Endoscope device

Abstract

Provided is an endoscope device that can improve the mechanical strength and durability required for various operations and attachment and detachment to a hanger in an endoscope device capable of suspending an endoscope from the hanger. The endoscope device includes an insertion section, an operation section having a joint section configured to be suspended from a hanger, connected to the hanger via the joint section, a treatment tool conduit disposed inside the joint section and the operation section, through which a treatment tool passes, a plate fixed to the operation section, and a frame disposed inside the joint section, including a plurality of partition members connected to each other and having a length direction in the disposition direction of the treatment tool conduit, and the frame is fixed to the plate.

Description

Technical Field

[0001] The present invention relates to an endoscope device, and more particularly, to an endoscope device configured to suspend an endoscope on a bracket. Background Technology

[0002] In the field of endoscopy, there is a known endoscopic device that includes a treatment tool (robotic treatment tool) configured for remote operation. The treatment tool is controlled by a physician from a main system remote from the endoscope. Inserted inside the endoscope, the treatment tool operates according to control commands from the main system.

[0003] For example, Patent Document 1 describes an endoscopic surgical system as follows.

[0004] (1) In an endoscope that uses a treatment tool that can be operated remotely, a joint is provided in its operating section.

[0005] (2) The endoscopic surgical system using remotely operable treatment tools has a dedicated sling for suspending the endoscope. The dedicated sling has a connector portion that is detachable from the engagement portion. The engagement portion is detachable from the dedicated sling via the connector portion.

[0006] (3) During the operation, the endoscope is installed on a special hanger through the joint. The operator does not need to hold the endoscope continuously during the operation, which not only relieves the operator's fatigue, but also enables stable endoscopic surgery.

[0007] (4) The treatment tools that can be operated remotely are controlled by the master-slave system.

[0008] However, when performing surgery using surgical instruments, it is sometimes necessary to rotate and swing the endoscope's operating section, which is suspended on a special bracket, to ensure the range of vision observed by the endoscope. Such rotation and swinging can cause mechanical stress on the joint, therefore, the joint of the endoscope's operating section must have mechanical strength that is compatible with each operation.

[0009] In addition, in such an endoscopic surgical system, the joint located on the endoscope operating part needs to be connected to a special hanger for each operation. Therefore, the joint located on the endoscope operating part is required to have the mechanical strength to withstand such repeated disassembly and assembly.

[0010] Existing technical documents

[0011] Patent documents

[0012] Patent Document 1: Japanese Patent Publication No. 2018-509267 Summary of the Invention

[0013] The problem that the invention aims to solve

[0014] The purpose of this invention is to provide an endoscope device that improves the mechanical strength and durability required for various endoscopic operations when assembling and disassembling the endoscope on the hanger and when connecting it to the hanger.

[0015] Technical solutions for solving the problem

[0016] To address the aforementioned issues, the endoscopic device of the present invention comprises: an insertion section; an operating section having a connecting section configured to be suspended on a bracket and connected to the bracket via the connecting section; a treatment tool passage disposed inside the connecting section and the operating section for passage of a treatment tool; a plate fixed to the operating section; and a frame disposed inside the connecting section, comprising a plurality of partition members interconnected to each other and having a length direction along the arrangement direction of the treatment tool passage, and the frame being fixed to the plate.

[0017] Invention Effects

[0018] According to the endoscope of the present invention, an endoscope device can be provided as follows: in an endoscope device capable of suspending the endoscope on a bracket, the mechanical strength and durability required for various endoscope operations when detaching from and connecting to the bracket can be improved. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the overall structure of the endoscopic surgical system according to the embodiments of the invention.

[0020] Figure 2 This is a schematic perspective view illustrating the structure of the front end portion 1011 of the endoscope 100.

[0021] Figure 3 This is a perspective view illustrating the structural details of the manual operation section 102 and the joint section 103.

[0022] Figure 4 This is a plan view illustrating the structural details of the manual operation section 102 and the joint section 103.

[0023] Figure 5 This is a cross-sectional view illustrating the structural details of the manual operation section 102 and the joint section 103.

[0024] Figure 6 This is a cross-sectional view illustrating the structural details of the manual operation section 102 and the joint section 103.

[0025] Figure 7 This is a three-dimensional diagram illustrating an example structure of frame 304.

[0026] Figure 8 This is a plan view illustrating an example structure of frame 304.

[0027] Figure 9 This is a front view illustrating an example structure of frame 304.

[0028] Figure 10 This is a cross-sectional view illustrating an example structure of frame 304.

[0029] Figure 11 This is a three-dimensional diagram of an example structure of explanatory panel 303.

[0030] Figure 12 This is a three-dimensional diagram of an example structure of explanatory panel 303.

[0031] Figure 13 This is a cross-sectional view of the area near the mounting portion of screw S2.

[0032] Figure 14 This is a cross-sectional view of the area near the mounting portion of screw S4. Detailed Implementation

[0033] The embodiments described below are with reference to the accompanying drawings. In the drawings, the same reference numerals denote elements with the same function. Furthermore, the drawings illustrate embodiments and installation examples according to the principles of this disclosure; however, these embodiments are for understanding the disclosure and not for limiting its interpretation. The description in this specification is merely exemplary and is not intended to limit the claims or embodiments of this disclosure in any way.

[0034] In this embodiment, although those skilled in the art have described the implementation of this disclosure in sufficient detail, it is necessary to understand that other installations and configurations are also possible, and changes in the configuration / structure and substitution of various components can be made without departing from the scope and spirit of the technical concept of this disclosure. Therefore, the following description should not be limited thereto.

[0035] Reference Figure 1 This describes the overall structure of the endoscopic surgical system (endoscopic device) according to the embodiments of the invention. The endoscopic surgical system generally consists of an endoscope 100 and a main system 200.

[0036] Endoscope 100 is an imaging device that inserts its insertion part into the body of a subject to capture images of the examined area. As described later, it is configured to insert various treatment tools into its interior. These treatment tools include manual treatment tools and robotic treatment tools (manipulators). Manual treatment tools are those used in conventional endoscopy (e.g., tools used during routine endoscopic procedures such as hemostasis or local injection), and can be inserted through the treatment tool insertion port 102F described later. On the other hand, robotic treatment tools (manipulators) are treatment tools (slave devices) controlled by the controller 204 of the master system 200 described later. Robotic treatment tools can be inserted through treatment tool insertion ports 102D or 102E described later.

[0037] The endoscope 100 includes an insertion section 101, a manual operation section 102, a universal cable 105, and a connector section 106. The insertion section 101 further includes a front end portion 1011, a bending portion 1012, and a flexible tube portion 1013. In addition, the manual operation section 102 includes a connecting portion 103.

[0038] The front end portion 1011 is located at the end of the insertion portion 101, and it contains an imaging element and various conduits. Furthermore, the bending portion 1012 is configured to be actively bent by operating the bending adjustment knob 102A of the manual operation portion 102. The flexible tube portion 1013 is a portion that can be passively bent by external force, independent of the operation of the manual operation portion 102.

[0039] The flexible tube 1013 is connected at one end to the manual operation unit 102. The manual operation unit 102 has, for example, a bending adjustment knob 102A and an operation button 102B, for the operator to perform various operations to observe and take pictures using the endoscope 100.

[0040] The connecting portion 103 forms part of the manual operation unit 102 and is a connecting member. It is configured to be connected to the manual operation unit 102 in a suspended state on the hanger 104 (described later) so as to suspend the endoscope 100. The structural details of the connecting portion 103 will be described later. In addition, the connecting portion 103 and the housing 102C are provided with treatment tool insertion ports 102D to 102F for inserting treatment tools.

[0041] Furthermore, the specific structure of the connection between the joint 103 and the hanger 104 can be, for example, the structure disclosed in Japanese Patent Publication No. 2018-509267.

[0042] A universal cable 105 extends from the opposite side of the manual operation section 102 toward the connector section 106. Like the insertion section 101, the universal cable 105 internally includes light guides, various wirings, and various conduits. The connector section 106 includes various connectors for connecting the endoscope 100 to the processor 211, described later.

[0043] As an example, the main system 200 includes an input device 202, a display 203, and a controller 204. As an example, the main system 200 can also be operated by a doctor A, who is different from the endoscopist B who holds the endoscope 100 and operates the manual operation unit 102.

[0044] Detailed illustrations of the controller 204 are omitted. As an example, it comprises a combination of joysticks, buttons, foot pedals, etc., and is operated by physician A for manipulating and positioning the robotic treatment tool within the endoscope 100. Endoscopic physician B holds the endoscope 100 and, following physician A's instructions, operates the manual operation unit 102 and the insertion unit 101 to move the tip 1011 of the endoscope 100 to the desired position. Based on images captured by the endoscope 100 and displayed on the monitor 203, physician A operates the controller 204 to perform operations on the robotic treatment tool.

[0045] The endoscopic surgical system includes a processor 211, an air and water supply unit 212, a suction unit 213, a motor housing 214, a master-slave system processor 215, and a display 216.

[0046] The processor 211 receives image signals from the endoscope 100 and performs predetermined signal processing. The processor 211 may contain a light source that emits illumination light to illuminate the subject. The air and water supply unit 212 performs control to discharge the water or air flow to be supplied to the subject. The suction unit 213 includes a pump and a tank (not shown) for suctioning body fluids and excised tissues aspirated from the subject via the endoscope 100.

[0047] The motor housing 214 houses various motors used to generate driving force to drive the robotic treatment tool of the endoscope 100. Drive signals are generated based on control signals sent from the master system 200, and the various motors operate based on these drive signals. The master-slave system processor 215 executes various controls for the robotic treatment tool via the motor housing 214 according to instructions from the master system 200. The display 216 is a display device for displaying data based on, for example, the results of data processing in the processor 211.

[0048] The processor 211, air and water supply unit 212, suction unit 213, motor housing 214, and master-slave system processor 215 are housed in the frame L. The frame L further includes a hanger 104 for connecting to the joint 103 and suspending the endoscope 100.

[0049] Reference Figure 2The structure of the front end portion 1011 of the endoscope 100 is described below. Light distribution lenses 112A and 112B are disposed at the front end portion 1011 of the endoscope 100. Inside the insertion portion 101, light guides LGa and LGb extend from the front end portion 1011 along the connector portion 106. Light from the light source device within the processor 211 is guided by these light guides LGa and LGb and irradiates the subject through the light distribution lenses 112A and 112B disposed at the front end portion 1011.

[0050] In addition, such as Figure 2 As shown, the endoscope 100 has an objective lens 113 and an imaging element 117 at its front end 1011. The objective lens 113, located at the front end 1011, focuses scattered or reflected light from the subject and forms an image of the subject on the light-receiving surface of the imaging element 117.

[0051] As an example, the imaging element 117 can be composed of a CCD (Charge Coupled Device) or a CMOS sensor (Complementary Metal Oxide Semiconductor Sensor). The imaging element 117 is controlled according to signals (gain control signal, exposure control signal, shutter speed control signal, etc.) provided from the processor 211 via electrical wiring 118, and the image signal of the captured image is provided to the processor 211 via electrical wiring 118 and an A / D conversion circuit (not shown).

[0052] In addition, an air and water supply port 114, an auxiliary water supply port 115, and treatment tool ports 116A-C are provided on the end face of the front end 1011 as ends or openings of various pipelines. The air and water supply port 114 is connected to the air and water supply pipeline 121 to introduce water or air flow for cleaning the front end 1011, etc.

[0053] In addition, the auxiliary water inlet 115 is connected to the auxiliary water supply line 122 to introduce auxiliary water for removing dirt from the field of vision. The lines 121 and 122 are configured to extend along the front end 1011, the bend 1012, the flexible tube section 1013, the manual operation section 102, and the interior of the universal cable 105.

[0054] In addition to the tubes 121-122, treatment tool tubes 119A-C are also provided inside the endoscope 100. Treatment tool tubes 119A-C are located inside the manual operation section 102 and / or the connecting section 103, ensuring that treatment tools such as forceps can move freely inside. At the front end 1011, the front ends of treatment tool tubes 119A-C form treatment tool ports 116A-C. Furthermore, two of the treatment tool tubes 119A-119C communicate with treatment tool insertion ports 102D and 102E, and the remaining one communicates with treatment tool insertion port 102F, also serving as a suction tube. Additionally, at least one of the treatment tool tubes 119A-C can also function as a suction tube.

[0055] Reference Figures 3-6 The structural details of the manual operation part 102 and the joint part 103 are explained. Figure 3 This is a perspective view of the manual operation unit 102 and the connecting part 103, showing the manual operation unit 102 in a state excluding part of the cover. Additionally, Figure 4 This is a plan view of the manual operation unit 102 and the connecting part 103. Figure 5 and Figure 6 yes Figure 4 AA and BB cross-sectional diagrams.

[0056] like Figure 3 As shown, the housing 102C constituting the manual operation unit 102 and the joint 103 contain plates 301 to 303 and a frame 304. Figure 3 Only the plates 301 to 303 and the frame 304 in the internal structure of the housing 102C and the joint 103 are shown; illustrations of other constituent elements are omitted.

[0057] Plates 301 to 303 each have a generally planar plate shape. As an example, plate 303 may have a reinforcing rib structure extending along the arrangement direction of the treatment tool conduits 119A to C. Furthermore, as described later, frame 304 is configured to include partition members, i.e., having multiple partitions that are interconnected and have a length direction along the arrangement direction of the treatment tool conduits 119A to C.

[0058] As described below, plates 301 to 303 are interconnected and fixed by screws or the like, and frame 304 is also connected to plate 303, thereby positioning frame 304 inside joint 103. Additionally, plate 302 is provided with a connecting plate 305 extending in a direction substantially orthogonal to the plane of plate 302. Connecting plate 305 is a fixing member used to connect and fix the universal cable 105 to the manual operation unit 102.

[0059] like Figure 4As shown, plate 301 is fixed to plate 302 by multiple screws S1. Furthermore, plate 302 is fixed to plate 303 by multiple screws S2. Plate 303 is positioned relative to frame 304 by alignment pin P1 and fixed by two screws S3 and one screw S4. Then, joint 103 is fixed to frame 304 by a method described later. Additionally, as... Figure 4 As shown in the magnified view, plates 302 and 303 are fixed to housing 102C by L-shaped fasteners 309 extending from operation button 102B and screws S6.

[0060] As described above, the housing 102C and the joint 103 are fixed to the plates 301-303 and the frame 304. The plates 301-303 and the frame 304 can be made of aluminum or stainless steel. In addition, the housing 102C is provided with a stop 102ST for preventing the plates 301-303 from moving in a direction perpendicular to the plane.

[0061] Figure 6 yes Figure 4 The BB cross-sectional view shows the connection between the joint 103 and the frame 304 and the plate 303. Figure 6 As shown, the housing 102C has a protrusion Ed at the end on the side of the joint 103. The plate 303 is arranged such that one end of the plate 303 contacts the protrusion Ed, thereby positioning the plate 303 relative to the housing 102C. On the other hand, the joint 103 is mounted to the frame 304 fixed on the plate 303 (fixed by the retaining ring 308 described later).

[0062] Reference Figures 7-10 This illustrates an example structure of frame 304. Figure 7 This is a three-dimensional diagram illustrating the structure of frame 304. Figure 8 This is a plan view of the lower surface (base plate) of the 304 stainless steel frame. Figure 9 It is a front view. Figure 10 It is a cross-sectional view. For example... Figure 9 As shown, a frame 304 is formed by arranging multiple (e.g., three) rectangular box-shaped, hollow partition members 401-403 side by side. The partition members 401-403 have a length direction along the arrangement direction (length direction) of the treatment tool conduits 119A-119C. With this partition structure, the frame 304 is endowed with sufficient mechanical strength in the tensile direction, rotational direction, and relative to oscillation.

[0063] The central partition member 402, located between the partition members 401 and 403, has a through hole 404 on its upper surface. For example... Figure 8 As shown, a screw hole 408 for the screw S4 is provided on the lower surface directly below the through hole 404. Additionally, a pin hole 405 for inserting the alignment pin P1 is provided in front of the screw hole 408.

[0064] To facilitate the insertion of the alignment pin P1 into the pin hole 405, the front end face of the partition member 402 is designed with a predetermined inclined portion 409 relative to the lower surface. That is, the inclined portion 409 is located near the pin hole 405. Furthermore, as... Figure 10 As shown, an inner side surface 412 for blocking the hollow portion is provided in the hollow portion of the partition member 402. This inner side surface 412 helps to improve the mechanical strength of the partition member 402.

[0065] In addition, such as Figure 8 and Figure 9 As shown, the partition members 401 and 403 on the left and right sides have inner sides 411 and 413. Like the inner side 412, the inner sides 411 and 413 help to improve the mechanical strength of the partition members 401 and 403.

[0066] In addition, partition members 401 and 403 also have sockets 306 inside for connecting treatment tool tubing 119B and 119C. The sockets 306 penetrate the inner sides 411 and 413 and are fixed to the end faces of the frame 304 by retaining rings 307, specifically the inner sides 411 and 413. The frame 304 is fixed to the end face of the joint 103 using retaining rings 308, thereby fixing the joint 103 and the sockets 306 to the frame 304. Furthermore, regarding the thickness of the lower surfaces of partition members 401-403, the thickness of the lower surface 422 of the central partition member 402 is greater than the thickness of the lower surfaces 421 and 423 of the left and right partition members 401 and 403 (see reference). Figure 9 With the joint 103 installed on the hanger 104, the position where the maximum load is generated when force is applied to the manual operation part 102 in the rotation direction is the position of screw S4. Therefore, by increasing the thickness of the lower surface 422 of the partition member 402, the strength of the frame 304 can be improved. In addition, regarding the screws used on the thicker lower surface 422 of the partition member 402, it is preferable to use screws larger than those used on the lower surfaces 421 and 423.

[0067] Furthermore, the partition members 401 and 403 on the left and right sides have screw holes 406 and 407 at their lower surface ends for inserting the screw S3. Although the positions of the screw holes 406 and 407 are arbitrary, they are preferably arranged to form an isosceles triangle with the screw hole 408 for the screw S4. Furthermore, in Figure 7 In the structural example shown, the upper surfaces of the partition members 401 and 403 on the left and right sides have ends at a position set back from the partition member 402 in order to facilitate the screw S3 being screwed into the screw holes 406 and 407. However, similar to the partition member 402, by providing a through hole identical to the through hole 404 on the upper surface, the ends of the upper surface can also be positioned further forward.

[0068] Reference Figure 11 and Figure 12 This illustrates an example structure of plate 303. Figure 11 This is a side-view perspective view of the upper surface of plate 303. Figure 12 It is a three-dimensional view of the lower surface from the side. For example... Figure 12 As shown, plate 303 has a reinforcing rib structure with reinforcing ribs L1 to L3 extending along the length of the pipeline. Through this plate 303 with its reinforcing rib structure and the frame 304 connecting multiple partition members 402, the manual operation unit 102 is endowed with high mechanical strength and can achieve high reliability. Furthermore, the sides of the partition members of the frame 304, like the reinforcing rib structure, contribute to improving strength in the tensile direction.

[0069] In addition, such as Figure 13 ( Figure 5 As shown in the enlarged view near the symbol C, plate 302 has a position adjustment space G1 in the screw hole of screw S2 for fixing plate 303. Using this position adjustment space G1, plate 302 can be easily installed relative to frame 304 and plate 303, which are positioned by alignment pin P1, without being affected by dimensional deviations between products.

[0070] In addition, such as Figure 14 ( Figure 5 As shown in the enlarged view near the symbol D, a protrusion Ed is provided at the end of the housing 102C, and one end 303S of the plate 303 abuts against its inner side. By having this end 303S abut against the protrusion Ed and inserting the alignment pin P1, the plate 303 and the frame 304 are positioned onto the housing 102C. To improve the installability of the screw S4, the end face 404S of the through hole 404 is preferably formed to coincide with the end face 102S of the housing 102C.

[0071] [other]

[0072] This invention is not limited to the embodiments described above, but also includes various modifications. For example, the embodiments described above have been described in detail for ease of understanding, but are not limited to embodiments having all the described structures. Furthermore, a portion of the structure of one embodiment can be replaced with a structure of another embodiment, and a structure of another embodiment can be superimposed on a structure of one embodiment. In addition, portions of the structure in each embodiment can be added, deleted, or replaced with other structures.

[0073] Explanation of reference numerals in the attached figures

[0074] 100 Endoscopes

[0075] 101 Insertion Section

[0076] 1011 Front end

[0077] 1012 Bend

[0078] 1013 Flexible Tube Section

[0079] 102 Manual Operation Section

[0080] 102A Bend Adjustment Knob

[0081] 102B Operation Button

[0082] 102C housing

[0083] 103 Joint

[0084] 104 Hanger

[0085] 105 General Purpose Cable

[0086] 106 Connector Section

[0087] 112A and 112B optical lenses

[0088] 113 Objective lens

[0089] 114 Gas and water supply outlets

[0090] 115 Auxiliary water supply inlet

[0091] 116A~C Treatment tools

[0092] 117 Camera Components

[0093] 118 Electrical Wiring

[0094] 119A~C Treatment tool tubing

[0095] 200 Main System

[0096] 202 Input Devices

[0097] 203 Monitor

[0098] 204 Controller

[0099] 211 processor

[0100] 212 Gas and Water Supply Department

[0101] 213 Suction section

[0102] 214 Electric motor box

[0103] 215 Processor for Master-Slave System

[0104] 216 monitor

[0105] 301-303 plates

[0106] 304 frame

[0107] 305 Connecting Plate

[0108] 306 socket

[0109] 307, 308 retaining rings.

Claims

1. An endoscope device, characterized in that, have: Insertion section; An operating unit having a connecting part configured to be suspended on a hanger, and connected to the hanger via the connecting part; A treatment tool tubing, disposed inside the joint and the operating part, for the passage of the treatment tool; a plate, fixed to the operating part; and A frame, disposed inside the joint, includes a plurality of interconnected partition members having a lengthwise direction along the arrangement direction of the treatment tool tubing, and the frame is fixed to the plate. One of the plurality of partition members is arranged side-by-side in the position sandwiched between the other partition members. The thickness of the base plate of one partition component is greater than the thickness of the base plate of the other partition components.

2. The endoscopic device according to claim 1, wherein, The frame has screw holes through which screws for securing the frame to the plate pass.

3. The endoscopic device according to claim 1 or 2, wherein, The frame has pin holes for inserting alignment pins, which are used to align the frame with the plate.

4. The endoscopic device according to claim 1 or 2, wherein, The plurality of partition components each have a rectangular box shape.

5. The endoscopic device according to claim 1 or 2, wherein, The plurality of partition components are arranged side by side with respect to the length direction.

6. The endoscopic device according to claim 1 or 2, wherein, One of the partition members has a through hole on its upper surface and a screw hole below the through hole for fixing the frame to the plate.

7. The endoscopic device according to claim 1 or 2, wherein, The partition member has an inclined portion at its end on the operating side that is inclined relative to the lower surface, and the lower surface corresponding to the position of the inclined portion has a pin hole for a positioning pin to pass through.

8. The endoscopic device according to claim 1 or 2, wherein, The plate has a reinforcing rib structure, which includes reinforcing ribs extending along the routing direction of the treatment tool tubing.

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