Flexible endoscope with detachable head and handle
By separating the endoscope head from the control handle and placing the electronic components in the handle, the cost of disinfection and the risk of cross-infection are reduced, solving the problems of damage and high cost of traditional endoscopes during disinfection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- PRECISON ROBOTICS (HONG KONG) LIMITED
- Filing Date
- 2021-06-29
- Publication Date
- 2026-07-24
AI Technical Summary
Traditional endoscopes are prone to damage to electronic components during the sterilization process, and sterilization is costly and carries the risk of cross-infection.
Design a detachable endoscope system with a head that is separate from the control handle. Electronic components (such as motors and controllers) are located in the handle. The head is for single use and only needs to be disinfected once.
It reduces disinfection costs, avoids damage to electronic components, reduces the risk of cross-infection, and improves the lifespan and safety of equipment.
Smart Images
Figure CN115843228B_ABST
Abstract
Description
Technical Field
[0001] This application relates to endoscopic systems, and more specifically to a flexible endoscope for use in robot-assisted surgery and conventional manual surgery. Background Technology
[0002] Single-port approach surgery (SPAS) is a surgical technique that has developed in recent years. It is a minimally invasive surgical procedure in which the surgeon performs the surgery through almost a single incision. Unlike traditional multi-port methods, SPAS leaves only a small scar.
[0003] Surgical robotic arms are typically used to assist surgeons in single-port surgical procedures. Generally, a surgical robotic instrument includes a base, a positioning arm, and a surgical robotic arm. The surgical robotic arm can be held in the desired position by the positioning arm. An endoscope can be mounted at the end of the surgical robotic arm. The surgical robotic arm enters the patient's body through a single port to perform surgical procedures.
[0004] Traditional endoscopes are reusable and require sterilization to prevent cross-infection. Standard sterilization methods may require placing the equipment in high-pressure, high-temperature, or toxic gas environments. Since motors and other electronic components are integrated into the endoscope, they may be damaged during sterilization. Furthermore, sterilization involves packaging and logistics costs.
[0005] This invention aims to overcome the aforementioned drawbacks of traditional endoscopes. Summary of the Invention
[0006] According to one aspect of this disclosure, an endoscope system is provided. The endoscope system includes a head and a control handle. A mating interface is formed between the control handle and the head to allow for detachable connection. Critical electronic components (such as motors and controllers) are located in the handle, which does not require sterilization. The head, designed for insertion into the human body, contains only a minimal number of electronic components with low cost. By separating the head from the handle portion, the head can be disposable and requires only one sterilization process after manufacturing.
[0007] In one embodiment, the endoscope system includes a heating element and a control handle. The head includes: a shaft; at least one drive cable extending in the shaft; a flexible end located at the distal end of the shaft, movement of which is controlled by the drive cable; a connection interface located at the proximal end of the shaft, the connection interface including at least one winch assembly around which the drive cable is wound; and an image sensor module disposed on the flexible end. The control handle is detachably connected to the connection interface. The winch assembly includes a winch shaft having a first mating key, and the control handle includes a second mating key that, when the control handle is connected to the connection interface, engages with the first mating key, such that movement of the second mating key can be transmitted via the first mating key to the winch assembly and adjust the tension in the drive cable.
[0008] In one embodiment, one of the first and second mating keys has a protrusion, and the other has a recess with a complementary shape. At least one of the first and second mating keys is provided with a guide to facilitate engagement between the first and second mating keys.
[0009] In one embodiment, the connection interface includes a tendon guide abutting the proximal end of a shaft. At least a portion of the inner wall of the tendon guide is provided with a guide groove for receiving and guiding a segment of the drive cable between the proximal end of the shaft and the winch assembly. The connection interface also includes a base located between the proximal end of the shaft and the tendon guide. A hole is formed in the base for receiving one end of the winch assembly. A bearing is disposed in the hole for rotatably supporting the winch shaft.
[0010] In one embodiment, a pair of drive cables are wound around a winch assembly. The winch assembly includes two locating rings along the winch shaft. Each locating ring has an axial extension for winding one of the drive cables and a stop for securing the end of the drive cable. Fastening holes are provided on the locating rings to receive fasteners for locking the locating rings onto the winch shaft.
[0011] In one embodiment, the connection interface further includes an end cap with an opening formed thereon for receiving an electrical connector and an optical fiber cable. The control handle includes a circuit board connected to the electrical connector via a spring-loaded connector.
[0012] In one embodiment, the control handle includes at least one motor, and a second mating key is connected to the output end of the motor.
[0013] In one embodiment, the connection interface includes three winch assemblies. A pair of drive cables are wound around each winch assembly to control the movement of the flexible end within one degree of freedom. The control handle includes three motors for independently actuating the three winch assemblies.
[0014] In one embodiment, one or more control elements are disposed on a control handle. At least one control element is preset or programmed to control one or more motors to trigger movement of the flexible end and / or image sensor module. The control element is preset or programmed to cause the flexible end to adopt an S-shape, enabling a bird's-eye view of the surgical site to be obtained through the image sensor module.
[0015] In one embodiment, a locking mechanism is disposed on a control handle. The locking mechanism includes a latch and an operating part, which can be moved by a user to engage or disengage the latch from a snap-fit groove formed on a connection interface. The locking mechanism also includes a lever and a resilient element, along which the operating part can slide, and the resilient element biases the operating part to a locked position. The latch is connected to the operating part via a slotted rod structure that converts the sliding motion of the operating part into rotational motion of the latch. The slotted rod structure includes an elongated groove on the latch and a strip on the operating part. The elongated groove is oriented at an angle relative to the longitudinal direction, such that movement of the strip within the elongated groove causes rotation of the latch.
[0016] In one embodiment, the control handle includes a bracket for supporting the at least one motor. A circuit board is disposed between the bracket and the housing of the control handle. The bracket has two curved surfaces for supporting the motor. These two curved surfaces are separated by a tubular structure that defines a slot or tube for receiving functional components such as fiber optic cables.
[0017] In one implementation, the head is disposable, while the control handle is reusable.
[0018] In one embodiment, the flexible end includes at least one flexible joint, each flexible joint including two support sections and a hinge section connecting them. The hinge section includes multiple segments, each of which has at least one contact abutment. When the flexible joint bends, the contact abutments of adjacent segments contact each other. These segments can be connected to each other to form a helical hinge section. Alternatively, these segments can be individual rings or discs.
[0019] In one embodiment, a pair of contact aids are arranged at diametrically opposed positions on each segment. At least one tendon hole or groove is formed on each segment through which a drive cable passes.
[0020] It should be understood that the foregoing general description and the following detailed description are merely exemplary and explanatory, and do not limit the claimed implementation. Attached Figure Description
[0021] The accompanying drawings are included to provide a further understanding of the invention described herein, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments. Certain features can be better understood by referring to the following detailed description when considered in conjunction with the drawings, in which the same reference numerals denote the same parts throughout the drawings, and in the drawings: Figure 1 An endoscope system according to one embodiment of the present invention is shown.
[0022] Figure 2 The connection interface of an endoscope system according to one embodiment of the present invention is shown.
[0023] Figure 3A and 3B It is shown Figure 2 Enlarged view of the components in the interface.
[0024] Figure 4 The winch assembly in the connection interface is shown.
[0025] Figure 5 This is an exploded view of the winch assembly.
[0026] Figure 6 A docking key design according to one embodiment of the present invention is shown.
[0027] Figure 7 A control handle for an endoscope system according to an embodiment of the present invention is shown.
[0028] Figure 8 It is shown Figure 7 Enlarged view of the components in the control handle.
[0029] Figure 9 The bracket in the control handle is shown.
[0030] Figure 10 This is an exploded view of the control handle.
[0031] Figure 11 The locking mechanism on the control handle is shown.
[0032] Figure 12 The diagram illustrates a flexible endoscope system and an image sensor module according to one embodiment of the present invention.
[0033] Figure 13 Show Figure 12 Flexible joints in the body. Detailed Implementation
[0034] Figure 1An endoscope system with an axis 2 is shown, in which one or more drive cables 4 extend. The axis 2 may be rigid, or may include flexible and non-flexible portions of a surgical robotic arm. During single-port surgery, the flexible portion of the axis 2 enters the human body and advances through internal passages such as the trachea, esophagus, intestines, and vagina.
[0035] The flexible end 2A is located at the distal end of shaft 2. The flexible end 2A is capable of movement in multiple degrees of freedom. The movement of the flexible end 2A is controlled by drive cables 4. Drive cables 4 can be provided in pairs. In use, when one drive cable 4 is tightened, the other drive cable in the pair is loosened, causing the flexible end 2A to bend toward the tightened drive cable.
[0036] Image sensor module 21 is disposed on flexible end 2A. Image sensor module 21 provides the surgeon with a close-up view of the surgical site. Alternatively, the image sensor module can be replaced with other surgical instruments, such as clamps or laser scalpels, to perform desired actions during surgery.
[0037] A connection interface 3 is provided at the proximal end of shaft 2. For example... Figure 2 As shown, the connection interface 3 includes one or more winch assemblies 31, with drive cables 4 wound around the winch assemblies 31. The connection interface 3 is designed to be detachably connected to the control handle 1, so that the control handle 1 can be separated from the shaft 2 and the flexible end 2A before or after surgery.
[0038] The detachable connection between the control handle 1 and the connection interface 3 reduces the risk of cross-infection because the components on the connection interface side (invasive portion) can be designed for single use. The invasive portion of the endoscope system may require sterilization. However, since the main electronic components, including the motor, controller, and circuit board, are located on the control handle side, sterilization of the invasive portion will not damage the main electronic components.
[0039] Figure 3A and 3B The components in the connection interface 3 are shown. A tendon guide 331 is abutted against the proximal end of the shaft 2. A guide groove 332 is formed on at least a portion of the inner wall of the tendon guide 331. The guide groove 33 receives a segment of the drive cable 4 between the proximal end of the shaft 2 and the winch assembly 31. A base 33 is disposed between the proximal end of the shaft 2 and the tendon guide 331. Figure 3B As can be seen, a hole 330 is formed in the base 33 for receiving one end of the winch assembly 31. A bearing 333 is arranged in the hole 330 for rotatably supporting the winch shaft 311.
[0040] See Figure 4The winch assembly 31 includes a winch shaft 311 and two positioning rings 312 along the winch shaft 311. A first mating key 32 is located at one end of the winch shaft 311. The first mating key 32 may be integrally formed with the winch shaft 311 or may be a separate component mounted on the winch shaft 311. The first mating key 32 is configured to engage a second mating key 13 located on the control handle 1 when the connection interface 3 is connected to the control handle 1. The engagement between the first mating key 32 and the second mating key 13 allows the movement of the second mating key 13 to be transmitted to the winch assembly 31 via the first mating key 32 to adjust the tension in the drive cable 4.
[0041] exist Figure 5 In the illustrated embodiment, a pair of drive cables 4 are wound around a winch assembly 31. The winch assembly 31 includes two locating rings 312 along a winch shaft 311. Each locating ring 312 has an axial extension 3122 for winding one of the drive cables 4. A fastening hole 3121 may be formed on the locating ring 312 to receive a fastener for securing the locating ring 312 to the winch shaft 311. For example, the fastening hole 3121 may be threaded to receive a threaded piece. Once secured to the winch shaft 311 by the fastener, the locating ring 312 will rotate with the winch shaft 311. A tendon stop 313 is formed on the locating ring 312 to secure one end of the drive cable 4. Rotation of the winch assembly 31 in one direction tightens one drive cable 4 and loosens the other drive cable 4 in the pair. The tightening and loosening of the drive cables 4 controls the movement of the flexible end 2A on the control shaft 2.
[0042] The position of the tendon stop 313 relative to the winch shaft 311 is variable. The user can remove the fastener, rotate the positioning ring 312 to the desired position, and use the fastener to lock the positioning ring 312 in position on the winch shaft 311. This allows the user to adjust the tension in the drive cable 4.
[0043] One implementation of the docking key design is in Figure 6 As shown in the diagram. The first mating key 32 includes a protrusion 321, such as a key. The second mating key 13 includes a recess 131, such as a keyway, that is complementary in shape to the first mating key 32. A force transmission path between the first mating key 32 and the second mating key 13 is achieved by simply inserting the protrusion 321 into the recess 131. Preferably, at least one of the first and second mating keys is provided with a guide to facilitate engagement. Figure 6In this configuration, inclined surfaces 322 and 132 are formed on the first mating key 32 and the second mating key 13, respectively, to guide the protrusion 321 into the recess 131. For example, the first mating key 32 may be shaped to have a recess, and the second mating key 13 may have a protrusion. Preferably, the first mating key 32 may be made of plastic to save on the manufacturing cost of disposable parts, while the second mating key 13 may be made of metal to improve the durability of the control handle 1.
[0044] Optionally, see again Figure 2 The connection interface 3 includes an end cap 36 with an opening to allow a first mating key 32 to engage a second mating key 13. The end cap 36 also has an elongated opening for receiving an electrical connector 34. In one embodiment, another opening is formed on the end cap 36 to allow functional components such as fiber optic cables 5 to pass through.
[0045] Figure 7 A control handle 1 with a second mating key 13 is shown. The control handle 1 includes a circuit board 14 within a housing 11. Preferably, the circuit board 14 on the control handle side and the electrical connector 34 on the connection interface side are connected via a spring-loaded connector. The spring-loaded connector includes a spring-loaded pin disposed on the circuit board 14 and a metal contact disposed on the electrical connector 34. Preferably, the spring-loaded pin is disposed on the control handle side, and the metal contact is disposed on the connection interface side. Therefore, the spring-loaded pin does not require sterilization, thereby reducing the risk of damage to the spring-loaded pin.
[0046] like Figure 8 As shown, the control handle 1 includes at least one motor 12. A second mating key 13 is mounted on the output end of the motor 12, for example, connected to the output shaft 121 of the motor 12. A bracket 15 is arranged in the housing 11 of the control handle 1 to support the motor 12. In one embodiment, three motors 12 are located in the control handle 1 and supported by the bracket 15. It should be understood that any number of motors can be used, and the number of motors can correspond to the number of winch assemblies in the connection interface 3.
[0047] Figure 9 The structure of the bracket 15 is shown. Two curved surfaces 151 and 152 are provided on both sides of the bracket 15 to hold two cylindrical motors. The two curved surfaces 151 and 152 are separated by a tubular structure 153 defining a slot 154 or tube. The upper surface of the tubular structure 153 can support another motor. The slot 154 or tube is used to receive functional components such as fiber optic cables 5. Furthermore, a circuit board 14 can be arranged between the bracket 15 and the housing 11 of the control handle 1. The bracket 15 provides support for various components in the control handle 1. Therefore, the space of the control handle can be fully utilized.
[0048] Back Figure 7A control element 111 is disposed on the control handle 1 to allow the user to control the movement of the flexible end 2A and / or the image sensor module 21. At least one control element 111 is designed to actuate more than one motor simultaneously or in a specific sequence to control the flexible end 2A to perform compound movements or present compound shapes.
[0049] The control element 111 can take the form of a button, joystick, touchscreen, etc. Control logic can be preset for different control elements 111, or the control logic can be programmed by the user. For example, the function of a certain button can be preset to change the shape of the flexible end 2A from an "I" shape to an "S" shape. User operations on different motors can also be recorded over a period of time and stored in memory. Recorded controls can be triggered by the control element 111, allowing the user to easily repeat the desired control. This enables the user to quickly transform the flexible end 2A into various desired shapes with minimal operation of the control element 111. Therefore, the reliability and efficiency of the endoscope system control are significantly improved.
[0050] To ensure that the movement of the second docking key 13 is stably and uninterruptedly transmitted to the drive cable 4 during the use of the endoscope system, a locking mechanism is provided on the control handle 1. Figure 10 and Figure 11 As shown, the locking structure includes a latch 112 and an operating part 117. The operating part 117 is movable to engage the latch 112 with a snap-fit groove 35 formed on the end cap 36 of the connection interface 3. Figure 2 (As shown in the figure) Engage or disengage the latch 112 from it.
[0051] The locking mechanism also includes a lever 114 and a spring 116. The lever 114 extends longitudinally within the control handle 1. In one embodiment, the lever 114 passes through an opening 115 formed in the bracket 15. Figure 9 (As shown in the diagram). The operating part 117 is designed to slide along the rod 114. For example, the operating part 117 is formed with a hole into which the rod 116 extends. When no external force is applied to the operating part 117, the operating part 117 is biased to the locked position by the spring 116.
[0052] The latch 112 is connected to the operating part 117, such that sliding movement of the operating part 117 causes the latch 112 to engage or disengage from the locking groove 35. In one embodiment, the latch 112 is connected to the operating part via a slotted rod structure 115. Figure 11 As can be seen most clearly, the slotted bar structure 115 includes an elongated slot 1151 at one end of the latch 112 and a strip 1152 on the operating part 117. The slotted bar structure 115 converts the linear motion of the operating part 117 into the rotational motion of the latch 112 about the pivot 118.
[0053] The user can release the lock between the connection interface 3 and the control handle 1 by sliding the operating part 117 against the bias force of the spring 116. At the same time, the bar 1152 begins to move in the elongated slot 1151. Since the elongated slot 1151 is oriented at an angle relative to the longitudinal direction, the linear movement of the bar 1152 causes the latch 112 to rotate counterclockwise about the pivot 118. Figure 11 This shows the state where the strip 1152 has reached the end of the long slot 1151 and the latch 112 has been rotated to the unlocked position.
[0054] Figure 12 The flexible endpiece 2A of the endoscope system is shown. An image sensor module 21 is connected to the flexible endpiece 2A via a cross joint 23. In this embodiment, the flexible endpiece 2A has two flexible joints 22. It should be noted that any number of flexible joints can be used. Figure 13 A flexible joint 22 is shown, comprising two support sections 222 and a hinge section 222 connecting the two support sections 221. The hinge section 222 comprises a plurality of segments 2221, each segment 2221 having at least one contact aid 2222. In one embodiment, a pair of contact aids 2222 are arranged on each segment 2221 at diametrically opposed positions. When the flexible joint 22 bends under the action of a drive cable 4, the contact aids 2222 of adjacent segments 2221 contact each other. At least one tendon hole or groove 2223 is formed on each segment 2221 of the hinge section 222 through which the drive cable 4 passes. Preferably, the contact aid 2222 has a circular or elliptical cross-section.
[0055] In one embodiment, multiple segments 2221 are connected to each other in a helical manner to form a spring-like structure. The helical hinged sections 222 allow torsional and bending forces to be distributed more evenly across the segments 2221, thereby achieving better flexibility. Alternatively, the segments 2221 may be in the form of concentric rings or concentric discs.
[0056] Providing a contact aid 2222 helps control the bending angle of the flexible joint and also prevents misalignment between adjacent segments. Preferably, the segment 2221 can be made of a soft material to reduce the tension required to actuate the flexible joint 22.
[0057] Although illustrative embodiments of the invention have been described herein, as will be understood by those skilled in the art based on this disclosure, the invention is not limited to the various preferred embodiments described herein, but includes any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., across aspects of various embodiments), adaptations, and / or alterations. Limitations in the claims should be interpreted broadly based on the language used in the claims and are not limited to the examples described in this specification or in the implementation of this application, which should be interpreted as non-exclusive. For example, in this disclosure, the term “preferred” is non-exclusive and means “preferred, but not limited to.” Throughout this disclosure and in the implementation of this application, the terms “invention” or “conventional invention” may be used as references to one or more aspects of this disclosure. The language “invention” or “conventional invention” should not be improperly construed as an indication of critical degree, should not be improperly construed as applicable to all aspects or all embodiments (i.e., it should be understood that the invention has multiple aspects and embodiments), and should not be improperly construed as limiting the scope of the application or claims. In this disclosure and in the implementation of this application, the term "implementation" may be used to describe any aspect, feature, process or step, any combination thereof and / or any part thereof. In some examples, various embodiments may include overlapping features.
Claims
1. A flexible endoscope system, characterized in that, include: (i) The head, which includes: Axis (2); Multiple drive cables (4) extend in the shaft (2); A flexible end (2A), located at the distal end of the shaft (2), the movement of which is controlled by the plurality of drive cables (4); and A connection interface (3) is located near the shaft (2), the connection interface including at least one winch assembly (31), each pair of drive cables (4) being wound around one of the winch assemblies (31) to control the movement of the flexible end (2A) in one degree of freedom; Image sensor module (21), which is arranged on the flexible end (2A); and (ii) A control handle (1) which is detachably connected to the connection interface (3); The at least one winch assembly (31) includes a winch shaft (311) having a first docking key (32), and the control handle includes a second docking key (13). When the control handle (1) is connected to the connection interface (3), the second docking key (13) docks with the first docking key (32), so that the movement of the second docking key can be transmitted to the connected winch assembly via the first docking key to adjust the tension in the wound drive cable. One or more control elements (111) are disposed on the control handle (1), and at least one control element (111) is preset or programmed to control one or more motors (12) to trigger the movement of the flexible end (2A) and / or the image sensor module (21); The at least one control element (111) is preset or programmed to make the flexible end (2A) present an S-shape, so that a bird's-eye view of the surgical site can be obtained through the image sensor module (21).
2. The flexible endoscope system according to claim 1, characterized in that, One of the first and second mating keys (32, 13) has a protrusion (321), and the other of the first and second mating keys (32, 13) has a recess (131) with a complementary shape. At least one of the first and second mating keys (32, 13) is provided with a guide (322, 132) to facilitate engagement between the first and second mating keys (32, 13).
3. The flexible endoscope system according to claim 1, characterized in that, The connection interface (3) includes a tendon guide (331) adjacent to the proximal end of the shaft (2), and at least a portion of the inner wall of the tendon guide (331) is provided with a guide groove (332) for receiving and guiding the segment of the drive cable (4) between the proximal end of the shaft (2) and the wound winch assembly (31).
4. The flexible endoscope system according to claim 3, characterized in that, The connection interface (3) also includes a base (33) located between the proximal end of the shaft (2) and the tendon guide (331), a hole (330) formed on the base (33) for receiving one end of the winch assembly (31), and a bearing (333) arranged in the hole (330) for rotatably supporting the winch shaft (311).
5. The flexible endoscope system according to claim 1, characterized in that, A pair of drive cables (4) are wound on a winch assembly (31), the winch assembly (31) including two positioning rings (312) along the winch shaft (311), each positioning ring (312) having an axial extension (3122) for winding one of the drive cables (4) of the pair of drive cables (4), and a stop (313) for securing the end of the drive cable (4).
6. The flexible endoscope system according to claim 5, characterized in that, Fastening holes (3121) are provided on the two positioning rings (312) for receiving fasteners for locking the two positioning rings (312) onto the winch shaft (311).
7. The flexible endoscope system according to claim 1, characterized in that, The connection interface (3) also includes an end cap (36) on which an opening for receiving an electrical connector (34) and an optical fiber cable (5) is formed.
8. The flexible endoscope system according to claim 7, characterized in that, The control handle (1) includes a circuit board (14) connected to the electrical connector (34) by means of a spring pin connector.
9. The flexible endoscope system according to claim 1, characterized in that, The control handle (1) includes at least one motor (12), and the second docking key (13) is connected to the output end of the at least one motor (12).
10. The flexible endoscope system according to claim 9, characterized in that, The connection interface (3) includes three winch assemblies (31), and the control handle (1) includes three motors (12) for independently actuating the three winch assemblies (31).
11. The flexible endoscope system according to claim 1, characterized in that, A locking structure is provided on the control handle (1), the locking structure includes a latch (112) and an operating part (117), the operating part (117) being movable by the user to engage or disengage the latch (112) from a snap-fit groove (35) formed on the connection interface (3).
12. The flexible endoscope system according to claim 11, characterized in that, The locking structure further includes a rod (114) and an elastic element (116). The operating part (117) is slidable along the rod (114). The elastic element (116) is used to bias the operating part (117) to the locked position. The latch (112) is connected to the operating part (117) through a slotted rod structure (115). The slotted rod structure (115) converts the sliding motion of the operating part (117) into the rotational motion of the latch (112).
13. The flexible endoscope system according to claim 12, characterized in that, The slot structure (115) includes an elongated slot (1151) on the latch (112) and a strip (1152) on the operating part (117). The elongated slot (1151) is oriented at an angle relative to the longitudinal direction, such that movement of the strip (1152) in the elongated slot (1151) causes the latch (112) to rotate.
14. The flexible endoscope system according to claim 9, characterized in that, The control handle (1) includes a bracket (15) for supporting the at least one motor (12), and a circuit board (14) is arranged between the bracket (15) and the housing (11) of the control handle (1).
15. The flexible endoscope system according to claim 14, characterized in that, The bracket (15) has two curved surfaces (151, 152) for supporting two motors (12), the two curved surfaces (151, 152) being separated by a tubular structure (153), the inner side of which is formed a defining groove (154) or tube for receiving fiber optic cables (5).
16. The flexible endoscope system according to claim 1, characterized in that, The head is disposable, while the control handle is reusable.
17. The flexible endoscope system according to claim 1, characterized in that, The flexible end (2A) includes at least one flexible joint (22), each flexible joint including two support sections (221) and a hinge section (222) connecting them. The hinge section (222) includes multiple segments (2221), each of the multiple segments (2221) having at least one contact auxiliary part (2222), wherein when the flexible joint (22) bends, the contact auxiliary parts (2222) of adjacent segments (2221) contact each other.
18. The flexible endoscope system according to claim 17, characterized in that, Each segment (2221) has a pair of contact aids (2222) arranged in a diametrically opposite position, and each segment (2221) has at least one tendon hole or groove (2223) through which the drive cable (4) passes.