shown, the camera assembly 350 may include a lens assembly 354. As shown, the lens assembly 354 may be held in place between a camera housing top 356 and a camera housing bottom 358. When assembled, the camera housing top 356 and the camera housing bottom 358 may be coupled together by any suitable means, such as, but not limited to, glue, adhesives, ultrasonic welding, press fit of mating features, etc. Fig.24 In the example embodiment of the embodiment, the lens assembly 354 protrudes through the lens opening 360 in the camera housing top 356 so that it can have a clear view of the target anatomical area. In some embodiments, at least a portion of the lens assembly 354 can protrude from the camera housing top 356.

[0226] The camera housing top 356 may include a number of other voids. Fig.24 In the exemplary embodiment shown, the camera housing top 356 includes a camera housing top portion 356 disposed on the left and right (relative to the left and right sides) of the lens opening 360. Fig.24 ) on the side, the light projection voids 362 are designed to accommodate the terminal elements of the optical fiber (or alternatively other light sources such as LEDs) to project light onto a target area consistent with the direction in which the camera lens or lens assembly 354 can be aimed. In the example shown, the shape of the right elongated void 362 is a trapezoid, while the shape of the left elongated void 362 is a diamond. In alternative embodiments, the shapes of the voids 362 can be different, for example, both can be oval. In alternative embodiments, additional voids 362 can be present. For example, in some embodiments, there can be three voids 362 arranged in a triangular configuration around the lens opening 360. In some embodiments, there can be four voids 362 arranged in a rectangular, square, circular, or oval configuration around the lens opening 360.

[0227] One or more illumination sources of endoscope 10 may be at least partially included within endoscope 10. The one or more illumination sources may illuminate the field of view of the camera of camera assembly 350 regardless of its pan position. In some embodiments, the illumination source may be within camera assembly 350. Fig.24In an exemplary embodiment, the illumination source is a plurality of optical fibers (e.g., optical fibers) 364 that can transmit light from an illumination element (not shown) outside the endoscope 10. The optical fibers 364 can be routed and connected to a void 362 in the top 356 of the camera housing. In an exemplary embodiment, 28 optical fibers 364 are routed to the void 362 of the top 356 of the camera housing. In alternative embodiments, the number of optical fibers 364 can be different. The light emitting end of the optical fiber 364 can be roughly flush with the top surface of the top 356 of the camera housing. In some embodiments, other illumination sources, such as LEDs, can be used. The optical fiber 364 or other illumination source can be configured to provide light of any desired color or intensity at a predetermined light projection angle.

[0228] like Fig.24 As shown in the example embodiment of FIG. 3 , the camera assembly 350 may include a pivot pin 366. The pivot pin 366 may be pivotally coupled to a pivot pin bearing 346 in the camera assembly housing 330 (see FIG. 3 ). Fig.18 ). The pivot pin 366 may protrude substantially perpendicularly from the long axis of the insert. The pivot pin 366 may allow the camera assembly 350 and the optical fiber 364 (or other illumination source) to pivot in series with each other.

[0229] The camera assembly 350 may also include a pivot actuator attachment feature as described above. Fig.24 In the example embodiment of FIG. 3 , the camera assembly 350 includes a top cable attachment feature or anchor point 372 and a bottom cable attachment feature or anchor point 374. The top cable attachment feature 372 and the bottom cable attachment feature 374 will be discussed further below.

[0230] As described above, the endoscope 10 may also include one or more pivot actuators. The pivot actuator may be an elongated member for pulling or pushing the camera assembly 350 via a pivot attachment feature. In the examples shown, the pivot actuator is primarily a pull cable or wire, but these examples should not be construed as strictly limiting the pivot actuator to a cable-like structure. The elongated member may be flexible or substantially rigid. The elongated member may be circular (as in the cable example), flat, or may have any other shape or cross-section. In some embodiments, the pivot actuator may be a conveyor belt arranged around a mating attachment feature that frictionally engages or otherwise meshes with a feature on the inner circumference of the conveyor belt. In a preferred embodiment, the pivot actuator may be used to provide only a pulling force. This arrangement allows for smaller diameter insertion portions 14 (see Figure 3A ), because the pivot actuator does not have to be thick enough or reinforced in cross section, or constrained within the support track to prevent significant lateral displacement within the insert 14 in response to a thrust against the pivot actuator. The pull-wire or cable arrangement also allows a wider range of materials to be used in constructing the pivot actuator, because the material only needs to have tensile strength rather than compressive stiffness.

[0231] like Fig.25 As shown, the pan cables may be attached to the camera assembly 350 above and below the pivot pin 366. In the example embodiment, the pan cables are shown as being relatively slack for ease of illustration. In operation, one or more of the pan cables on one side of the pivot pin 366 will be in tension, while one or more of the pan cables on the other side of the pivot pin 366 will be slack. As described in detail above and now also with reference to Fig.14 The pan cable may be proximally attached to the cable attachment hole 202 of the pivot control structure 100 (see Fig.14 ). In some embodiments, two pan cables may be attached to each cable attachment hole 202. The pan cables may extend from the cable attachment holes 202 in the pivot arm 198 and be routed through the inner jacket mount 160 (see FIG. Fig.11A ). The pan cable may then be extended through the auxiliary tool hole 168 along with the flexible cable 250. Since the cable attachment holes 202 are located on opposite sides of the pivot point of the pivot arm 198, pivoting the pivot control structure 100 may cause the pan cable attached to one of the cable attachment holes 202 to become slack and cause the pan cable attached to the other cable attachment hole to become taut. The camera assembly 350 may be selectively rotated using the pivot control structure 100 by attaching the pan cable associated with one cable attachment hole 202 to the camera assembly 350 on one side of the pivot pin 366 and attaching the pan cable associated with the other cable attachment hole 202 to the opposite side of the pivot pin 366. In some embodiments, pushing the pivot control structure 100 forward may pan the camera assembly 350 forward, while pulling the pivot control structure 100 rearward may pan the camera assembly 350 rearward. In some embodiments, when assembled, all pan cables may be in tension.

[0232] In the preferred embodiment, only a single pan cable may be attached to each cable attachment hole 202 (see FIG. 1 ) on the pivot arm 198 of the pivot control structure 100. Fig.14 ). In such an embodiment, there may be a top pan cable 368 and a bottom pan cable 370. The top pan cable 368 and the bottom pan cable 370 may extend to the camera assembly 350 as described above. The top pan cable 368 may wrap around a top cable attachment feature 372 on the camera assembly 350 and return to the same cable attachment hole 202 on the pivot arm 198 from which it originated. The bottom pan cable 370 may wrap around a bottom cable attachment feature 374 on the camera assembly 350 and return to the same cable attachment hole 202 from which it originated. Alternatively, the pan cable may be looped through the attachment hole 202 with both ends of the cable terminating at the distal ends of the cable attachment features.

[0233] In the exemplary embodiment, the top cable attachment feature 372 (at Fig.24 ) includes two holes in the camera housing top 356. The top cable attachment feature 372 also includes a recess connecting the two holes. The top pan cable 368 can enter one of the holes, follow the recess, and exit the other of the two holes to return to the cable attachment hole 202 in the handle (see FIG. Fig.14 ). Bottom cable attachment feature 374 (at Fig.24 358) includes two attachment points or hooks that protrude from opposite sides of the camera housing bottom 358. A bottom cable attachment feature 374 is located on the opposite side of the pivot pin 366 from the top cable attachment feature 372. The bottom pan cable 370 can be wrapped around one attachment point or hook of the bottom cable attachment feature 374, threaded over a second attachment point or hook of the bottom cable attachment feature 374, and from there back to its cable attachment hole 202 on the pivot arm 198 of the handle. In alternative embodiments, the top cable attachment feature 372 and / or the bottom cable attachment feature 374 can include, for example, an eyelet, a fork, a stake, etc.

[0234] The top pan cable 368 and the bottom pan cable 370 may be made of any suitable cable or wire material, whether metal or synthetic polymer, braided or monofilament material. The top pan cable 368 and the bottom pan cable 370 may be, for example, a laterally flexible metal or plastic strip or ribbon. In a preferred embodiment, the top pan cable 368 and the bottom pan cable 370 are made of a material that resists stretching when under tension. The top pan cable 368 and the bottom pan cable 370 are wrapped around the pivot actuator attachment feature on the camera assembly 350 from the pivot arm 198 (see FIG. Fig.14 ) may be desirable because this ensures that the side of the pan cable extending to the camera assembly 350 is under the same tension as the side of the pan cable returning from the camera assembly 350; any stretching of one portion of the cable over time or use will have an equal effect on both halves of the cable.

[0235] In a preferred embodiment, the top pan cable 368 can pass through one of the cable guide holes 348 on each inner wall of the camera assembly mount 330. Fig.25 As shown, the top pan cable 368 passes through one of the cable guide holes 348 and continues along the exterior of the camera assembly housing 330 toward the camera assembly 350. In some embodiments, there may be a recess or groove that is recessed into the exterior of the camera assembly housing 330 along the path taken by the top pan cable 368. In such embodiments, the recess or groove can serve as a guide. The recess or groove can also help ensure that the top pan cable 368 is approximately flush with the outer surface of the camera assembly housing 330. This can help ensure that the outer sheath 318 (see Fig.21) will not strike the top pan cable 368 and impair its movement during use of the fully assembled endoscope 10.

[0236] like Fig.25 As shown, when the top pan cable 368 reenters the interior of the camera assembly housing 330, the top pan cable 368 passes through the restraining recess 349. Then, as described above, the top pan cable 368 extends to the top cable attachment feature 372. Fig.14 ), the top pan cable 368 extends from the top cable attachment feature 372 to the opposite wall of the camera assembly housing 330 (see Fig.18 ). The top pan cable 368 then extends along the outer surface of the front wall of the camera assembly housing 330, and optionally along a recess or groove in the wall. The top pan cable 368 then reenters the interior volume of the camera assembly housing 330 and travels back to the cable attachment hole 202 in the handle as previously described.

[0237] The end portion of a pivot actuator (e.g., a wire or cable) near its connection to a pivot assembly at the distal end of the insertion portion may be constrained at a fulcrum or support point to redirect the actuator to form an angle relative to the long axis of the insertion portion or shaft. For example, an increased pivot range of the pivot camera assembly 350 can be achieved by passing the top pan cable 368 through the cable guide hole 348 and the restraining or redirecting notch 349 and then tilting it upward to the top cable attachment feature 372 on the other side of the pivot pin 366. Thus, an image sensor having a predetermined or fixed angle field of view can be rotated to allow a rotatable field of view so that the viewable area can be increased to a range of up to 180 degrees. In other embodiments, the image sensor can be rotated to obtain a viewable area of ​​more than 180 degrees. As Fig.25 As shown, having the cable routed as described places the cable at a more acute angle at its attachment point 372 and thus allows for a greater degree of reverse rotation of the camera assembly 350 .

[0238] In some embodiments, and now also with reference to Fig.26 Since there are two sets of cable guide holes 348, namely a lower set of guide holes 348 that control the top portion of the camera housing and an upper set of guide holes 348 that control the bottom portion of the camera housing, the camera assembly 350 can be rotated a full 180 degrees or more. The degree to which the camera assembly 350 can be rotated is the degree to which the distal end of the pan cable is relative to the longitudinal axis (or endoscope axis) 14 of the proximal end or insertion portion of the pan cable (see Figure 1). The greater the angle of the terminal portion of the pan cable relative to the longitudinal axis of the insertion portion 14 when it re-enters the exterior of the camera assembly housing 330, the greater the range of motion it can induce in the camera assembly 350. In a preferred embodiment, the re-entry surface or redirecting guide of the camera assembly housing 330 is positioned so that the angle of the terminal portion of the pan cable relative to the long axis of the insertion portion 14 is in the range of about 30 to 90 degrees. In other embodiments, by positioning the cable re-entry surface or guide to achieve an angle of the terminal portion of the pan cable in the range of about 45 to 80 degrees, the range of rotational motion of the camera assembly 350 can be improved while limiting the frictional resistance of the pan cable. As described above, such an embodiment only requires the application of a pulling force on either one of the pair of complementary cables 368, 370, one of which is angled upward at the distal or terminal location in the insertion portion 14 to attach to the top cable attachment feature 372, and one of which is angled downward at the distal or terminal location in the insertion portion 14 to attach to the corresponding bottom cable attachment feature 374. With this arrangement, there is no need for either actuation cable to move laterally or transversely within a majority of the length of the insert 14, which allows the interior space within the insert 14 to be narrower, helping to minimize its overall diameter.

[0239] In some embodiments, the constraint or redirection notch 349 may not be used. Some embodiments may use different types of constraint or redirection elements incorporated into the wall of the distal end of the insertion portion. In some embodiments, a pulley or eyelet may be used as a constraint. Pins, piles, columns, etc. may also be used as constraint or redirection elements. In some embodiments, a curved finger or fork may be formed in the side wall of the camera assembly housing 330. The curved finger may extend into the interior volume of the camera assembly housing 330 so that there is a space between the inner wall of the camera assembly housing 330 and the curved finger. The top pan cable 368 may pass through the space so that it is constrained by the curved finger. In most embodiments, it may be desirable that the contact point between the constraint and the cable have sufficient smoothness or radius of curvature to minimize the possibility of friction damage to the pan cable during endoscopic operation. In some cases, the constraint may be coated with a material having a low coefficient of friction, such as Teflon.

[0240] In some embodiments, the bottom pan cable 370 may be constrained in place of the top pan cable 368 similar to the previous description to enable the camera assembly 350 to have a greater pivot range in one rotational direction than in another rotational direction. Fig.26 As shown, in some embodiments, both the bottom pan cable 370 and the top pan cable 368 may be constrained or redirected to allow for a greater pivot range.

[0241] exist Fig.26 , outer sheath 318, camera assembly housing 330, and camera assembly 350 are shown. There are two sets of cable guide holes 348. One set is above the longitudinal axis of camera assembly housing 330, and the other set is below the longitudinal axis of camera assembly housing 330. There are also two restraining notches 349. One of restraining notches 349 is located above the longitudinal axis of camera assembly housing 330, and the other is located below the longitudinal axis of camera assembly housing 330.

[0242] An improved mechanical advantage of the pan cable can be achieved by positioning a redirecting element (e.g., a notch) on one side of the pivot axis of camera assembly 350 (e.g., below) while attaching the end of the pan cable to a point on camera assembly 350 that is on the opposite side of the pivot axis of camera assembly 350 (e.g., above).

[0243] As shown, the top pan cable 368 passes through one of the cable guide holes 348 below the longitudinal axis and re-enters the camera assembly housing 330 at the restraining notch 349 below the longitudinal axis. The top pan cable 368 is then redirected upward to the top cable attachment feature 372 on the camera assembly 350. Fig.26 , bottom pan cable 370 passes through cable guide hole 348 above the longitudinal axis of camera assembly housing 330. Bottom pan cable 370 then re-enters camera assembly housing 330 through restraining notch 349 above the longitudinal axis of camera assembly housing 330. Bottom pan cable 370 is then redirected downward to bottom cable attachment feature 374. Top pan cable 368 and bottom pan cable 370 may be wrapped around a portion of camera assembly 350 depending on the position to which camera assembly 350 has been pivoted. Fig.26 , the bottom pan cable 370 is shown wrapped around a portion of the camera assembly 350.

[0244] Some embodiments may use the conveyor belt 384 as a pivot actuator. Fig. 27 384 as a pivot actuator. As shown, the belt 384 is wrapped around one of the pivot pins 366 of the camera assembly 350. In some embodiments, the pivot pins 366 can be elongated so that a portion of at least one of the pivot pins 366 extends from the pivot bearing 346. In such an embodiment, the belt 384 can be wrapped around the portion of the pivot pin 366, such as Fig. 27 In some embodiments, the shape of the camera assembly 350 can be different so that the conveyor belt 384 can be wrapped around the camera assembly 350. For example, the camera assembly 350 can be substantially cylindrical in shape. The substantially cylindrical shape of the camera assembly 350 can be coaxial with the pivot pin 366. In such an embodiment, the conveyor belt 384 can be wrapped around the circumference of the camera assembly 350.

[0245] In some embodiments, the surface on which the conveyor belt 384 is wrapped can be concave (e.g., V-shaped) relative to the surfaces on its sides. This can help keep the conveyor belt 384 in place during operation. In other embodiments, any other type of guide can be used. For example, the surface on which the conveyor belt 384 is wrapped can be surrounded by two walls that keep the conveyor belt 384 in place during operation.

[0246] The belt 384 may be made of a high friction material so that when the belt 384 is driven, the belt 384 does not slip on the surface around which it is wrapped. In some embodiments, the belt 384 may have a rough surface, or may have teeth to aid in its ability to grip or reliably engage the camera assembly pivot pin 366 (which may be geared). The use of the belt 384 may allow for a wide range of pivoting of the camera assembly 350 without the need to laterally redirect the cable pivot actuator within the insert 14 to achieve an equivalent range of motion of the camera assembly 350. This allows the insert 14 to have a smaller diameter.

[0247] In embodiments using a conveyor belt 384, the conveyor belt 384 may be configured to be driven by displacement of the pivot control structure 100 (see Fig.14 ). In some embodiments, the end of the conveyor belt 384 opposite the end wrapped around the camera assembly 350 or the pivot pin 366 can be wrapped around the pivot 204 of the pivot control structure 100. In such an embodiment, the rotation of the pivot 204 can drive the conveyor belt 384. The portion of the pivot 204 around which the conveyor belt 384 is wrapped can have a relatively large diameter. This may be desirable so that only a small pivot displacement of the pivot 204 is required to drive the conveyor belt 384 in a relatively large amount. In an embodiment where the conveyor belt 384 includes teeth, the teeth of the conveyor belt 384 can intersect with a gear located on the pivot 204 of the pivot control structure 100. In such an embodiment, the rotation of the pivot 204 and the gear on the pivot 204 can drive the conveyor belt 384. When the conveyor belt 384 is driven, the movement of the conveyor belt 384 will exert a driving force on the camera assembly 350, causing the camera assembly 350 to pivot.

[0248] In other embodiments, the pivot actuator may be a rack in a rack and pinion arrangement. In such embodiments, the pivot pin 366 of the camera assembly 350 may include a toothed portion. The toothed portion of the pivot pin 366 may be a pinion that intersects the rack of the pivot actuator. When the rack is longitudinally displaced within the insertion portion 14, the motion is converted into rotation of the camera assembly 350 by the toothed pinion portion of the pivot pin 366. Although such an embodiment does not rely solely on pulling forces to rotate the camera assembly 350, the pivot actuator still does not require lateral displacement of the actuator within the insertion portion 14. In some specific embodiments, the push-pull rack type actuator may still require features (e.g., rigidity, thickness) or may be otherwise constrained within a track to prevent lateral or left-right bending during the application of compressive forces on the rack.

[0249] In yet another arrangement using one or more pan cables, a similar range of pivoting can be achieved without requiring any routing of the pan cables through the various features included in the camera assembly mount 330. This can be desirable because it can allow the insert 14 (see FIG. Figure 1 ) becomes smaller in diameter. In addition, the camera assembly mount 330 for such an embodiment would not require any perforations (e.g., Fig.18 cable guide hole 348) or redirecting element / constraint (e.g., Fig.18 The restraining notch 349 of the camera assembly can be provided to simplify the manufacture of the camera assembly mounting member. Such an embodiment can be used, for example, Fig.19 The camera assembly mount 330 and inner housing 312 are shown in the example embodiment of FIG.

[0250] In such an embodiment, the camera assembly 350 may include one or more winding features or surfaces 1400. The winding features are configured to at least partially wrap a terminal portion of a pan cable around the housing of the camera assembly 350. The connection point or attachment point of the terminal end of the pan cable may be located on the camera assembly housing away from the winding feature. The winding feature preferably has a curved, slightly concave surface that can be partially or completely wrapped around a portion of the camera assembly housing. Thus, in various embodiments, the pan cable can be wrapped around the housing only partially or in one or more complete loops. Longer winding features allow the camera assembly to rotate over a greater range. During actuation, the associated pan cable can be wrapped around the winding feature 1400 or unwound. The winding feature 1400 can increase the pivoting range of the camera assembly 350. The winding feature 1400 can allow a more consistent torque to be applied to the camera assembly 350 during rotation. The winding feature 1400 can be configured to produce a moment arm of desired or varying lengths. Additionally, positioning the winding feature 1400 radially away from the camera assembly's axis of rotation may help the pan cable more efficiently generate rotational torque.

[0251] Figure 28 to Figure 32 1 conceptually illustrates a camera assembly 350 that includes a wrap feature 1400 in multiple rotational positions. As shown, the wrap feature 1400 may include an arcuate portion and a straight portion. The arcuate portion is formed to have a radius of curvature extending from the pivot of the camera assembly 350. The straight portion of the wrap feature 1400 is angled to act as a torque increasing feature. In addition, the straight portion of the wrap feature 1400 allows the camera housing 355 to be made of more material (which would otherwise need to be removed to continue the arcuate portion) and thereby increases the structural integrity of the camera housing 355. This may be particularly important in embodiments where the camera assembly 350 is designed to fit in a very small space and therefore must be manufactured in a very small form factor.

[0252] like Fig.28 As shown, the top pan cable 368 can be wrapped around the winding feature 1400. The tension applied by the top pan cable 368 will generate a torque about the pivot of the camera assembly 350, causing the camera assembly 350 to rotate in a clockwise direction. In addition, the straight portion of the winding feature 1400 creates a longer moment arm, thereby increasing the torque generated for a given amount of tension.

[0253] When the camera assembly 350 is rotated to Fig.29 1400. When the top pan cable 368 is in the position shown, it begins to unwind from the winding feature 1400. As force continues to be applied and the camera assembly continues to rotate, the top pan cable 368 will continue to unwind from the winding feature, as shown. Fig.30 When fully deployed, the point at which the top pan cable 368 leaves the winding feature 1400 will be located on the arcuate portion of the winding feature 1400 (eg, Fig.29 and Fig.30 ). In an embodiment, all points on the arcuate portion of the wrap feature 1400 may be located at an equal distance from the pivot axis.

[0254] In an exemplary embodiment, as tension continues to be applied by the top pan cable 368, the camera assembly 350 will continue to rotate until the top pan cable 368 no longer contacts the surface of the winding feature 1400, as shown in FIG. Fig.31 32 . As will be appreciated by those skilled in the art, the pan cable 368 may be wrapped around the winding feature 1400 one or more times to increase the amount of rotation that can be produced using the pan cable 368. The extent to which the pan cable 368 is wrapped around the contact surface on the camera assembly 350 allows the camera assembly 350 to have a range of rotation exceeding 90 degrees. The extent of rotation of the camera assembly 350 will be limited only by the amount of slack and flexibility of the attached electronic flex cable and / or fiber optic bundle.

[0255] In an embodiment, the pan cable and winding surface are arranged to allow the camera assembly 350 to be rotated to a position between about 90 degrees and about 120 degrees of the long axis of the distal endoscope shaft, with the lens surface of the camera assembly at least partially oriented in the direction of the proximal end of the endoscope shaft. In this position, any debris or other contaminants on the lens surface can be washed away by flushing fluid traveling distally in the endoscope shaft.

[0256] To remove the camera assembly 350 from its Fig.32 Rotate the position to Fig.30 , a tension can be applied via the bottom pan cable 370. In some embodiments, the bottom pan cable 370 can also be associated with a winding feature. For example, the corners or edges of the camera assembly 350 around which the bottom pan cable 370 is wound can be rounded.

[0257] Figure 33 to Figure 34 A top perspective view of a particular example embodiment of a camera assembly 350 including a wrap feature 1400 is depicted. The camera assembly 350 includes a lens assembly 354. The lens assembly 354 is disposed inside a camera housing 355. The wrap feature 1400 can be recessed into one side of the camera housing 355, as shown. The wrap feature 1400 in the example embodiment includes an arcuate portion and a straight portion. The arcuate portion of the wrap feature 1400 is shaped such that it has a radius of curvature extending from the center of the pivot pin 366 or pivot.

[0258] like Fig.33 14, the concave wall of the wrap feature 1400 may include a first void 1402. The camera housing 355 may also include a second void 1404. The second void 1404 may pass through the top surface of the camera housing 355 to the bottom surface of the camera housing 355.

[0259] As shown, only a single pan cable 1406 may be used. The pan cable 1406 may extend through the first and second gaps 1402, 1404 in the camera housing 355. One end of the pan cable 1406 may be attached to the cable attachment hole 202 on the pivot arm 198 (see FIG. Fig.14). The other end of the pan cable 1406 can be attached to another cable attachment hole 202 on the pivot arm 198. In some embodiments, the pan cable 1406 can be fixedly attached to the camera housing 355 at one or more points. For example, a glue adhesive can be placed in one of the gaps 1402 or 1404. This can ensure that the pan cable 1406 does not slide or move on the surface of the camera housing 355 during actuation. In addition, in some embodiments, the pan cable 1406 can be knotted at one or more locations. For example, the pan cable 1406 can be fed through one of the gaps 1402 or 1404, knotted, and then fed through the other of the gaps 1402 or 1404. Preferably, the width of the knot can be wide enough not to fit through either of the gaps 1402 or 1404. Such a knot can also help prevent the pan cable 1406 from sliding or moving on the surface of the camera housing 355 during actuation.

[0260] As will be appreciated by those skilled in the art, Figure 33 to Figure 34 The embodiment shown in can be easily modified to use two pan cables. One pan cable can terminate in or at the location of the first gap 1402 and be fixedly attached to the camera housing 355. The second pan cable can terminate in or at the location of the second gap 1404 and be fixedly attached to the camera housing 355.

[0261] In an alternative example, Figure 23.2 How a pull wire 502 operated by a pivot control structure 100 is wrapped around and / or attached to a rounded or dome-shaped sensor or camera housing 500 at the distal end of an endoscope shaft 14 is shown. For clarity, the inner sheath 312 has been removed. In this example, the camera housing 500 includes a near circumferential slot 501 offset to one side of the housing 500 so as not to interfere with the lens / camera assembly housed within the housing 500 (which is preferably located near the center of the two assembled halves of the housing). The pull wire 502 is retained within the slot 501 and can be secured to the housing 500 at a recess 503. A knot placed in the pull wire 502 can be embedded in the recess 503 to serve as an attachment point that causes the housing 500 to rotate as the pull wire 502 moves back and forth along the endoscope shaft. Optionally, a small amount of adhesive can be used to provide additional attachment security during endoscope assembly. In a preferred embodiment, the pull wire 502 includes a Kevlar wire, which provides greater longitudinal strength and stretch resistance. Other types of wires may include steel (braided or solid), nylon, or other materials of suitable strength and stretch resistance.

[0262] Figure 23.1 and Figure 23.2The rounded sensor housing 500 shown in FIG. 5 can enclose a lens 510 and image sensor 512 of simpler construction, and the light source for illuminating the operating area can be located near the sensor / camera housing 500 rather than being mounted to the housing itself. Figure 23.3 and Figure 23.4 500a and 500b. Each of these parts can be molded or machined to have internal cutouts for placing a PCB extension 514 or the distal end of a flexible cable, its associated sensor 512 (e.g., CMOS or CCD), and a suitable lens 510. The two parts 500a and 500b can be joined at these components by a variety of methods. In the example shown, one or more pins 500c of part 500b can mate with a corresponding arrangement of matching recesses 500d of part 500a. As shown in FIG. Figure 23.5 As shown, the pivot 505 on the outside of each part can be inserted into a corresponding hole, bearing or bushing 507 at the distal end of the inner sheath 312 of the endoscope shaft, which can be resiliently flexible to allow assembly. The assembled housing 500 can be pressed or snap-fit ​​into place within the hole 507, which can help keep the two parts 500a and 500b engaged together. Optionally, an adhesive can also be used to securely engage the pin 500c to its corresponding recess 500d. Although the sensor / camera housing 500 shown does not include a light source, this is an option; an appropriately sized LED or LED group can be included around the periphery of the lens, or the end of the fiber optic cable can be mounted in a similar arrangement, as described below.

[0263] In an exemplary arrangement, one or more LEDs 508 may be positioned along an open portion 506 of an inner sheath 312 of the endoscope shaft 14 . Figure 33.1The sensor 512 and lens 510 assembly within the sensor housing 500 is shown (half of the housing has been removed for clarity). Both the lens 510 and the sensor 512 (e.g., a CMOS or CCD sensor) are appropriately sealed to prevent liquid from entering between them. The sensor 512 can be connected to a ribbon or flexible cable that extends through the endoscope shaft to a PCB in the endoscope handle. Similarly, the light source / LED can be connected to a ribbon or flexible cable to receive power, or can be connected to a separate ribbon or flexible cable adjacent to the sensor communication cable. In an alternative example, the main PCB in the endoscope handle can be manufactured to have an elongated extension that is arranged to extend through the endoscope shaft to one or more components at the distal end of the shaft. The PCB can be constructed to have a flexible component and a rigid component that are clamped together. The flexible component can be exposed from the main PCB to form a PCB extension of the endoscope shaft. The rigid component can similarly be exposed from the main PCB to form a PCB extension of the endoscope shaft. Alternatively, either or both of these extensions may be combined with a ribbon or flexible cable from the main PCB to provide power or communications to components at the distal end of the endoscope shaft. For example, the sensor 512 may be mounted to the distal end of a flexible PCB extension 514 from the main PCB in the endoscope handle 12. The sensor PCB extension 514 is flexible and has sufficient slack to allow the sensor 512 and lens 510 to rotate as the sensor housing 500 rotates. In addition, the light source in this example includes one or more LEDs 508 mounted to the sensor PCB extension or, preferably, to a separate light source PCB extension 516. Due to the power requirements of the light source, mounting the power cord on a separate flexible cable or PCB extension 516 may increase the reliability of the endoscope. In addition, if the endoscope shaft 14 is rigid (e.g., as is the case with most arthroscopes), the light source power cord may be mounted to the rigid PCB extension, further enhancing the overall robustness of the endoscope. In Figure 33.1 In the example shown, the flexible sensor PCB extension 514 is folded at its base and placed against the rigid light source PCB extension 516, both extensions being incorporated into the main PCB within the handle 12 of the endoscope (see below).

[0264] Figure 23.1 and Figure 33.1 The form factor of the printed circuit board (PCB) of the illustrated embodiment is as follows Figure 33.2 As shown. Note that Figure 33.2 and Figure 33.3The form factors shown in can also be used to represent how a ribbon or flexible cable can be folded to extend adjacent to a companion ribbon or flexible cable, or adjacent to a companion PCB extension that passes through a bulkhead and extends along the endoscope shaft to a connecting component at the distal end of the shaft. In one example, a rigid main PCB 518 (on which a plurality of electronic processing components are mounted) comprises a composite of rigid and flexible components sandwiched together, and the main PCB 518 is located within the endoscope handle. The flexible PCB extension 514 emerges from the composite main PCB 518 at an angle to the direction of the rigid extension 516 so that the proximal leg 514a of the flexible extension 514 can be at point 520 ( Figure 33.3 ) to extend adjacent to the rigid portion 516, as shown in FIG. 33.3. In the example shown, the proximal leg 514a of the flexible board extension is at an angle of approximately 90 degrees relative to the rigid board extension. In some embodiments, the angle may be less than or greater than 90 degrees because the flexibility of the flexible board extension allows the proximal leg 514a to accommodate folding that is not perfectly aligned. Figure 33.4 516 as extending adjacent to the rigid PCB extension 516 along the endoscope axis (with the inner sheath, sensor housing, and lens removed for clarity). In this way, the two PCB extensions can pass through the flexible slots in the partition or fluid barrier, such as Fig. 11B or Fig. 11C The narrow slot 177 shown in FIG.

[0265] Figure 33.5 A cross-sectional view of an exemplary endoscope is shown. The main PCB 518 is shown relative to the handle proximal portion 16, the camera control button 37, the septum or through barrier 159, and the pivot control structure 100. The rotational position sensor magnet 51 is shown relative to the handle proximal portion 16 and the main PCB 518. An exemplary fluid conduit 434 (for irrigation or aspiration) is shown proximal to the septum 159. It can be connected by means of a Figure 33.6 The barbed fitting 256 is shown connected to the bulkhead 159 or by any other suitable fixed connection means. In this case, the inner sheath 312 has been removed for clarity of illustration.

[0266] Figure 33.6The PCB of the endoscope is shown without the handle, inner sheath, pivot control structure and fluid conduit when the extension of the PCB of the endoscope passes through the partition or through the barrier 159. In addition, the rotational position sensing magnet 51 and the camera control button 37 and shaft 38 (with embedded magnets) are shown relative to the main PCB 518 to provide an indication of where the corresponding Hall effect sensors of those magnets can be located on the PCB 518. As shown, the fold point 520 of the flexible PCB extension is located near the partition 159 so that the combined adjacent flexible and rigid PCB extension can pass through the partition at the slot 177. In this case, the narrow slot can be securely sealed to prevent fluid infiltration because a sufficient amount of slack in the flexible PCB extension 514 can be set at the distal end near its termination at the sensor 512.

[0267] like Figure 33.7 As shown, the fluid or air carrying lumen 157 shares space within the endoscope shaft 14 with PCB extensions 514, 516 (or alternatively with one or two ribbon or flexible cables) which power the light source and provide communications with a sensor / camera located at the distal end of the endoscope shaft 14. The sensor / camera housing has been removed for clarity. (Note that the inner sheath 312 of the shaft 14 has a cutout or opening proximate to the sensor / camera housing, above to provide illumination by the light source or LED, and optionally below to improve fluid flow around the sensor / camera housing. This may be useful, for example, in Figure 23.1 and Figure 58.1 ).

[0268] Figure 33.8 A cross-sectional view of the interior of the handle distal portion 30 of the above-described endoscope is shown. A diaphragm or fluid barrier 159 separates the relatively dry area (where the pivot control structure, camera control buttons, and the distal end of the main PCB are located) from the wet portion 30a. A fluid or air conduit 434 extends from the exterior of the endoscope handle through the handle proximal portion 16 and connects to the port 256 of the diaphragm 159. In this example, the fluid passing through the conduit 434 and the port 256 communicates with the lumen 157 of the endoscope shaft 14 via the space occupied by the wet portion 30a. Appropriate seals can be used to contain the fluid so that the fluid or air does not leak between the distal portion housing and the proximal end of the endoscope inner sheath 312.

[0269] Now back to Figure 7C and Fig.14, the pivot control structure 100 can be "parked" in a detent defined by a ridge 94 in the slide button recess 92 of the handle raised portion 34 or another portion of the handle 12. In some embodiments, the ridges 94 can be spaced apart so that the detents formed by the ridges 94 can correspond to a specific angular orientation of the camera assembly 350. In some embodiments, the detents formed by the ridges 94 can be spaced apart so that their positions correspond to specific angular increments (e.g., 30°) of the camera assembly 350.

[0270] As mentioned above (see Fig. 7A ), the handle distal portion 30 can be rotated relative to the handle proximal portion 16. This rotation will also cause the longitudinal axis of the insertion portion 14 to rotate. The camera assembly 350 can, in turn, rotate with the insertion portion 14. This can allow the user to obtain a near-global view of the anatomical region of interest with minimal to no angular repositioning of the endoscope 10. The user may only need to pan the camera assembly 350 and rotate the handle distal portion 30 relative to the handle proximal portion 16 to obtain the desired field of view within the anatomical region.

[0271] Repeated twisting and bending of optical fibers, such as optical fiber 364, may cause one or more of the optical fibers to break or fail. In the case of optical fiber 364, this results in a loss of light and illumination that increases as more optical fibers 364 are damaged. Such bending may occur if optical fiber 364 is terminated as described above and attached or fused to a portion of pivoting camera assembly 350. If endoscope 10 is designed to be disposable, any reduction in the integrity or performance of optical fiber 364 may be within acceptable limits relative to the expected life of the instrument. Therefore, in some embodiments, optical fiber 364 may be attached or fused to pivoting camera assembly 350 with minimal concern about breakage of optical fiber 364 and the resulting loss of light. In some embodiments, a terminal illuminator, light projection element, or light emitter associated with optical fiber 364 may be advantageously mounted to camera assembly 350 so as to project light to any target or field of view to which lens assembly 354 of camera assembly 350 has been rotated or panned. This arrangement helps to ensure that the field of view of lens assembly 354 (in Figure 23 to Figure 25 364) is always illuminated by optical fiber 364, regardless of where camera assembly 350 has been rotated within the pannable range of camera assembly 350.

[0272] In some embodiments, the illumination system may include a light guide or light pipe 375. In some embodiments, the optical fiber 364 may include a light guide or light pipe 375 along at least a portion of the path of the illumination system (e.g., see Fig.35). The terms "light guide" and "light pipe" are used interchangeably herein. When the optical fiber is relatively straight, light loss is relatively small because the angle of incidence of the light within the optical fiber is shallow enough to facilitate near total reflection within the optical fiber. However, bending the optical fiber can change the angle of incidence to a point where the light can be transmitted out of the optical fiber. However, the bending of the light pipe or light guide can be controlled. Therefore, the use of light guide 375, where feasible, can help minimize light loss in an illumination system that includes optical fiber 364, or can replace the optical fiber entirely. Light guide 375 can also provide many other benefits. For example, light guide 375 can facilitate device assembly and reduce the assembly time of the device. Light guide 375 can be of the type described herein, or can be any suitable type of light guide known to those skilled in the art.

[0273] Fig.35 An example embodiment of an endoscope 10 utilizing light guides 375 is shown. Two larger diameter light pipes 375 may be provided along the inner sheath 312 (see FIG. Fig.18 ) extends into the camera assembly housing 330 and then bends or curves into one of the camera assembly pivot bearings 346. The bent portion of each light pipe 375 can be coated with a highly reflective material 376 to minimize the loss of light from the light pipe 375 when the light pipe 375 changes direction. Any suitable highly reflective material 376 known to those skilled in the art can be used. In such an embodiment, the camera assembly 350 can also have a built-in camera assembly light pipe 377 that forms a joint with the light pipe 375 at the pivot bearing 346. Light carried by the light pipe 375 can be transmitted to the camera assembly light pipe 377 at the joint. The camera assembly light pipe 377 can extend from each pivot pin 366 into the camera assembly 350. The camera assembly light pipe 377 terminates in the light projection gap 362 so that the field of view of the camera assembly 350 will be illuminated regardless of the rotational position of the camera and lens assembly. In such an embodiment, any bent portion of the camera assembly light pipe 377 can be coated with a highly reflective material 376 as described above. In some embodiments, in addition to the bent portions of the light pipe 375 and the camera assembly light pipe 377 , the highly reflective material 376 may also be included on other portions of the light pipe 375 and the camera assembly light pipe 377 .

[0274] Creating a light pipe junction that coincides with the pivot region of the camera assembly 350 may be desirable because it avoids bending or twisting of the optical fiber 364 when the camera assembly 350 is rotated, thereby eliminating the risk of damage to the optical fiber 364. This design may be suitable for reusable or disposable endoscopes 10. This arrangement may also reduce the manufacturing or assembly costs of the endoscope 10.

[0275] In another example embodiment (not shown) using a light pipe 375, a larger diameter light pipe 375 can extend substantially along the path of the flexible cable 250. The end of the light pipe 375 closest to the inner sheath mount 160 can be engaged with the optical fiber 364, or arranged to draw light from another illumination source. The end of the light pipe 375 closest to the camera assembly 350 can also be engaged with the illumination optical fiber 364 extending to the camera assembly 350.

[0276] In some embodiments, the optical fibers 364 to the camera assembly 350 can be arranged to form a flexible ribbon 1000, thereby creating a linear array of optical fibers that can terminate into a light projection element with minimal kinking or kinking in only one dimension (see, e.g., FIG. 36 ). Alternatively, the flexible ribbon 1000 need not be a linear array of fibers, but can be a single ribbon-like piece of flexible light-guiding material in some embodiments. In some embodiments, there can be two flexible ribbons 1000, each extending to one of the light projection voids 362 in the camera assembly 350. In some embodiments, the flexible ribbon 1000 can be coated with a reflective material 376 to maximize the amount of light at the camera assembly 350. In some embodiments, the flexible ribbon 1000 can form a joint with a light pipe.

[0277] In some embodiments, the camera housing top 356 may include a light pipe material to act as a light projection element or illuminator. In this case, light may be emitted from a majority of the camera housing top 356 and into the field of view of the camera assembly 350. In some embodiments, some areas of the camera housing top 356 may be blacked out or masked so that light is emitted only from desired areas of the camera housing top 356. In some embodiments, some areas of the camera housing top 356 may be coated with a highly reflective material 376 to prevent unwanted light emission from those areas.

[0278] Fig.36 An embodiment is shown in which the optical fibers 364 are incorporated into a flexible ribbon 1000, which may optionally be coated in a highly reflective material 376. As shown, the flexible ribbon 1000 extends to the camera assembly 350. The flexible ribbon 1000 may be overmolded to the camera assembly 350, potted into the camera assembly 350, fused with the camera assembly 350, or otherwise coupled to the camera assembly 350.

[0279] exist Fig.36 In the exemplary embodiment, the camera assembly 350 includes an integral camera housing 1002. Fig.371000 is shown in more detail in FIG. 1002 without the flexible band 1000 attached. In an example embodiment, the integral camera housing 1002 is made of a light pipe or a transmissive material and serves as a light projection element. The integral camera housing 1002 in this example embodiment can be almost completely coated with a highly reflective material 376 to maximize the light output from the uncoated or unmasked areas of the integral camera housing 1002. A light projection or illumination surface 1004 having a shape suitable for placement near the lens and image sensor assembly on the integral camera housing 1002 can be constructed by masking the area during the coating of the highly reflective material 376 (or alternatively a simple dark mask). In an example embodiment, the light projection surface 1004 has an annular shape. In other embodiments, the light projection surface 1004 can be a crescent, a semicircle, or can have any other desired shape. Light can be emitted from the light projection surface 1004 of the integral camera housing 1002 to illuminate the field of view of the lens assembly 354. As in the above-described embodiments, the illumination field preferably pivots with the camera assembly 350, thereby ensuring that the field of view of the lens assembly 354 is always illuminated.

[0280] Fig.38 Another example embodiment of an integral camera housing 1002 is shown. As shown in outline form, the integral camera housing 1002 includes a coupling recess 1006. The coupling recess 1006 can allow the flexible band 1000 to be properly coupled to the integral camera housing 1002. In some embodiments, the coupling recess 1006 can allow the flexible band 1000 to be coupled to the integral camera assembly 1002, such as by a snap fit. In some embodiments, the coupling recess 1006 can accommodate optical fibers 364 that are not formed in the flexible band 1000. Similar to Fig.37 ,exist Fig.38 In the embodiment, the integrated camera housing 1002 can be used as a light projection element. Fig.37 Similar to the described integral camera housing 1002, the integral camera housing 1002 may also be coated and / or masked.

[0281] Fig.39 and Fig.40 An embodiment is shown in which a light projection element 1005 is incorporated into the end of the flexible ribbon 1000. The light projection element 1005 can be formed from a light pipe material, which in some embodiments can be a group of fibers fused into a shape suitable for projecting light from the fiber optic bundle or flexible ribbon 1000 in a desired manner. In some embodiments, the light projection element 1005 and the flexible ribbon 1000 can be two separate parts fused together (e.g., by heating or by chemical means). In other embodiments, the light projection element 1005 and the flexible fiber optic ribbon 1000 can be a single molded component.

[0282] Still reference Fig.39 and Fig.40 , the flexible strip 1000 can be coated with a highly reflective material 376. The bottom wall and side walls of the light projection element 1005 can also be coated with a highly reflective material 376. This can ensure that light is only emitted from the uncoated top of the light projection element 1005 and enters the field of view of the lens assembly 354. Fig.40 As shown, the light projection element 1005 or the flexible strip 1000 may include a coupling feature 1008. The coupling feature 1008 may allow the light projection element 1005 and the flexible strip 1000 to be coupled to or into the camera assembly 350. The coupling feature 1008 may be an integral part of the light projection element 1005.

[0283] Fig.41 and Fig.42 Two example embodiments of a flexible strip 1000 are shown that includes a light projection element 1005 that may be formed from a light pipe material. Fig.41 The light projection element 1005 in the embodiment has a substantially annular shape, and Fig.42 The light projection element 1005 in FIG. 1 is generally crescent-shaped, but other shapes may be selected as desired. Fig.41 and Fig.42 In the example embodiment of FIG. 1 , only the top surface of the light projection element 1005 is not coated with the highly reflective material 376 .

[0284] The light projection element 1005 may include one or more textures 1010 that help direct light emitted from the light projection element 1005. In some embodiments, the texture 1010 or multiple textures 1010 may be included to promote emitting light in a diffuse manner. The texture 1010 or multiple textures 1010 may be formed, for example, during molding of the light projection element 1005, or alternatively, the light pipe material forming the light projection element 1005 may include a filler material that promotes emitting light from the light projection element 1005 in a diffuse manner.

[0285] Fig.43 and Fig.44 1005 are shown in top and bottom perspective views, respectively, of another exemplary embodiment of a light projection element 1005. As shown, the light projection element 1005 is annular in shape. The light projection element 1005 also includes a coupling feature 1008, such as Fig.44 As shown in the bottom perspective view. Fig.44The coupling feature 1008 in is an integral part of the light projection element 1005. In an example embodiment, the coupling feature 1008 is a lug or shelf. The lug coupling feature 1008 can help position and / or align the light projection element 1005 on another component, such as the camera assembly 350. Additionally, in some embodiments, an adhesive or glue can be placed along the lug coupling feature 1008 to secure the light projection element 1005 to another component, such as the camera assembly 350. Fig.48 Attached to an example camera assembly 350 is shown.

[0286] Figure 43 to Figure 44 The light projection element 1005 shown does not include a highly reflective coating or material 376 (see, for example, Fig.39 ). The need for such a highly reflective coating or material 376 can be minimized by sizing the light projection element 1005 to increase or maximize the total internal reflection of light entering and within the light projection element 1005 at locations where light emission is not desired. This can be achieved by ensuring that any bends in the light projection element 1005 where emission is not desired have a large radius. Additionally, this can be achieved by sizing the light projection element 1005 so that a change in thickness across the light projection element 1005 does not cause a change in the angle of incidence of light within the light projection element 1005 that would cause the angle of incidence to be less than the critical angle. It is desirable that the thickness of the light projection element 1005 not be reduced to less than the thickness of the optical fiber or flexible ribbon to which the light projection element 1005 is attached. It is also desirable that the surface of the light projection element 1005 be smooth in the area where emission is not desired.

[0287] Fig.45 , Fig.46 and Fig.47 Depicted Figure 43 to Figure 44 The cross sections are taken from Fig.43 As shown in the figure, the light entering the light projection element 1005 must pass through the first bend 1300 and the second bend 1302 before being emitted from the top surface of the light projection element 1005. Figure 45 to Figure 47 As shown, the light projection element 1005 can be shaped so that the radius of these bends varies depending on the plane of the light projection element 1005. The radius of each of these bends 1300 and 1302 can be selected to be as gradual as possible in the available space in a given plane. Also as shown, the thickness of the light projection element 1005 remains approximately constant. This ensures that the angle of incidence changes due to thickness changes are minimized.

[0288] about Figure 43 to Figure 47 The light projection element 1005 is shown and described as being attached to Fig.48350. As shown, the light projection element 1005 is arranged so that it projects light into a main illumination field that is substantially consistent with the field of view of the lens assembly 354 (the area surrounding the main illumination field may also be illuminated due to diffusion and reflection of the emitted light).

[0289] Exemplary methods for constructing fiber optic light delivery elements are disclosed in US Patent Application No. 14 / 170,080 (US Application Publication No. 2014 / 0221749), filed on January 31, 2014, and incorporated herein by reference in its entirety.

[0290] Fig.49 An exemplary camera assembly including a lens assembly 354 is shown in FIG. Fig.24 The cross-sectional view of the lens assembly 354 is shown on the cross-sectional view represented by the line 61-61. Fig.24 As shown, the lens assembly 354 is housed between the camera housing top 356 and the camera housing bottom 358. As shown, the lens assembly 354 is positioned to project an image onto the plane of the image sensor 380. The type of image sensor 380 may include, for example, a CCD image sensor, a CMOS image sensor, etc. Preferably, the image sensor 380 may be housed in a sealed portion of the camera assembly 350 to prevent exposure to fluids. In a disposable endoscope, a less expensive process may be used to seal the image sensor to prevent exposure to fluids (e.g., using a transparent epoxy compound) because the assembly will then not be designed to withstand the harsh environment of sterilization and reuse.

[0291] like Fig.49 As shown, the image sensor 380 can be electrically coupled to the flexible board 381 of the flexible cable 250. In some embodiments, a conformal coating material can be used to provide additional moisture protection and can optionally be configured to support connectors for ball grid array mounting of the image sensor 380. The flexible cable 250 can provide power to the image sensor 380 and provide a means for transmitting data and / or commands from / to the image sensor 380. In some embodiments, a reinforcement member 382 can be included in the camera assembly 350. Fig.49 In the example embodiment shown, reinforcement 382 is positioned to reinforce the structure supporting image sensor 380, which can help protect the physical integrity of image sensor 380. Reinforcement 382 may include, for example, a thin aluminum backing (which may be approximately 0.002 inches thick in an example embodiment).

[0292] The camera assembly 350 may also include one or more fiber guides 384. Fig.49 In the example shown, the fiber guide 384 is coupled to the bottom surface of the camera housing bottom 358. The example fiber guide 384 includes a guide groove 386. Fig.49 It can be seen that the rear wall of the guide groove 386 of the optical fiber guide 384 protrudes toward the bottom of the page. The optical fiber guide 384 can also be or include a plurality of guide recesses or channels 388, Fig.49 In the example fiber guide 384 shown, a guide notch or channel 388 is recessed into the rear wall of the guide slot 386. In some embodiments, the fiber guide 384 includes Fig.49 In an exemplary embodiment of the present invention, a guide recess or channel 388 may be formed in one or both of the camera housing top 356 and the camera housing bottom 358. The fiber optic guide 384 may assist in positioning the illumination fiber 364 during assembly of the endoscope 10. The fiber optic guide 384 may also be used to hold the illumination fiber 364 in place during operation of the endoscope 10. The location, shape, number, size, etc. of the fiber optic guide 384 may vary depending on the specific configuration of the endoscope 10. In some embodiments, in addition to the fiber optic guide 384, glue, epoxy, or other suitable adhesive or agent may be used to help hold the illumination fiber 364 in a desired position. In some cases, for example when using a light guide or light projection element (such as Figures 35 to 42 As shown in or Fig.50 ), the fiber guide 384 may not be used in the assembly.

[0293] Fig.50 Depicted Fig.34 The camera assembly 350 is depicted along Fig.34 62-62 of the line 62-62 of the camera housing 355. As shown, the lens assembly 354 is shown in a suitable position in the camera housing 355. The image sensor 380 is also shown in a suitable position in the camera housing 355. The lens assembly is positioned to project an image to the image sensor 380. As described above, the image sensor 380 can be any type of image sensor (e.g., CCD, CMOS, etc.) and can be sealed to prevent exposure to fluids. Also as described above, the image sensor 380 is connected to a flexible board 381 attached to the flexible cable 250. Fig.50 The camera assembly 350 shown does not include the fiber guide 384 (see FIG. Fig.49 ). Instead, the light projection element or light emitter 2005 is placed on the camera assembly 350 in Figure 50.

[0294] As shown, in an example embodiment, the flexible cable 250 is doubled over on itself. This can be accomplished by bending the flexible cable 250 and then maintaining the bend by applying glue or another fixative to the affected area of ​​the flexible cable 250. In embodiments where the camera assembly 350 is enclosed in a confined space, it may be advantageous to double-wrap the flexible cable 250 under the camera assembly 350. For example, Fig. 22As shown, the space that limits the camera assembly 350 within the inner sheath 312 can limit the amount of flexible cable 250 that can be used for bending. The flexible cable 250 may then have to bend an undesirable small radius at certain rotational positions of the camera assembly 350. Such a small bending radius may be harmful to the flexible cable 250, especially if it occurs repeatedly. As the diameter of the inner sheath 312 decreases, this problem becomes more problematic. However, by arranging the flexible cable 250 to be folded on itself, when the camera assembly 350 rotates, a larger length of the flexible cable 250 can be used for repeated bending, and a larger minimum bending radius can be obtained. Therefore, due to repeated bending and straightening on a small radius, this can allow the inner sheath 312 to be made with a smaller diameter without worrying about the integrity of the flexible cable 250.

[0295] Both the flexible cable 250 and the optical fiber 364 of the light-guiding projection element 2005 exhibit a certain degree of bending resistance. In addition, both can apply a return spring force when bent. This bending resistance can increase the rotation resistance of the camera assembly 350. Fig.51 As shown, the flexible cable 250 and the optical fiber 364 can be angled relative to each other. This arrangement can utilize the rigidity of the flexible cable 250 against the optical fiber 364, or vice versa, to help rotate the camera assembly 350. To better illustrate this concept, Fig.51 The middle flex cable 250 does not fold over on itself.

[0296] In some embodiments, at least one illumination source for camera assembly 350 may be positioned to project light in a direction different from the field of view of camera assembly 350. That is, the direct illumination field of the illumination source may be oriented so that it is outside of or does not coincide with the field of view of the camera assembly. Such illumination sources may be referred to as indirect illumination sources, while illumination sources that project light directly into the field of view of camera assembly 350 may be referred to as direct illumination sources. An indirect illumination source may, for example, be oriented so that it emits light behind camera assembly 350 or in a direction substantially opposite to the field of view of camera assembly 350. For example, alternatively or in addition to light projection element 2005 coupled around lens assembly 354 or lens and projecting light into the field of view of lens assembly 354 or lens, light projection element 2005 may be attached to a portion of camera assembly 350 opposite lens assembly 354 or lens.

[0297] Although counterintuitive, projecting light outside the field of view of the camera assembly 350 (e.g., behind the camera assembly 350 in a direction opposite to the field of view) provides higher image quality and reduces the need for image processing. For example, such an illumination arrangement can help provide greater depth perception during endoscopic surgery because shadows of areas that would otherwise be directly illuminated can be maintained. By emitting light from the light projection element 2005 or other illumination source to a point outside the field of view of the camera assembly 350, hot spots or areas that appear washed out and dark spots or areas that appear underexposed can be mitigated. Such an illumination arrangement can help provide more uniform illumination within the field of view of the camera assembly 350.

[0298] Fig.52 A representative embodiment of an illumination arrangement is shown, in which light can be emitted from a plurality of light sources 702a-d to areas both inside and outside the field of view 700 of the camera assembly 350. As shown, an extension 430h of a printed circuit board in the endoscope handle is shown extending to the camera assembly 350. The printed circuit board extension 430h can provide power and data communication paths to various components in the insertion portion 14. In some embodiments, a ribbon or flexible cable 250 (see, e.g., Fig.14 ) in place of the printed circuit board extension 430h. A plurality of components are mounted to the printed circuit board extension 430h. These components may be any or a variety of different components, such as sensors, light emitters, etc. In the exemplary embodiment, the components are described as light sources 702a-d. The light sources 702a-d may be any suitable light source, such as, but not limited to, a fiber optic cable, a light projection element 2005, an LED, or an LED array.

[0299] For various reasons, it may be desirable to use light emitting diodes in some specific embodiments. For example, in some specific embodiments, the use of LEDs may eliminate the need for an illumination fiber bundle / ribbon. Some optical fibers may degrade when subjected to long bending during use, and light loss may be prone to occur when bent. LEDs have a long life and do not require long fiber bundles that are subjected to bending. The use of LEDs may also minimize the number of passing elements between the dry portion of the endoscope (e.g., the handle 12) and the wet portion of the endoscope (e.g., the insertion portion 14). In addition, by omitting optical fibers, the area that may be blocked or filled is smaller than the cross-sectional area of ​​the fluid conduit in the insertion portion 14. This may allow an increase in the flow rate of the flushing fluid through the insertion portion 14. LEDs also help to simplify or increase the ease of manufacturing.

[0300] As shown, the first light source 702a is arranged so that it can project light generally toward the field of view 700 of the camera assembly 350. Such a light source 702a can generally provide direct illumination of the field of view 700. In some embodiments, the direct light source 702a can be omitted or can be provided with one or more other indirect light sources, such as any one or a combination of light sources 702b-d. In an embodiment including a combination of the direct light source 702a and one or more indirect light sources, the direct light source 702a can provide light at a lower intensity than the one or more indirect light sources. In some embodiments, the direct light source 702a can provide light of a different spectrum or a subset of the spectrum emitted by the indirect light source. For example, the direct light source 702a can be an RBG LED array, and the indirect light source can emit white light.

[0301] Fig.52 702a-d. For illustrative purposes, these light sources are shown together and need not all be present in any given embodiment. Any number of light sources 702a-d may be included in various embodiments. Some light sources 702a-d may be omitted in various embodiments. Each of the light sources 702b-d is an indirect light source that is arranged so that they do not emit light directly into the field of view 700 of the camera assembly 350. The light sources 702b-d are arranged to emit light in a direction substantially opposite to the field of view 700 of the camera assembly 350. The light source 702d may be attached to the camera assembly 350 and may be arranged to emit light from one side of the camera assembly 350. In a preferred embodiment, a backlight provides the only source of illumination for the surgical area. In this case, the illumination source for the distal end of the endoscope may, for example, include only one or more LEDs located at position 702B; that is, light is projected from the side of the endoscope shaft that is away from the side to which the majority of the field of view of the camera assembly is directed. The light thus provided more indirectly and diffusely illuminates the space viewed by the camera assembly, thereby preventing bright reflections of light aimed directly at the camera or reducing the casting of shadows and improving the operator's field of view. On the other hand, placing the LED at position 702A can improve the illumination of the surgical area to which the camera field of view 700 is directed.

[0302] The camera assembly 350 may include one or more filters to selectively use wavelengths emitted from one or more of the light sources 702a-d. For example, a polarizing filter or a bandgap filter may be used to enhance the imaging of the camera assembly 350.

[0303] According to an embodiment, the camera assembly 350 can rotate within the insertion portion 14. In such an embodiment, the light sources 702a-d can remain stationary when the camera assembly 350 rotates. Alternatively, one or more of the light sources 702a-d can rotate with the camera assembly 350 (e.g., the light sources 702a-d can be attached to the camera assembly 350 and thus rotate with the camera assembly 350). The light sources 702a-d can be positioned so that they do not emit light directly into the field of view 700 at any or a large percentage (e.g., from about 70% to 100%) of the rotatable position of the camera assembly 350. In some embodiments, the entire distal end of the shaft or insertion portion 14 (or the entire insertion portion 14) can be transparent so that the camera assembly 350 can be rotated therein to obtain many viewing angles through the one or more transparent portions; in this particular embodiment, the distal portion of the insertion portion 14 can optionally be sealed from the surrounding space, the camera, and the light source fluid depending on the transparency of the distal end of the shaft.

[0304] Additionally, in some embodiments, a controller that monitors the rotational position of camera assembly 350 can increase or decrease the intensity of light emitted by various light sources 702a-d depending on the position of field of view 700. For example, the controller can be connected to a controller such as a controller attached to pivot 204 (see, e.g., Fig.14 ) to monitor the pivot control structure 100 (see e.g. Fig.14 ) displacement. Based on the data collected from the sensor, the controller can determine whether the light source 702a-d has been transformed from a direct light source to an indirect light source, or vice versa. The controller can then adjust the intensity of the light generated by the light sources 702a-d accordingly. Based on the sensor readings, the controller can, for example, determine which light sources 702a-d are emitting light into the field of view 700 of the camera assembly 350, and reduce the intensity of the light generated by these light sources 702a-d. The controller can use the sensor readings to determine whether the camera assembly 350 has been rotated so that the light sources 702a-d that previously emitted light directly into the field of view 700 now act as indirect light sources. After determining that the light source 702a-d has been transformed from a direct light source to an indirect light source, the intensity of the light generated by the light source 702a-d can be increased. The adjustment of the emitted light can be done in a continuous, progressive manner, a step-by-step manner, or a binary manner (e.g., switching between preset direct and indirect intensity levels).

[0305] exist Figure 53 to Figure 54 An example of a printed circuit board 430a including a plurality of LED light sources 750 and a sensor 754 on an extension 430h of the printed circuit board 430a is shown in FIG. A sensor or camera assembly 350 is also shown at the end of the PCB extension 430h. Fig.53 A top view of a printed circuit board 430a is depicted, and Fig.54A side view of printed circuit board 430a is depicted.

[0306] The printed circuit board 430a may include a body portion 430L from which the shaft portion 430H extends. The main portion 430L of the printed circuit board 430a may be received in the handle 12 of the endoscope 10 (see, for example, Figure 3A or Figure 3B ). Figure 53 to Figure 54 In the example embodiment shown, for simplicity, main portion 430L is not shown populated with electronic components. Fig.61 An exemplary printed circuit board 430a populated with exemplary components 430b-f is depicted in FIG. Fig.54 As shown, at least a portion of the main portion 430L of the printed circuit board 430a can be coated or encapsulated in a protective coating or material layer. The protective material can be any of a variety of potting materials or conformal coating materials. Acrylic, epoxy resin, polyurethane, silicone, polyparaxylene, thermosetting plastic, rubber or any other potting material or conformal coating material can be used. Preferably, the protective material is biocompatible and provides waterproof properties. A transparent protective coating can also be placed on the LED 750 and sensor 754 on the protrusion 430h.

[0307] PCB extension (or optional strip cable) 430h may extend through barrier 159 (see e.g. Fig.15 ) and along the insertion portion 14 of the endoscope 10 (see, for example Fig.15 ) axis. The protrusion 430h can provide power and data communication paths to various components within the insertion portion 14 (e.g., the camera assembly 350 and / or the LED 750) (see, e.g., Fig.15 ). The protrusion 430h can be divided into multiple different parts. In the example shown, the protrusion 430h includes a first part 430i, a second part 430j and a third part 430k. (In other embodiments, the protrusion 430h can be divided into a different number of parts). Each part of the protrusion 430h can have different characteristics. For example, each part of the protrusion 430h can have a different degree of flexibility. Some parts can be rigid circuit boards, while other parts are flexible cables. In addition, each part of the circuit board can have a different number of layers, different widths, a different number of traces on each layer, etc. It is desirable that at least a portion of the protrusion 430h of the printed circuit board 430a is a flexible cable or is flexible in other ways. This can help facilitate the rotation of the camera assembly 350.

[0308] In some embodiments, the first portion 430i may be a six-layer rigid circuit board. The second portion 430j may be a two-layer flexible cable. The third portion 430k may be a four-layer rigid circuit board. Each portion may transition into the next portion, or connectors may be used between one or more portions of the protruding portion 430h. To simplify manufacturing and reduce costs, the communication lines and power lines in the endoscope shaft preferably include flexible and / or rigid extensions of the main PCB located in the endoscope handle. Figure 33.2 The entire PCB with the extension is manufactured as shown, and can be Figure 33.3 Any flexible PCB extension is shown folded to extend adjacent to a companion PCB extension (rigid or flexible) during endoscope assembly.

[0309] Sensor 754 can be any of a variety of sensors. In some embodiments, sensor 754 can be a temperature sensor, such as a thermistor, a thermocouple, or a resistance temperature detector. In some specific embodiments, sensor 754 can be a thermistor. Temperature sensor 754 can be used to monitor the ambient temperature near or at LED 750.

[0310] During an endoscopic procedure, an irrigation fluid may flow through the LED 750. The fluid may help cool the LED 750, thereby maintaining the temperature of the LED 750 within a desired temperature range. With the endoscope 10 in the patient and the irrigation fluid not flowing, the controller may monitor data from the sensor 754 to determine if the environment near the LED 750 becomes hotter than the desired temperature range. In the event that the temperature exceeds the temperature range, the controller may command a reduction in the current flowing to the LED 750, or the controller may command the LED 750 to be extinguished. A temperature sensor may also be used as an irrigation fluid flow sensor. During an endoscopic procedure, the flow rate of the irrigation fluid may be sufficient to dissipate the heat generated by the LED 750 by convection, so that the area surrounding the LED 750 is within the desired temperature range. In the event that the flow rate is reduced by more than a certain amount, the temperature in the area near the LED 750 may increase. In some embodiments, the controller may interpret this increase as a reduction in the flow rate of the irrigation fluid. In response, the controller may generate a notification to the user to this effect.

[0311] Fig.55A flowchart detailing a number of example steps that a controller may use to control an LED in an insert 14 based on a sensed temperature is depicted. In step 756, the controller receives a data sample from a temperature sensor near the LED. The controller then analyzes the data sample in step 758. If 760 the temperature is not outside a first predetermined range, step 756 may be repeated. If 760 the temperature is outside the first predetermined range, the controller may convert one or more LEDs from a first state to a second state in step 762. The temperature range may have a high limit between 40-50 degrees Celsius (e.g., 50 degrees Celsius). The first state may be a high light output intensity on state, and the second state may be an off state. In the example flowchart, the second state is a dimmed or extinguished state. The controller receives a data sample from a temperature sensor in step 764, and analyzes the data sample in step 766. If 768 the data sample indicates that the temperature is outside a second predetermined range, step 764 may be repeated. If 768 the data sample indicates that the temperature is within the second predetermined range, at least one LED may be turned on or commanded to increase the intensity of the light it produces in step 770.

[0312] The first and second predetermined ranges may be the same, or the first and second predetermined ranges may be different, wherein the second predetermined range is smaller than the first predetermined range. This can ensure that the controller does not quickly cycle between turning on / off or dimming and increasing the intensity of the light from the LED. In some embodiments, after reaching step 762, a timer may be started. The timer may be a minimum dimming or extinguishing time timer for at least one LED whose brightness has been modified. Without passing the minimum extinguishing or dimming timer, at least one LED may not be returned or commanded to increase the light output intensity even if the temperature is within the second predetermined range. This may also help prevent rapid cycling between LED states.

[0313] Fig.56 A close-up side view of an example of an end of a protruding portion 430h of a printed circuit board 430a is depicted. As shown, the protruding portion 430h includes a first portion 430i, a second portion 430j, and a third portion 430k. The camera assembly 350 is attached to the third portion 430k. A sensor 754 is mounted on the first portion 430i near the plurality of LEDs 750a-d. The sensor 754 can be a temperature sensor such as a thermistor and can be used to help control the LEDs 750a-d. Sensors for detecting fluid environmental properties other than temperature (e.g., conductivity, pH, etc.) can also be used.

[0314] LED 750a may be a direct light source and generally projects light into the field of view 700 of camera assembly 350. LED 750a is mounted to first side 430m of first portion 430i of protruding portion 430h. LEDs 750b-d are mounted on second side 430n of first portion 430i opposite first side 430m. These LEDs 750b-d may be indirect light sources and may not project light directly into the field of view 700 of camera assembly 350 in any rotational orientation of camera assembly 350 in some embodiments. In some embodiments, LED 750a may be an array of RBG LEDs. LED 750a may be adjusted to provide a spectrum of light that may help modify the color of an image produced by an image sensor of camera assembly 350 in a desired manner. For example, LED 750a may be adjusted to correct a color cast of an image sensor of camera assembly 750a. LEDs 750b-d may be white light LEDs. As shown, the first portion 430i of the protruding portion 430h can be a thicker portion of the printed circuit board relative to the other portions 430j, 430k of the protruding portion 430h. This can allow for easy adaptation to the power requirements of the LEDs 750a-d.

[0315] The first portion 430i can transition to a second portion 430j of the protruding portion 430h. The second portion 430j can be a relatively thin flexible cable. The second portion 430j can facilitate the rotation of the camera assembly 350 around the axis of the pivot pin 366 of the camera assembly 350. As shown, the second portion 430j can have a certain length so that when the first portion 430i and the third portion 430k are parallel to each other, the second portion 430j is bent or arched. This can help allow the range of motion of the camera assembly 350 to increase.

[0316] Fig.57 An example embodiment of a camera assembly housing 330 of insert 14 is depicted. Fig.58 Depicted along Fig.57 72-72 of the camera assembly housing 330. The camera assembly housing 330 is continuous with the inner sheath 312, and the two may be formed as a single component. Figure 57 to Figure 58 As shown, the printed circuit board 430a (see for example Fig.54 ) is shown within the camera assembly housing 330. The protrusion 430h is similar to Fig.56330, and includes a camera assembly 350, a plurality of LEDs 750a-d, and an optional sensor 754. As shown, the LEDs 750a-d are arranged so that they can emit light from the top opening 338 and the bottom opening 340 of the camera assembly housing 330. The camera assembly 350 can be panned so that its field of view can sweep from the embossed opening 344 at the rounded tip 342 to the opening provided by the top gap 338. When fully assembled, the outer sheath 318 (see, e.g., Fig. 22 ) can be placed over the camera assembly housing 330 and inner jacket 312 to protect the camera assembly 350 while still providing an unobstructed field of view.

[0317] Figure 23.1 A perspective view of the distal end of the shaft of an endoscope (or arthroscope) 14 is shown, with a sensor or camera housing 500 located at the tip of the shaft. In this case, the inner sheath 312 does not have a distal-most protective cover, shield, or tip structure. At least a portion of the rotatable sensor or camera housing 500 (i.e., the distal-most portion) forms the distal-most element of the insertion end of the endoscope. Therefore, the sensor housing 500 is preferably configured to withstand repeated contact with anatomical structures including soft tissue, bone, cartilage, or joint surfaces. In an embodiment, as described above with respect to the camera housing 350, the rounded or dome-shaped camera housing 500 may also include a light source that can move with the rotatable camera housing and is continuously directed toward the field of view of the camera housing 500. The light source may include, for example, one or more LEDs or the end of a fiber optic bundle. In Figure 23.1 In the example shown, a light source 508 (in this case a row of LEDs) is positioned on one side of the shaft proximate to the location of the rotatable sensor or camera housing 500. In the illustration, the light source 508 is located on the side that directs illumination toward the general field of view of the camera / lens assembly 500 when the light source 508 is rotated to approximately 90 degrees relative to the long axis of the endoscope shaft 14. (Alternatively, the light source can be arranged opposite to the side on which the camera assembly, i.e., the lens and sensor, can be oriented). In the arrangement shown, the optical axis of the camera assembly can be generally oriented in the direction of light projected from a first side of the insertion end of the endoscope. In other arrangements, the light source is positioned on a second, opposite side of the insertion end, projecting light away from the second side of the insertion end of the endoscope, and the optical axis of the camera assembly can be generally directed toward the field of view opposite to the first side of the insertion end of the endoscope. Figure 58.1A perspective view of the latter arrangement is shown, in which light emitted by a light source 508 (an LED in this example) is directed to an area generally away from the field of view of the sensor and lens 512. An alternative second arrangement is intended to provide indirect illumination (or backlighting) of the field of view of the camera assembly based on ambient light generated by the illumination source in the operating area of ​​the endoscope. The illumination source or LED is mounted flush or recessed with the outer surface of the inner sheath or shaft of the insertion end. If recessed, the heat generated by the LED is less likely to directly contact or damage nearby tissue in the surgical area.

[0318] Reference now Fig.59 In embodiments that include at least one variable illumination source that can produce light of varying intensities and / or spectra, the endoscope 10 can be placed in a calibration fixture 780 to help set various illumination parameters. Embodiments having one or more white LEDs and one or more colored LEDs (e.g., an RBG LED array) can be placed in a calibration fixture, for example, prior to use, to adjust the intensity of the light output of its LEDs and to adjust the color output of one or more colored LEDs. This can help ensure more uniform image quality and minimize differences between endoscopes 10 that may be attributable to variations between the LEDs and / or image sensors of the endoscope 10.

[0319] The calibration fixture 780 may be a light-tight box or other volume that includes an opening 782 that is sized to fit into the insertion portion 14 of the endoscope 10. The opening 782 may be gasketed so that when the endoscope 10 is mounted in the calibration fixture 780, a light-tight seal is formed against the insertion portion 14 of the endoscope 10. The interior of the calibration fixture 780 may include one or more targets having known properties that are placed within the camera assembly 350 of the endoscope 10 (see, e.g., FIG. 1 ). Fig.57 ) within the field of view of the device. For example, a target with known color characteristics may be placed within the calibration device 780.

[0320] The controller can monitor the characteristics of one or more objects in the image captured by the image sensor of the camera assembly 350. Because the characteristics of the objects (e.g., color) are known, the controller can adjust the illumination provided by the variable light source until the characteristics of the objects in the captured image match or are within the range of the known characteristics of the object or objects. For example, the illumination provided by the plurality of LEDs 750a-d included in the insert 14 (see, e.g., Fig.56 )The intensity and / or spectrum of light produced.

[0321] Fig.60A flowchart is shown that details multiple example steps that can be used to calibrate one or more illumination parameters of at least one variable light source included in an endoscope. In step 784, a portion of an insertion portion of an endoscope including a camera assembly can be placed in a calibration device. Once inserted, a controller can command a variable illumination source in the endoscope to emit light in step 786. The light can be emitted based on default parameters (e.g., light intensity and color parameters). In step 788, the controller can receive image data from an image sensor of the endoscope camera assembly. The data can be analyzed by the controller in step 790. For example, the image data can be analyzed to determine one or more interesting characteristics of one or more targets in the captured image. In step 792, these characteristics can be compared with known or expected characteristics of one or more targets that have been imaged. If the characteristics of the target in the captured image 794 are within the range of known or expected characteristics, then in step 796, the calibration can be considered complete. If the characteristics of the one or more targets in the captured image 794 are not within the range of known or expected characteristics, then in step 798, the controller can adjust one or more illumination parameters of at least one variable illumination source of the endoscope. In an example embodiment, the intensity and / or spectrum of light generated by the at least one variable light source is adjusted in step 798. Step 788 may be repeated after the adjustment. The images may continue to be compared and analyzed, and the lighting parameters may be adjusted until the characteristics of the objects in the captured images are within a range of their known or expected values.

[0322] Various methods can be used to construct and assemble a lens or lens group to focus an image onto a sensor or camera at the distal end of the endoscope shaft. Examples of such methods and techniques are disclosed in U.S. Patent Application No. 14 / 170,080 filed on January 31, 2014 (U.S. Application Publication No. 2014 / 0221749), which is incorporated herein by reference in its entirety.

[0323] Fig.61 Another example embodiment of an endoscope 10 is shown. Fig.61 318 is shown installed on the endoscope. In addition, for clarity of description, only the lower half shell 22 of the handle proximal portion 16 and the half (30a) of the handle distal portion 30 are visible. As shown, the endoscope 10 includes a handle-enclosed printed circuit board 430a (also referred to herein as handle or main PCB430a). Electronic cables (e.g., power / HDMI cables) 432, optical fibers 364, and irrigation / suction lines 434 are also shown. Fig.61An example routing path is shown for the power / HDMI cable 432, the optical fiber 364, and the irrigation line 434. As shown, the electronic cable 432, the optical fiber 364, and the irrigation line 434 enter the endoscope 10 through an opening 60 at the rear end or docking end of the handle proximal portion 16. This entry point may be more advantageous than a handle side entry point because it reduces the likelihood of tangling of various cords and cables when the insertion portion is rotated relative to the handle proximal portion 16.

[0324] In some embodiments, the electronics cable 432, optical fiber 364 (if present), and irrigation line 434 may enter the endoscope 10 at an angle relative to the rear handle opening 60. This arrangement will provide an ergonomic benefit to the user by allowing the user to grasp a larger portion of the rear of the handle proximal portion 16.

[0325] As shown, electronic cable 432, optical fiber 364 (if implemented in endoscope) and flushing line 434 extend on a part of handle PCB 430a after entering handle proximal portion 16. Electronic cable 432 is inserted into connector 430b (e.g., power / HDMI connector) on handle PCB 430a. Electronic cable 432 can supply power to endoscope 10. Image data can be transferred to handle PCB 430a via flexible cable 250. Electronic cable 432 can transmit visual data collected by endoscope 10 to an external graphical user interface display (not shown). Optical fiber 364 (if implemented in endoscope) and flushing line 434 extend below handle PCB 430a and follow the path described above. In an embodiment where endoscope 10 is disposable, electronic cable 432, optical fiber 364 and flushing line 434 can all be included as disposable components to ensure sterility each time the endoscope is used, or to save the cost of sterilization and packaging for reuse.

[0326] In this example, the control line 91 for the button 90 is also in Fig.61 As shown in the figure, the control line 91 passes through the orifice in the sealing member 210. The control line 91 is connected to the handle PCB 430a. Fig.61 As shown, the handle PCB 430a includes a handle PCB flex cable 430e. The handle PCB flex cable 430e is connected to the handle PCB portion 430f, thereby allowing the PCB portion 430f to be oriented at a certain angle (e.g., perpendicular) to the rest of the handle PCB 430a. When assembled, the flexible attached handle PCB portion 430f can be disposed between the two potentiometers 122 of the example rotation sensing assembly 150 (see Figure 8 ).

[0327] In some embodiments, the handle PCB 430a may include an image or graphics processing unit 430c. However, preferably, the image processing unit 430c is located outside the endoscope 10. The image processing unit 430b can be used as an electronic straightening mechanism for the endoscope 10. The image processing unit 430c can receive an image captured by the image sensor 380, which is sent from the image sensor 380 to the handle PCB 430a via the flexible cable 250. In a preferred embodiment, the image captured by the image sensor 380 is then transmitted to the image processing unit 430c outside the endoscope 10 via the electronic cable 432. The image processing unit 430c can also receive a signal from the rotation sensing assembly 150. In some embodiments, an analog-to-digital converter 430d may be included on the handle PCB 430a to convert the signal from the rotation sensing assembly 150. The image processing unit 430c can use the signal from the rotation sensing assembly 150 to electronically "straighten" the image to the desired orientation. In some embodiments, the image can be rotated by the image processing unit 430c so that the image is displayed as if it were captured from the user's perspective. In some embodiments, the image processing unit 430c may also correct for the effects of lens distortion.

[0328] Unless the orientation of the image displayed on the graphical user interface is first corrected, the displayed image may confuse the user. By defining the direction according to the user's viewpoint, the image processing unit 430c can use the data from the rotation sensing component 150 to automatically rotate the image so that the image corresponds to the user's viewpoint.

[0329] Fig.62 An example block diagram of an imaging system is shown. As shown, the imaging system includes an image sensor 380 that captures an image. The image captured by the image sensor 380 can be passed to an image processing unit 452 via a camera serial interface 450 (e.g., a MIPI camera serial interface). The image processing unit 452 (IPU) can then move the image frame to other hardware components in the imaging system. Other hardware components may include, but are not limited to, a memory device and a graphics processing unit 430c (GPU). The graphics processing unit 430c can correct any distortion caused by the lens assembly 354.

[0330] In some embodiments, the graphics processing unit 430c can correct the distortion by representing the image as a texture on a surface that has been loaded into the graphics processing unit 430c. This can cause the image to be adjusted or stretched in a manner that corrects and / or eliminates the distortion introduced by the lens assembly 354. In embodiments where the image is corrected, the graphics processing unit 430c can then rotate the corrected image via input from the rotation sensing assembly 150 (e.g., see Figure 8). For example, the measurements from the rotation sensing assembly 150 may be passed to the graphics processing unit 430c via the analog-to-digital converter 430d (see, e.g., FIG. 61 ). The signal from the analog-to-digital converter 430d may then be used to rotate the image to its correct orientation. In some embodiments, the user may be able to toggle image straightening, distortion correction, and / or various other image operations that may be turned on or off. This will be discussed later in conjunction with FIG. Fig.63 Image straightening is described further in the specification.

[0331] The processed image from the image processing unit 430c can then be displayed on a graphical user interface or display 454. In some embodiments, the processed image from the image processing unit 430c can be stored in memory. In such an embodiment, for example, a user can capture an image to be stored in memory for later recall by triggering button 90. Some embodiments may include a video processing unit 456, which can encode frames from the image sensor 380 into a recordable video format. In such an embodiment, the encoded video can then be stored in memory. The user can command the endoscope to start and stop video capture by interacting with a button such as button 90 described above.

[0332] In some embodiments, the image processing unit 430c may also perform exposure feedback analysis on the captured image. In certain embodiments, an image histogram may be created from all pixels of the image. The image histogram may then be used to adjust the image or to adjust the exposure of subsequent images received by the image chip or sensor 380. Such further processing by the image processing unit 430c may help reduce blown-out white areas of the image or underexposed dark areas of the image. Other means of adjusting one or more images, such as tone mapping, etc., may also be used.

[0333] Fig.63 An example diagram illustrating how to use input from a rotation sensing assembly 150 (e.g., see FIG. 63 ) to straighten an image is depicted. As shown, a first frame 2100 and a second frame 2102 are shown. An endoscope 10 having a field of view 2104 is depicted within each frame 2100, 2102. The field of view 2104 of the endoscope 10 in the first frame 2100 is oriented approximately 180 degrees from the endoscope 10 in the second frame 2102. This can be achieved by rotating the distal end of the endoscope 10 relative to the proximal end of the endoscope 10. In a conventional endoscope 10, the image sensor does not rotate during the rotation of the distal portion relative to the proximal portion because the image sensor is housed in the proximal portion. Therefore, the endoscope 10 shown in the first frame 2100 and the second frame will both capture an image 2106.

[0334] This is not the case in some embodiments described herein, in which the image sensor 380 rotates with the distal end of the endoscope 2106. The endoscope 10 shown in the first frame 2100 will capture the image 2106, while the same endoscope 10 rotated to the position shown in the second frame 2102 will capture the image 2108. When the image sensor rotates with the distal end of the endoscope 10, the image sensor will invert the image. For example, in this position, the top of the image sensor will pick up the bottom of the image that someone accustomed to a conventional endoscope 10 would expect.

[0335] Alternatively, the image may rotate in proportion to the degree of rotation of the distal end of the endoscope 10. Thus, the image may always be displayed in a manner expected by a user accustomed to conventional endoscopes 10. This may help alleviate problems associated with rotating image sensors.

[0336] The various embodiments shown in the drawings are only intended to illustrate certain examples of the features of the present disclosure. Not all features shown in any given drawing are necessarily included in the claimed device or feature. The drawings are for illustrative purposes only; therefore, the size of some elements may be exaggerated and not drawn to a particular scale. In addition, elements shown in the drawings with the same reference numerals may be the same elements, or may represent similar or analogous elements, depending on the context.

[0337] Any terms, such as "first", "second", "third", etc., whether used in the specification or in the claims, are intended to distinguish between similar elements and not necessarily to describe a sequential or chronological order. It should be understood that the terms so used are interchangeable where appropriate (unless otherwise clearly stated), and that the embodiments of the present disclosure described herein are capable of operation in other sequences and / or arrangements than those described or illustrated herein.

Claims

1. An endoscope including a handle, comprising: a proximal handle housing configured to house an electronic processing board for processing signals from an image sensor positioned at a distal end of a shaft of the endoscope; a distal handle housing configured to hold the electronic processing board in a fixed position relative to the distal handle housing; an endoscope shaft fixed to the distal handle housing and moving with the distal handle housing; one or more rotation sensing magnets attached to an inner wall of the proximal handle housing, the rotation sensing magnets being positioned proximate to a first Hall effect sensor on the electronic processing board, The electronic control button on the handle includes a member that encloses an electronic control magnet located above or near a second Hall effect sensor on the electronic processing board, wherein the proximal handle housing is rotatable relative to the distal handle housing, and the first Hall effect sensor is configured to provide a rotational position signal to the electronic processor indicative of a relative rotation of the proximal handle housing relative to the distal handle housing, wherein the second Hall effect sensor is configured to provide a button position signal corresponding to the position of the member of the electronic control button relative to the second Hall effect sensor, and Wherein the second Hall effect sensor is configured to provide a button duration signal corresponding to a duration that the component of the electronic control button is maintained in a predetermined position.

2. The endoscope according to claim 1, wherein: The electronic processor is connected to a user interface that displays an image generated by the image sensor, and wherein a rotational orientation of the image is changed by a change in relative rotation of the proximal handle housing with respect to the distal handle housing.

3. The endoscope according to claim 1, wherein: The electronic control button is located on the distal handle housing.

4. The endoscope according to claim 1, wherein: The second Hall effect sensor is configured to provide a combined signal corresponding to a predetermined sequence of two or more presses and releases of the electronic control button or to a release of the electronic control button between presses of two or more variable durations.

5. The endoscope according to claim 1, wherein: The electronic control button is configured to cause an electronic controller in communication with the electronic processing board to start recording images generated by the image sensor, stop recording images generated by the image sensor, or capture images generated by the image sensor based on movement or release of the button by a user.

6. The endoscope according to claim 1, wherein: The electronic control button is configured to cause an electronic controller in communication with the electronic processing board to turn on, off, or adjust a light source at a distal insertion end of a shaft of the endoscope based on movement or release of the electronic control button by a user.

7. The endoscope according to claim 1, wherein: The positions of the electronic control button include positions having a first duration or a longer second duration, a predetermined sequence of two or more presses and releases of the electronic control button, or a release of the electronic control button between presses of two or more variable durations.

8. An endoscope comprising: a handle enclosing an electronic processing board for processing signals from an image sensor positioned at a distal end of a shaft of the endoscope, wherein the handle comprises a proximal handle portion and a distal handle portion, the electronic processing board being secured to the distal handle portion, wherein the proximal handle portion is rotatable relative to the distal handle portion; an endoscope shaft fixed to the distal handle portion and moving with the distal handle portion; The electronic control button on the handle includes a member enclosing a magnet; The magnet is located above or near the portion of the electronic processing board where the Hall effect sensor is located; wherein pressing, releasing or moving the electronic control button changes the position of the magnet relative to the Hall effect sensor, generating a corresponding corresponding signal generated by the Hall effect sensor, and Wherein, the Hall effect sensor is configured to provide a button duration signal corresponding to the duration that the electronic control button is held in a predetermined position.

9. The endoscope according to claim 8, wherein: The electronic control button is configured to cause an electronic controller connected to the electronic processing board to start recording images generated by the image sensor, stop recording images generated by the image sensor, or take a photo of the image generated by the image sensor based on movement or release of the electronic control button by a user.

10. The endoscope according to claim 8, wherein: The electronic control button is configured to cause an electronic controller connected to the electronic processing board to turn on, off or adjust a light source located at a distal insertion end of a shaft of the endoscope based on movement or release of the electronic control button by a user.

11. The endoscope according to claim 8, wherein: The pressing, moving or releasing of the electronic control button includes a position having a first duration or a longer second duration, a predetermined sequence of two or more pressings and releasing of the electronic control button, or a release of the electronic control button between two pressings of two or more variable durations.

12. The endoscope according to claim 8, wherein: The electronic control button is located on the distal handle portion.

13. The endoscope according to claim 8, wherein: The Hall Effect sensor is configured to provide a combined signal corresponding to a predetermined sequence of two or more presses and releases of the electronic control button or to a release of the electronic control button between presses of two or more variable durations.

Images