Endoscope module and modular endoscope device comprising same

Abstract

A modular endoscope device according to one embodiment includes: a base portion; a drive portion disposed in the base portion; and an endoscope module including (i) an endoscope housing detachably disposed in the base portion, (ii) an insertion tube having a flexible bend and connected to the endoscope housing for insertion into a subject's body, and (iii) a curved guide configured to transmit force to bend the bend, wherein the endoscope module is detachably connected to the base portion, and the drive portion can transmit power to the curved guide when the endoscope module is attached to the base portion, and the drive portion may be unable to transmit power to the curved guide when the endoscope module is detached from the base portion.

Description

Technical Field

[0001] The following description relates to an endoscope module and a modular endoscope device including the same. Background Technology

[0002] Due to its flexibility, a flexible endoscope can be inserted into the human body through a natural orifice (such as the mouth, anus, vagina, urethra, etc.) and along the curved organ. It is used by doctors to perform examinations while viewing the endoscope screen.

[0003] Generally, a flexible endoscope is inserted into a patient's organ, cleaned after the examination or surgery, and then reused. However, if cleaning or sterilization is not performed correctly, there is a risk of contaminated instruments coming into contact with the subject's mucous membranes and causing a fatal infection.

[0004] Furthermore, because flexible endoscopes need to be inserted into the body along narrow and curved passages within organs, the instruments must be both flexible and rigid to generate the forces required for the surgery. Therefore, a guidewire is typically used to transmit driving force through this flexible endoscope, and a tendon-sheath mechanism is used to maintain the guidewire's length by wrapping it with a sheath.

[0005] Reference Figure 1a This allows for confirmation of the removal of stones formed in the kidney via ureteroscopic endoscopy. For example... Figure 1a As shown, when removing stones formed deep in the kidney via endoscopy, the endoscope's insertion tube may need to bend at large angles, such as 180° to 270°, along a winding path inside the kidney.

[0006] Therefore, as Figure 1a and Figure 1b As shown, when the endoscope's insertion tube is bent close to 270°, it may increase the friction between the wires used to bend the insertion tube and the insertion tube or sheath.

[0007] In tendon sheath mechanisms, the friction between the guidewire and the sheath can reduce the rate of tension transmission and decrease control precision, thus potentially reducing the control performance of such flexible endoscopes that bend within the body.

[0008] Therefore, there is an increasing need to develop disposable flexible endoscopes that can fundamentally prevent infection problems caused by reusing flexible endoscopes and minimize the reduction in driving accuracy due to wire friction. Summary of the Invention

[0009] Technical problems to be solved

[0010] One embodiment aims to provide a modular endoscope device.

[0011] Technical methods for solving problems

[0012] A modular endoscope device according to one embodiment includes: a base portion; a drive portion disposed in the base portion; and an endoscope module including (i) an endoscope housing detachably disposed in the base portion, (ii) an insertion tube having a flexible bend and connected to the endoscope housing for insertion into a subject's body, and (iii) a curved guide configured to transmit force to bend the bend, wherein the endoscope module is detachably connected to the base portion, and the drive portion can transmit power to the curved guide when the endoscope module is attached to the base portion, and the drive portion may be unable to transmit power to the curved guide when the endoscope module is removed from the base portion.

[0013] The endoscope module may include: a first clamping portion movably disposed relative to the endoscope housing and clamping one side of the curved wire to transmit force to the curved wire; and a second clamping portion movably disposed relative to the endoscope housing and clamping the other side of the curved wire to transmit force to the curved wire; and the driving portion may include: a first driving coupler movably disposed relative to the base portion and detachably connected to the first clamping portion; and a second driving coupler movably disposed relative to the base portion and detachably connected to the second clamping portion.

[0014] The driving unit may further include: a first driving source for slidingly driving the first driving coupler along the longitudinal direction of the insertion tube; and a second driving source for slidingly driving the second driving coupler along the longitudinal direction of the insertion tube.

[0015] The modular endoscope device further includes a control unit that drives the drive unit to move the first clamping part and the second clamping part in different directions, thereby bending the insertion tube. The control unit can repeatedly move the first clamping part and the second clamping part within a separately set micro-displacement range to repeatedly translate the bent wire relative to the insertion tube.

[0016] The endoscope module may further include: a coil sheath surrounding the circumference of the curved wire inserted into the insertion tube and guiding the path of the curved wire being driven; and a sheath stop for supporting the coil sheath to prevent the coil sheath from retracting from the insertion tube.

[0017] The modular endoscope device may also include a vibrating unit that vibrates the coil sheath by vibrating the sheath stopper, thereby reducing the friction between the coil sheath and the curved wire.

[0018] The modular endoscope device may also include a control unit that controls the magnitude of the vibration force generated by the vibrating unit in proportion to the bending angle of the insertion tube.

[0019] The modular endoscope device may further include: a camera housing disposed on the base portion and having an imaging device; and a camera tube detachably connected to the camera housing and connected to the imaging device to perform imaging in a bend of the insertion tube.

[0020] An endoscope module according to one embodiment may include: an endoscope housing; an insertion tube having a flexible bend and connected to the endoscope housing for insertion into the body of a subject; a bending wire that transmits force to bend the bend; a coil sheath surrounding the circumference of the bending wire inserted into the insertion tube and guiding the path of the bending wire; a sheath stop for supporting the coil sheath to prevent the coil sheath from retracting from the insertion tube; and a vibrating part that vibrates the coil sheath by vibrating the sheath stop to reduce friction between the coil sheath and the bending wire.

[0021] The endoscope module may also include a control unit that controls the magnitude of the vibration force generated by the vibrating unit in proportion to the bending angle of the insertion tube.

[0022] The effects of the invention

[0023] According to one embodiment of the modular endoscope device, since the endoscope module has a configuration that allows for easy connection, disassembly, and replacement in a modular manner, infection problems caused by endoscopic examinations can be prevented. Furthermore, since the endoscope module is disposable, and a new endoscope module can be installed and used after removal, sterilization costs can be reduced. Additionally, the problem of reduced bending angle due to instrument aging can be prevented.

[0024] According to one embodiment of the modular endoscope device, a vibrating sheath stopper is used to bend the flexible insertion tube or the sheath, thereby reducing the frictional resistance between the lead wire and the sheath. This, in turn, steadily improves the efficiency of force transmission through the lead wire and reduces control errors. Based on this effect, the loss of bending angle of the tube supplying the insertion basket or laser can be reduced, thereby effectively extracting stones formed in the renal calyx region, which can only be reached when the tube is bent at approximately 270°. Attached Figure Description

[0025] Figure 1a and Figure 1b The accompanying diagram illustrates the process of removing stones inside the kidney via ureteroscopic endoscopy.

[0026] Figure 2 A perspective view of a modular endoscope device according to an embodiment.

[0027] Figure 3 A block diagram illustrating a modular endoscope device according to one embodiment.

[0028] Figure 4 To show a partial perspective view of the interior of an endoscope module according to one embodiment.

[0029] Figure 5a and Figure 5b A cross-sectional view showing the connection structure of the bent wire and coil sheath according to an embodiment.

[0030] Figure 6 A cross-sectional view showing the state of contact between the bent wire and the coil sheath, according to an embodiment of the bending motion of the bent wire.

[0031] Figure 7a A perspective view showing a configuration in which the endoscope module is separated according to one embodiment.

[0032] Figure 7b To display Figure 7a The attached diagram shows the lower surface of region A.

[0033] Figure 8 An exploded perspective view of the base portion according to one embodiment is shown.

[0034] Figure 9 The accompanying drawing illustrates the structure of an endoscope module that is bent in one direction according to an embodiment.

[0035] Figure 10 The accompanying drawing illustrates the structure of an endoscope module bent in another direction according to one embodiment. Detailed Implementation

[0036] The embodiments will now be described in detail with reference to the accompanying drawings. When assigning reference numerals to the constituent elements in the various drawings, the same reference numerals will be used as much as possible, even if the same constituent elements are shown in different drawings. In describing the embodiments, detailed descriptions of relevant well-known technologies will be omitted when it is determined that such detailed descriptions would unnecessarily obscure the embodiments.

[0037] Furthermore, when describing the constituent elements of the embodiments, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish one constituent element from other constituent elements and are not used to limit the nature or order of the corresponding constituent elements. For example, a first constituent element may be referred to as a second constituent element, and similarly, a second constituent element may be referred to as a first constituent element. In addition, it should be understood that when the specification describes a constituent element as "connected," "joined," or "contacting" another constituent element, a third constituent element may be "connected," "joined," or "contacting" between the first and second constituent elements, although the first constituent element may be directly connected, joined, or contacting the second constituent element.

[0038] When a constituent element has a common function with a constituent element in one embodiment, the same name is used to describe that constituent element in other embodiments. Unless otherwise stated, the description of one embodiment is applicable to other embodiments, and detailed descriptions of repetitive content are omitted.

[0039] Figure 2 A perspective view of a modular endoscope device according to an embodiment; Figure 3 A block diagram illustrating a modular endoscope device according to one embodiment; Figure 4 To show a partial perspective view of the interior of an endoscope module according to one embodiment; Figure 5a and Figure 5b A cross-sectional view showing the connection structure of the bent wire and coil sheath according to an embodiment; Figure 6 A cross-sectional view showing the state of contact between the bent wire and the coil sheath, according to an embodiment of the bending motion of the bent wire.

[0040] Reference Figures 2 to 6 According to one embodiment, the modular endoscope device 1 may include: a base 11, a camera module 13, a surgical tool module 14, an endoscope module 12, a drive unit 15, and a control unit 16.

[0041] The base portion 11 may be a component on which the endoscope module 12 is mounted and serves as a reference for the operation of the endoscope module 12. For example, the camera module 13 and the surgical tool module 14 may be mounted on the base portion 11 to connect to and operate the endoscope module 12.

[0042] For example, the base portion 11 may include a surface on which the camera module 13, surgical tool module 13 and endoscope module 12 are mounted, and this surface may be referred to as the mounting portion 111.

[0043] For example, the endoscope module 12 can be mounted in front of the camera module 13 and the surgical tool module 14 on the base portion 11 in the direction of the protrusion of the insertion tube 124 of the endoscope module 12 (described later).

[0044] The camera module 13 may include a camera housing 131 mounted on the base portion 11 and a camera tube 132 protruding outward from the camera housing 131.

[0045] The camera housing 131 can be mounted on and fixed to the base portion 11. For example, the camera housing 131 may have a device for performing imaging via the camera tube 132.

[0046] The camera tube 132 may be an optical fiber that transmits images by connecting to an imaging device included in the camera housing 131. The camera tube 132 may pass through the insertion tube 124 of the endoscope module 12 to perform imaging. The camera tube 132 is detachably connected to the camera housing 131, thereby allowing the camera tube 132 to be easily replaced when the endoscope module 12 is detached from the base portion 11.

[0047] The surgical tool module 14 may include a surgical tool housing 141 mounted on the base portion 11 and a surgical tool tube 142 protruding outward from the surgical tool housing 141.

[0048] The surgical tool housing 141 can be mounted on and secured to the base portion 11. For example, the surgical tool housing 141 may include a separate drive mechanism for operating the surgical tool tube 142. The drive mechanism should be interpreted as including both actively driven and manually driven mechanisms.

[0049] The surgical tool tube 142 may be a tubular surgical tool that protrudes from the surgical tool housing 141. For example, the surgical tools forming the surgical tool tube 142 may include various surgical tools for endoscopy, such as baskets, cauterizers, scissors, or forceps.

[0050] The surgical tool tube 142 can pass through the insertion tube 124 of the endoscope module 12 to manipulate the surgical site or remove or capture stones.

[0051] The endoscope module 12 can pass through the insertion tube 124 to perform endoscopic examinations or surgeries, wherein the insertion tube 124 is mounted on the base portion 11 and inserted into the body of the subject.

[0052] The endoscope module 12 is detachably connected to the base portion 11. For example, the endoscope module 12 and the base portion 11 can be detachably provided by various methods known to those skilled in the art (e.g., assembly methods or threaded connections), and their detailed description will be omitted. The endoscope module 12 may include an endoscope housing 121, an insertion tube 124, a coil sheath 126, a bent wire 125, a sheath stop 127, a vibrating part 123, and a bending assembly 122.

[0053] The endoscope housing 121 may be a housing-type component detachably connected to the base portion 11. For example, the endoscope housing 121 may include a camera port 1211 housing a camera tube 132, a surgical tool port 1212 housing a surgical tool tube 142, and an insertion tube port 1213 housing an insertion tube 124, wherein the insertion tube 124 protrudes from the interior of the endoscope housing 121 to the exterior. Here, the direction in which the insertion tube 124 protrudes from the endoscope housing 121 may be referred to as the "protrusion direction".

[0054] For example, the insertion tube port 1213 may be formed in a portion of the endoscope housing 121 in a protruding direction, and the camera port 1211 and the surgical tool port 1212 may be formed in a portion of the endoscope housing 121 in a direction opposite to the protruding direction.

[0055] For example, such as Figure 2 As shown, based on the endoscope housing 121, the camera module 13 and the surgical tool module 14 are arranged at intervals in opposite directions protruding from the insertion tube 124, and the insertion tube 124, the surgical tool tube 142 and the insertion tube 124 can be arranged parallel to each other.

[0056] This structure, by keeping the path leading to the camera tube 132 and the surgical tool tube 142 as straight as possible in the insertion tube 124, provides a compact structure while reducing internal friction within the insertion tube 124. This, in turn, improves the controllability of each of the camera tube 132 and the surgical tool tube 142.

[0057] The insertion tube 124 may be a flexible tube that is connected to and inserted into the body of the subject from the endoscope housing 121. For example, the insertion tube 124 may include a channel 1241 and a bend 1242.

[0058] Channel 1241 is a hollow space formed internally along the longitudinal direction of insertion tube 124, into which camera tube 132 and / or surgical tool tube 142 can be inserted and pass through. For example, channel 1241 can be formed as a single hollow space for camera tube 132 and surgical tool tube 142 to pass through together; however, it can also be formed as multiple hollow spaces to accommodate camera tube 132 and surgical tool tube 142 respectively.

[0059] The bend 1242 is located at the end of the insertion tube 124 and may include a flexible structure. For example, the bend 1242 may include a plurality of annular members having holes communicating with the channel 1241, and connecting portions respectively arranged among the plurality of annular members and connecting adjacent annular members to rotate relative to each other. For example, the connecting portion may have a rotary joint structure. For example, the annular connecting portion may be formed of a flexible material to allow adjacent annular members to rotate relative to each other. Unless otherwise stated, methods known to those skilled in the art can be applied to the bend 1242, and the drawings are shown conceptually only.

[0060] The insertion tube 124 can accommodate a bent wire 125 inserted along the outer edge of the longitudinal insertion channel 1241 and fixed to the end of the bend 1242, as well as a coil sheath 126 inserted along the outer edge of the longitudinal insertion channel 1241 and fixed to the beginning of the bend 1242. In other words, a hole can be formed in the outer edge of the channel 1241 to accommodate the bent wire 125 and the coil sheath 126.

[0061] The bent wire 125 can transmit the force used to bend the bend 1242. For example... Figure 5b As shown, the bending wire 125 is driven by the bending assembly 122 and transmits force to the end of the bending portion 1242, thereby bending the bending portion 1242. Depending on the direction in which the bending wire 125 is pulled, the bending portion 1242 can perform a bending operation in the corresponding direction. Furthermore, in this document, "bending wire 125" does not necessarily mean a single strand. For example, although the figures show that both ends of a single bending wire 125 are fixed to both sides of each bending portion 1242, and the middle portion of the bending wire 125 is supported by the bending assembly 122, unlike the figures, one end of each of two separate bending wires 125 can be fixed to both sides of the bending portion 1242, and the other end can be supported by the bending assembly 122.

[0062] The stiffness of the coil sheath 126 can be higher than that of the insertion tube 124. With the coil sheath 126, even when a high level of tension is applied to the bent wire 125, the probability of the insertion tube 124 being bent can be reduced, thereby maintaining the path length of the insertion tube 124 and the bent wire 125. In other words, the control accuracy of the bend 1242 of the bent wire 125 can be improved. Furthermore, the coil sheath 126 is configured to surround the circumference of the bent wire 125, and the inner diameter of the coil sheath 126 can be larger than the outer diameter of the bent wire 125. With the coil sheath 126, friction that may be caused by direct contact between the outer surface of the bent wire 125 and the inner surface of the insertion tube 124 can be prevented, allowing the bent wire 125 to be driven smoothly. For example, the coil sheath 126 can be formed as a coil extension that continuously surrounds the circumference of the bent wire 125.

[0063] One end of the coil sheath 126 can be fixed to the starting part of the bend 1242, while the other end of the coil sheath 126 can be fixed to the sheath stop 127 provided outside the insertion tube 124.

[0064] The sheath stop 127 allows the curved wire 125, protruding outside the insertion tube 124, to pass through and can support the coil sheath 126 to prevent it from retracting from the insertion tube 124. The sheath stop 127 may have a hollow portion through which the curved wire 125 passes. The diameter of the hollow portion may be larger than the diameter of the curved wire 125 and smaller than the diameter of the coil sheath 126. Therefore, the curved wire 125 can move longitudinally without interference from the sheath stop 127, and the coil sheath 126 can be restrained and fixed thereto by the sheath stop 127, preventing further movement of the coil sheath 126 in the direction of its protrusion from the insertion tube 124.

[0065] The vibrating part 123 can be connected to the sheath stop 127 to vibrate the sheath stop 127. For example, the vibrating part 123 may include a vibrating block 1232 which is connected to the sheath stop 127 inside the endoscope module 12 and exposed from the portion of the endoscope module 12 connected to the base portion 11; and a vibration actuator 1231 which is disposed in the base portion 11 and connected to the vibrating block 1232 to generate a vibrating force.

[0066] For example, such as Figure 7a and Figure 7b As shown, the vibration actuator 1231 may have a protruding shape that extends beyond the mounting portion 111, and the vibration block 1232 may have a groove that allows a portion of the endoscope module 12 exposed to the mounting portion 111 to engage with the protruding portion of the vibration actuator 1231.

[0067] With this structure, when the endoscope module 12 is installed in the base part 11, the vibration actuator 1231 and the vibration block 1232 can be connected to each other, so that the vibration generated in the vibration actuator 1231 can vibrate the sheath stop 127 through the vibration block 1232.

[0068] For example, the vibration actuator 1231 may include an ultrasonic vibrator, an actuator that vibrates in at least one direction, or an eccentric motor that generates vibration through rotational force.

[0069] The vibrating part 123 can vibrate the coil sheath 126 relative to the bent wire 125 by vibrating the sheath stopper 127 relative to the bent wire 125, thereby reducing the friction between the bent wire 125 and the coil sheath 126.

[0070] Figure 6The illustration exemplifies the buckling state of the coil sheath 126 due to the compressive force applied to it when the insertion tube 124 is bent at a specific angle or greater, or when a tension greater than a specific magnitude is applied to the bent wire 125. As shown, when the cross-section of the linear material forming the coil shape of the coil sheath 126 is circular, slippage may easily occur near the linear material due to the compressive force. As shown, when bent at a specific angle α, the unit distance of the coil member in the longitudinal direction of the bent wire 125 can decrease from “2r” to “2r cosα”. In this case, a relative length difference may occur between the coil sheath 126 and the bent wire 125, and a portion of the bent coil sheath 126 may exert a normal force on the bent wire 125, thereby increasing mutual friction. As a result, the tension transmission rate through the bent wire 125 may decrease, and tension may be irregularly formed according to the curvature of the bent coil sheath 126, potentially leading to errors in the control amount through the bent wire 125. However, experiments have confirmed that when the coil sheath 126 is finely vibrated by the aforementioned vibrating part 123, the frictional force generated between the coil sheath 126 and the bent wire 125 can be reduced. This improves the force transmission efficiency of the bent wire 125 and effectively reduces control errors. In the case of existing endoscopes, due to this internal friction, it is difficult to drive the bent wire 125 when bent at specific angles (e.g., 180° to 270°), and this problem becomes more pronounced as the endoscope ages. However, according to the embodiment, this problem can be effectively solved, and as a result, it has been confirmed that the bent wire 125 can be driven without limitation even when the endoscope is bent to 270°.

[0071] Figure 7a A perspective view showing a configuration in which the endoscope module is separated according to one embodiment; Figure 7b To display Figure 7a The attached diagram shows the lower surface of region A. Figure 8 To show an exploded perspective view of the base portion according to one embodiment; Figure 9 The accompanying drawings are for illustrative purposes only and show the structure of an endoscope module that is bent in one direction according to an embodiment. Figure 10 The accompanying drawing illustrates the structure of an endoscope module bent in another direction according to one embodiment.

[0072] In the following text, reference will be made to Figures 7a to 10 This describes the bending operation of the endoscope module 12 of a modular endoscope device 1 according to an embodiment, and the modular provision of components for easy replacement. According to an embodiment of the modular endoscope device 1, by replacing only the endoscope module 12 that is already in use and maintaining the relatively expensive drive unit 15, the cost increase can be reduced while fundamentally preventing infection problems caused by the endoscope module 12.

[0073] The insertion tube 124 can be bent by a bending assembly 122, wherein the bending assembly 122 transmits force through a bending wire 125. The bending assembly 122 can be disposed in the endoscope housing 121 to clamp the bent wire 125 protruding outside the insertion tube 124. The bending assembly 122 may include a pulley 1221 on which the bent wire 125 is suspended, a first clamping part 1222 on one side clamping the bent wire 125, and a second clamping part 1223 on the other side clamping the bent wire 125.

[0074] The pulley 1221 can be positioned between the first clamping part 1222 and the second clamping part 1223 on the path through which the curved wire 125 passes, thereby supporting the curved wire 125.

[0075] For example, the first clamping part 1222 and the second clamping part 1223 can be configured to be connected to the drive part 15 respectively and movable relative to the endoscope housing 121. The first clamping part 1222 and the second clamping part 1223 can slide along the longitudinal direction of the curved guide wire 125, and the sliding direction can be parallel to the protrusion direction. For example, with the center line of the insertion tube 124 parallel to the protrusion direction as a reference, the first clamping part 1222 and the second clamping part 1223 can be arranged side by side on both sides. The sliding direction of the first clamping part 1222 can be opposite to the sliding direction of the second clamping part 1223.

[0076] For example, the first clamping portion 1222 and the second clamping portion 1223 can be detachably connected to the drive portion 15 by an assembly method or the like. For example, portions of the first clamping portion 1222 and the second clamping portion 1223 connected to the drive portion 15 can be exposed outside the endoscope housing 121.

[0077] For example, such as Figure 7a and Figure 7b As shown, a cut hole may be formed in the endoscope housing 121, exposing portions of the first clamping portion 1222 and the second clamping portion 1223 connected to the drive portion 15 to the outside. Each clamping portion 1222, 1223 may include a groove or a protrusion, which respectively engages with the first drive coupler 1521 and the second drive coupler 1522 of the drive portion 15 exposed on the mounting portion 111.

[0078] A drive unit 15 is disposed on the base portion 11 and connected to the endoscope module 12 to slide the first clamping portion 1222 and the second clamping portion 1223 in the protruding direction. The drive unit 15 can bend the insertion tube 124 by sliding the first clamping portion 1222 and the second clamping portion 1223 in opposite directions. For example, the drive unit 15 may include a drive source 151 and a drive coupler 152.

[0079] The drive source 151 can transmit power to the clamping portions 1222 and 1223 via the drive coupler 152. For example, the drive source 151 can be located inside the mounting portion 111. The drive source 151 can be driven by, for example, hydraulic pressure, pneumatic pressure, or electricity.

[0080] The drive source 151 may include a first drive source 1511 for sliding the first clamping part 1222 and a second drive source 1512 for sliding the second clamping part 1223.

[0081] In the case of linear types, for example, each drive source 1511, 1512 may include a linear structure (such as a linear guide, ball screw or cylinder, etc.) that transmits translational motion force and a slider 15111, 15121 that moves linearly in a direction parallel to the longitudinal direction of the linear structure.

[0082] In the case of rotation, for example, each drive source 1511, 1512 may include a rotating pulley, a wire wound around the rotating pulley, and sliders 15111, 15121 respectively connected to both sides of the wire. As another example, each drive source 1511, 1512 may include a pinion, a rack meshing with both sides of the pinion, and sliders 15111, 15121 respectively connected to the racks on both sides. Specific structural descriptions will be omitted in this case.

[0083] Drive coupler 152 is connected to drive source 151 and extends to the outside of base portion 11, thereby connecting to first clamping portion 1222 and second clamping portion 1223. Drive coupler 152 may include a first drive coupler 1521 connected to the first clamping portion 1222 via slider 15111 of the first drive source 1511, and a second drive coupler 1522 connected to the second clamping portion 1223 via slider 15121 of the second drive source 1512. Figure 7a and Figure 7b As shown, a cut hole can be formed in the mounting part 111, so that the first drive coupler 1521 and the second drive coupler 1522 are exposed to the outside.

[0084] For example, the first drive coupler 1521 and the second drive coupler 1522 have protruding shapes extending beyond the mounting portion 111, and the first clamping portion 1222 and the second clamping portion 1223 have groove shapes corresponding to the protruding shapes, thereby allowing them to couple with each other. Or, as Figure 7a and Figure 7b As shown, the first clamping part 1222 and the second clamping part 1223 can be arranged inside so that they do not protrude outside the endoscope housing 121.

[0085] The control unit 16 can perform the bending operation of the insertion tube 124 and the vibration movement of the coil sheath 126. The control unit 16 can drive the drive source 151 to perform the sliding operation of the first clamping part 1222 and the second clamping part 1223. For example, the control unit 16 can translate the two drive sources 151 in opposite directions to adjust the bending direction and degree of bending of the insertion tube 124.

[0086] For example, such as Figure 9 As shown, when the second linear operating part 1512 moves backward in the protruding direction while the first linear operating part 1511 moves forward, the second clamping part 1223 can stretch the bent wire 125, and the first clamping part 1222 can guide the bent wire 125 to a position where it is further inserted into the insertion tube 124. As a result, the insertion tube 124 can perform a bending operation in the direction of the second clamping part 1223 that stretches the bent wire 125.

[0087] Conversely, such as Figure 10 As shown, when the first linear operation unit 1511 moves backward and the second linear operation unit 1512 moves forward, the first clamping part 1221 can stretch the bent wire 125, while the second clamping part 1223 can guide the bent wire 125 to a position where it is further inserted into the insertion tube 124. As a result, the insertion tube 124 can perform a bending operation in the direction of the first clamping part 1222 that stretches the bent wire 125.

[0088] The control unit 16 can vibrate the sheath stop 127 by driving the vibration unit 123. For example, the control unit 16 can generate relative vibration motion between the bent wire 125 and the coil sheath 126 in the longitudinal direction of the bent wire 125 by the vibration unit 123, thereby reducing the frictional resistance between the bent wire 125 and the coil sheath 126.

[0089] For example, the control unit 16 can adjust the magnitude of the vibration force through the vibration unit 123 proportionally to the bending angle of the insertion tube 124. This allows for flexible response to varying frictional resistance between the bent wire 125 and the coil sheath 126, depending on the degree of bending of the insertion tube 124. For example, the bending angle of the insertion tube 124 can be determined based on the relative distance between the sliders 15111 and 15121 of each of the two drive sources 151.

[0090] For example, the control unit 16 repeatedly moves the first clamping part 1222 and the second clamping part 1223 within a micro-displacement range respectively by the drive unit 15, thereby allowing the bent wire 125 to perform repeated translational motion relative to the coil sheath 126 within the micro-displacement range.

[0091] Therefore, in addition to reducing the frictional resistance between the bent wire 125 and the coil sheath 126 by the vibration of the sheath stopper 127, the bent wire 125 can be repeatedly moved within a micro-displacement range by the drive unit 15, thereby further reducing the frictional resistance more effectively.

[0092] In addition, friction can be reduced simply by the repeated translational movement of the bending wire 125 through the drive unit 15, without the need for vibration of the sheath stop 127.

[0093] According to one embodiment of the modular endoscope device, since the endoscope module has a configuration that allows for easy connection, disassembly, and replacement in a modular manner, infection problems caused by endoscopic examinations can be prevented.

[0094] According to one embodiment of the modular endoscope device, the flexible insertion tube or the sheath is bent by a vibrating sheath stopper of the vibrating part, thereby reducing the frictional resistance generated between the wire and the sheath, thereby steadily improving the efficiency of force transmission through the wire and reducing control errors.

[0095] In summary, the embodiments have been described with reference to the limited accompanying drawings. Those skilled in the art can make various modifications and variations based on the description. For example, appropriate results can be obtained by performing the described techniques in a different order than the described methods, and / or by combining or integrating the described systems, structures, devices, circuits, and other constituent elements in a different manner than the described methods, or by replacing or substituting them with other constituent elements or equivalents.

Claims

1. A modular endoscope device, characterized in that, include: Base section; A drive unit is provided in the base portion; as well as An endoscope module comprising (i) an endoscope housing detachably disposed in the base portion, (ii) an insertion tube having a flexible bend and connected to the endoscope housing for insertion into the body of a subject, and (iii) a flexible guide wire configured to transmit force to bend the bend. The endoscope module further includes: A first clamping portion, movably disposed relative to the endoscope housing, clamps one side of the bent wire to transmit force to the bent wire; and A second clamping part, which is movably disposed relative to the endoscope housing, clamps the other side of the curved wire to transmit force to the curved wire. The drive unit includes: A first drive coupler, which is movably disposed relative to the base portion and detachably connected to the first clamping portion; and The second drive coupler is movably disposed relative to the base portion and detachably connected to the second clamping portion. The endoscope module is detachably connected to the base portion, and when the endoscope module is attached to the base portion, the drive unit transmits power to the curved guide wire. When the endoscope module is detached from the base portion, the drive unit cannot transmit power to the curved guide wire.

2. The modular endoscope device according to claim 1, characterized in that, The drive unit further includes: A first driving source, configured to slide the first driving coupler along the longitudinal direction of the insertion tube; and A second drive source is used to slide the second drive coupler along the longitudinal direction of the insertion tube.

3. The modular endoscope device according to claim 1, characterized in that, Also includes: A control unit drives the drive unit to move the first clamping part and the second clamping part in different directions, thereby bending the insertion tube. The control unit repeatedly moves the first clamping part and the second clamping part within a micro-displacement range respectively, so as to repeatedly translate the curved wire relative to the insertion tube.

4. The modular endoscope device according to claim 1, characterized in that, The endoscope module also includes: A coil sheath surrounds the circumference of the bent wire inserted into the insertion tube and guides the path of the bent wire as it is driven; and A sheath stopper is provided to support the coil sheath and prevent it from retracting from the insertion tube.

5. The modular endoscope device according to claim 4, characterized in that, Also includes: The vibrating part vibrates the coil sheath by vibrating the sheath stopper, thereby reducing the friction between the coil sheath and the bent wire.

6. The modular endoscope device according to claim 5, characterized in that, Also includes: The control unit controls the magnitude of the vibration force generated by the vibration unit in proportion to the bending angle of the insertion tube.

7. The modular endoscope device according to claim 1, characterized in that, Also includes: A camera housing, which is disposed on the base portion, and has an imaging device; and A camera tube, which is detachably connected to the camera housing and to the imaging device to perform imaging in the bend of the insertion tube.

8. An endoscope module, detachably disposed in a base portion, the base portion being provided with a drive portion, characterized in that, include: The endoscope housing is detachably disposed in the base portion; An insertion tube, having a flexible bend, is attached to the endoscope housing for insertion into the subject's body; A bent wire that transmits force to bend the bent portion; A coil sheath surrounds the circumference of the bent wire inserted into the insertion tube and guides the path of the bent wire as it is driven. A sheath stopper is used to support the coil sheath to prevent the coil sheath from retracting from the insertion tube; The vibrating part vibrates the coil sheath by vibrating the sheath stopper, thereby reducing the friction between the coil sheath and the bent wire; A first clamping part is movably disposed relative to the endoscope housing and clamps one side of the curved wire to transmit force to the curved wire; as well as A second clamping part, which is movably disposed relative to the endoscope housing, clamps the other side of the curved wire to transmit force to the curved wire. The drive unit includes: A first drive coupler is movably disposed relative to the base portion and detachably connected to the first clamping portion; as well as The second drive coupler is movably disposed relative to the base portion and detachably connected to the second clamping portion.

9. The endoscope module according to claim 8, characterized in that, Also includes: The control unit controls the magnitude of the vibration force generated by the vibration unit in proportion to the bending angle of the insertion tube.

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