Endoscope comprising a flexible insertion tube and a curved portion

Abstract

The present invention relates to an endoscope (1), comprising a flexible insertion tube (2) and a curved portion (3), the curved portion (3) being controllable from a proximal side and connected to the insertion tube (2) toward the distal side, wherein in the curved portion (3), a pulling rope (11) runs for pivoting movement of the curved portion (3), the pulling rope (11) being anchored to the distal end of the curved portion (3), and wherein a biasing elastic element (30) is arranged parallel to the pulling rope (11) in the longitudinal direction of the curved portion (3).

Description

Technical Field

[0001] The present invention relates to an endoscope including a flexible insertion tube and a bending portion controllable from a proximal side, the bending portion being connected to the insertion tube toward a distal side.

[0002] Endoscopes of this type can be constructed with extremely small diameters, for example, in order to also inspect small openings or spaces.

[0003] Typically, the diameter of the curved portion is equal to or slightly different from the diameter of the insertion tube of the endoscope. In the case of an endoscope with a thin insertion tube, the curved portion is correspondingly thin. Background Art

[0004] However, thin curved sections generally do not have sufficient interior for the complex structural designs required for conventional curved sections. The curved section of the endoscope can be controlled by the user. To this end, the curved section is controlled, ie, deflected, by the user from the proximal side of the endoscope.

[0005] Thus, various basic designs of curved sections are known from the prior art, such as curved sections of hinged members made of metal or curved sections made of hinged plastic elements.

[0006] In the curved portion of the hinged member made of metal, the curved portion includes a plurality of complex-shaped metal rings, which are respectively connected by freely movable connections of ring joints. The ring joints include hinge pins that are offset by 90 degrees or 180 degrees from their respective adjacent ring joints. The curved portion can be pivoted upward and downward via multiple pivot points. Eyelets are arranged in multiple rows at the ring joints on the inner side of the deflectable portion. The eyelets serve as guides for a pull rope that is anchored to the distal end of the deflectable portion. The bending or deflection movement of the deflectable portion is performed by a pull rope that is pulled from the proximal side.

[0007] Basically, two pull ropes are always required for movement in one direction (e.g., up / down), because a single pull rope can only achieve pulling movement, but not pushing movement. Therefore, conventionally, two pull ropes are required for movement in one direction. Correspondingly, four pull ropes are required for movement in two directions. Movement in two directions allows for various directional settings (combinations of horizontal and vertical bending).

[0008] The complex configuration requires a suitable interior inside the curved portion. If the curved portion is very thin, there is usually not sufficient interior space available.

[0009] In a curved section made of plastic elements (which are hinged, i.e., linked), the plastic elements, produced by injection molding, are interconnected via hinges and are pivotable relative to one another. While the curved section of hinged plastic elements exhibits a very simple construction, it offers an even smaller internal space than a curved section of a hinged member made of metal. This is due to the fact that the partitions of the plastic elements require a certain thickness to ensure sufficient stability and corresponding strength. Furthermore, in this case, the eyelets also require a considerable amount of space. Summary of the Invention

[0010] Therefore, an object of the present invention is to provide an endoscope comprising a flexible insertion tube and a curved portion, wherein the curved portion and the insertion tube provide a sufficient space inside. In addition, the curved portion of the endoscope is intended to provide satisfactory functionality.

[0011] This object is achieved by an endoscope comprising the features of claim 1. Advantageous developments are subject matter of the dependent claims.

[0012] The present invention relates to an endoscope comprising a flexible insertion tube and a proximally controllable curved portion, which is distally connected to the insertion tube. A pull cord, which pivots the curved portion, runs through the curved portion and is anchored to the distal end of the curved portion. A biasing spring element is arranged parallel to the pull cord in the longitudinal direction of the curved portion. The biasing spring element also occupies less space than conventional designs with a pull cord and an eyelet.

[0013] In this endoscope, at least one pull cord can be replaced by a biasing elastic element. The desired deflection of the curved portion can be controlled so that only the at least one (remaining) pull cord is actuated (pulled). Because at least one pull cord has been replaced by a biasing elastic element, the space available for the replacement pull cord can be used for other purposes. Because the space for the replacement pull cord is eliminated, the endoscope can have a thinner design.

[0014] The biasing elastic element may include a predetermined bend toward one side of the curved portion. The predetermined bend of the biasing elastic element imparts a predetermined bend to the curved portion in the non-actuated state. When the pull cord is pulled in the non-actuated state, the bend of the curved portion changes. When the pull cord is pulled in the non-actuated state, the curved portion may deviate from the predetermined bend.

[0015] The predetermined bend of the biasing spring element provides for a maximum pivoting movement of the curved portion toward one side. By pulling the (at least one) pull cord, the curved portion can be returned from the maximum pivoting movement forced toward one side to a smaller pivoting movement. If the pull cord is further pulled, the curved portion can assume a straight pivoting movement. If the pull cord is pulled even further, the curved portion can be deflected in a direction opposite to the original pivoting direction obtained in the non-actuated state.

[0016] The biasing elastic element can be arranged parallel to the pull rope because the curved rod element has a predetermined bend toward one side of the curved portion, and the pull rope can be guided by the pull rope guide element. In this endoscope, at least one pull rope can be replaced by the curved rod element. The curved rod element can be flexible.

[0017] The biasing elastic element can be arranged in parallel with a pull rope (as a coil spring element or as a combination of a distal guide pull rope and a proximal coil spring element), the coil spring element having a predetermined biasing force, and the pull rope can be guided by the pull rope guide element. In this endoscope, at least one pull rope can be replaced by a coil spring element or a combination of a distal guide pull rope and a proximal coil spring element.

[0018] The bent portion may include a sleeve. The biasing elastic element may be a bendable separation element that divides a cross section of the sleeve into two independent chambers, and in one of the two chambers separated by the separation element, a pulling rope may be arranged in the longitudinal direction of the sleeve for pivotal movement of the bent portion.

[0019] In this endoscope, at least one pull cord can be replaced by a flexible separation element. In addition, by providing a separation element, the sleeve is separated into two chambers for guiding the pull cord. The separation element replaces the conventional guide through the eyelet.

[0020] The curved section can be easily divided into pull-tether ducts by means of a separating element, which extend in the longitudinal direction and are delimited radially to the sides. Thus, an endoscope with a curved section can be provided in a simple and cost-effective manner. This simple design allows for particularly small construction dimensions, as the principle of dividing the curved section into separate chambers by means of a separating element is applicable to any construction dimension and is particularly suitable for very small endoscope diameters.

[0021] At least one pulling rope is arranged in one chamber.Utilize this extremely simple structure, the bending part can be specifically pivoted by pulling one pulling rope.

[0022] The separation element may have a predetermined bend towards one side of the curved portion. The predetermined bend of the separation element curved in a predetermined manner may provide maximum pivoting of the curved portion towards one side.

[0023] In one of the two chambers separated by the separating element (arranged on the outside of the radius of the separating element curved in a predetermined manner), the pulling rope may be arranged in the longitudinal direction of the sleeve for pivotal movement of the curved portion.

[0024] Therefore, by pulling the pull rope, the curved portion that is curved in a predetermined manner can be bent toward the side on which the curved portion becomes straight. The pull rope can be pulled until the curved portion is aligned to become straight. The pull rope can be pulled even further so that the curved portion adopts a bend in a direction opposite to the direction of its initial bend.

[0025] The separation element can be anchored at its proximal side to the distal end region of the insertion tube. The separation element can be anchored at its proximal side to the distal end region of the insertion tube so that its protruding length toward the distal side is predetermined. Thus, anchoring can be achieved in a safe and reliable manner, as well as in a simple and labor-saving manner.

[0026] The insertion tube may include an outer covering and an elastic wire mesh beneath the outer covering, the proximal side of the separation element being anchored to the distal end region of the wire mesh.The wire mesh incorporated into the insertion tube provides firm support to the proximal side of the separation element.

[0027] The proximal side of the separation element may be inserted into, welded to, or glued to the distal end region of the wire mesh.

[0028] The sleeve of the curved portion can have an outer diameter of 3 mm or less. In the case of even smaller designs, the sleeve of the curved portion can even have an outer diameter of 1 mm or less. Thus, the endoscope is suitable for particularly small cavities that were previously difficult to inspect with flexible endoscopes having a curved portion.

[0029] The decoupling element can be made of spring steel, stainless steel, or a flexible plastic material. The decoupling element's material imparts bendability to the curved portion. However, the decoupling element is incompressible or inextensible. Thus, even when the curved portion bends, the length of the curved portion relative to the length of the decoupling element remains the same.

[0030] The sleeve of the curved portion may comprise a spring element. In this way, flexibility and the necessary rigidity may be imparted to the sleeve and, therefore, to the curved portion. Furthermore, the curved portion may be configured to be twist-proof (torsion-resistant).

[0031] The spring element can be embedded in the sleeve of the curved portion. The sleeve can be made of plastic or rubber. Therefore, the sleeve equipped with the spring element is easy to manufacture. For example, the sleeve material can be injection molded or extruded around the spring element.

[0032] The cross-section of the separation element can be configured such that the cross-section is wider in a first direction and narrower in a second direction perpendicular to the first direction. The cross-section of the separation element can have a rectangular, oval, elliptical, or racetrack shape (so-called stadium shape). The separation element can be curved in the direction of the narrow side of the cross-section. The separation element can be curved in the direction of the wider side of the cross-section.

[0033] In the chamber arranged on the outside of the curved separation element, a single pull rope can be arranged for the pivoting movement of the curved part, and in the other chamber arranged on the inside of the curved separation element, no pull rope is arranged. In this design, the diameter can be configured to be even smaller, because only installation space is required for the single pull rope.

[0034] In a chamber arranged on the outside of the curved separation element, multiple pull cables can be arranged for pivoting the curved portion. Furthermore, there can be no pull cables arranged in another chamber provided on the inside of the curved separation element. With this design, the curved portion can be pivoted safely.

[0035] The endoscope may be a flexible endoscope.

[0036] Thus, according to the invention, bending in one direction (towards the front and rear, or to the right and left) is ensured by only one pulling cable and one additional element, as well as the bending unit. In a further development, the invention provides bending in all directions (towards the front and rear, as well as to the right and left, respectively, due to all intermediate stages of combined pulling) by means of two pulling cables and two additional elements. In this case, the additional element is understood to be, for example, a spring element or a spring rod.

[0037] The above-explained aspects of the present invention may be combined as appropriate. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic side view of the distal region of an endoscope is shown according to the present invention.

[0039] Figure 2 A schematic side view showing the interior of the curved portion of the first embodiment is shown.

[0040] FIG. 3(A) shows another schematic side view of the interior of the curved portion of the first embodiment.

[0041] FIG. 3(B) shows a schematic cross-sectional view across the bent portion of the first embodiment along section III-III of FIG. 3(A) .

[0042] FIG. 4(A) shows how the flexible plate of the first embodiment is inserted into the insertion tube.

[0043] FIG. 4(B) shows a schematic top view of the flexible board of the first embodiment.

[0044] FIG. 4(C) shows a schematic perspective view of the flexible plate of the first embodiment, which is inserted into the insertion tube.

[0045] FIG4(D) shows a schematic side view of the flexible board of the first embodiment.

[0046] Figure 5 A schematic side view of a sleeve showing the curved portion in a second embodiment.

[0047] Figure 6 A schematic perspective view of a spring element in a second embodiment is shown.

[0048] Figure 7 A schematic cross-sectional view of a sleeve of a second embodiment is shown.

[0049] Figure 8 A schematic side view showing the interior of a curved portion in a third embodiment is shown.

[0050] Figure 9 A schematic side view showing the interior of a curved portion in a fourth embodiment is shown.

[0051] Figure 10 A schematic side view showing the interior of a curved portion in a fifth embodiment is shown.

[0052] Figure 11 A schematic side view showing the interior of a curved portion in a sixth embodiment is shown. DETAILED DESCRIPTION

[0053] Hereinafter, the present invention will be described in detail based on embodiments with reference to the accompanying drawings. The representations in the drawings are not necessarily to scale and are sometimes distorted for the sake of clarity.

[0054] First embodiment

[0055] In the following, the first embodiment of the present invention is referred to Figures 1 to 4(D) Provide a description.

[0056] The endoscope 1 according to the present invention comprises an insertion tube 2, a curved portion 3 and a distal end 4 on the distal side of a control member (not shown).

[0057] Figure 1 A schematic side view of the distal region of an endoscope 1 according to the present invention is shown. A curved portion 3 is provided on the distal side of the insertion tube 2. A distal end 4 is provided on the distal side of the curved portion 3.

[0058] Insertion tube 2

[0059] The insertion tube 2 is flexible and is intended to be inserted into the patient with the distal end 4 first for examination purposes. The insertion tube 2 is flexible to follow the curved opening of the body into which it is inserted. The insertion tube 2 is also sufficiently rigid and torsion-resistant so that it can be pushed through the curved portion of the body opening. The insertion tube 2 includes a covering 21 on the outside and a wire mesh 22 preferably on the inside of the covering 21. The covering 21 protects the interior of the insertion tube 2. The wire mesh 22 imparts the desired flexibility, rigidity, and torsion resistance to the insertion tube 2.

[0060] Bend 3

[0061] The curved portion 3 is located at the distal end of the insertion tube 2. The longitudinal direction of the curved portion 3 corresponds to the extension direction of the endoscope 1. The curved portion 3 is pivotable relative to the insertion tube 2. The pulling rope 11 is used to pivot the curved portion 3. The pulling rope 11 is actuated by pulling from the proximal side. In the initial position where the pulling rope 11 is not pulled, the curved portion 3 is bent, as shown in FIG. Figure 1 As shown in Figure 3.

[0062] In the curved portion 3, the elastic sleeve 10 extends from the distal end of the insertion tube 2 to the distal end 4. The elastic sleeve 10 should be regarded as a continuation of the covering 21 of the insertion tube 2 in the distal direction.

[0063] Separation element 30

[0064] In the bending portion 3, a flat flexible plate 30 serving as a bendable plate is arranged as a separating element 30. FIG4(B) shows an example of a flexible plate 30. In top view, the flexible plate 30 takes the shape of an elongated rectangle. Furthermore, the cross-section of the flexible plate 30 is formed into a rectangle. Therefore, the cross-section of the flexible plate 30 has short sides and long sides. In the top view of FIG4(B), the flexible plate 30 can bend toward the viewer and can bend away from the viewer. In the unloaded initial stage, the flexible plate 30 is curved, as can be seen in FIG4(C). The flexible plate 30 is bent so that the short sides of its cross-section extend radially, i.e., along the extension of the radius of curvature. Therefore, in the unloaded initial position, the flexible plate 30 is bent to the side, see FIG4(D). In this context, the "unloaded initial position" refers to a state in which no force is applied to the flexible plate 30 and the traction cord is not being pulled.

[0065] When viewed in the longitudinal direction, the flexible plate 30 has a narrower proximal portion 36 and a wider distal portion 35. The proximal portion 36 has a shorter width than the distal portion 35.

[0066] The proximal portion 36 is inserted from the distal side into the wire mesh 22 of the insertion tube 2. When the flexible plate 30 is inserted into the wire mesh 22, the wider distal portion 35 can serve as a stopper, and the flexible plate 30 is inserted into the wire mesh 22 until the stopper. The length of the flexible plate 30 protruding from the wire mesh 22 is predefined in this way.

[0067] The proximal portion 36 may also be welded or glued or otherwise fastened to the wire mesh 22. Thus, the distal portion 35 of the flexible plate 30 protrudes from the wire mesh 22 of the insertion tube 2 in the distal direction.

[0068] The sleeve 10 is pulled onto the flexible plate 30. Consequently, the outer edge of the distal portion 35 is pressed into the elastic inner peripheral surface of the sleeve 10, dividing the interior of the sleeve 10 into a first chamber 31 and a second chamber 32 in cross section. In other words, the flexible plate 30 divides the interior of the sleeve 10. Each of the first chamber 31 and the second chamber 32 is peripherally defined by the inner peripheral surface of the sleeve 10 and by the flexible plate 30.

[0069] The first chamber 31 and the second chamber 32 extend from the distal end of the insertion tube 2 to the distal end 4 in the longitudinal direction of the sleeve 10. In this embodiment, the distal end of the flexible plate 30 is spaced apart from the proximal surface of the distal end 4, see Figure 2 Alternatively, the distal end of the flexible plate 30 may abut on the proximal surface of the distal end 4 , or may be anchored to the distal end 4 .

[0070] Thus, the first chamber 31 and the second chamber 32 are separated from each other by the flexible plate 30. Preferably, the first chamber 31 and the second chamber 32 have the same cross-sectional dimensions. Thus, the flexible plate 30 divides the interior of the sleeve 10 into two equal halves. Alternatively, the flexible plate 30 may divide the interior of the sleeve 10 into two halves of different sizes, in which case the first chamber 31 and the second chamber 32 have different cross-sectional dimensions.

[0071] As shown in FIG3(B), in the first chamber 31, the pulling cord 11, the camera cable 12, and the optical conductor 13 are arranged so that they extend in the longitudinal direction of the curved portion 3 in parallel with the bending axis of the curved portion 3. In the second chamber 32, the camera cable 12 and the optical conductor 13 are arranged so that they extend in the longitudinal direction of the curved portion 3 in parallel with the bending axis of the curved portion 3. The pulling cord is not arranged in the second chamber 32.

[0072] The flexible plate 30 is bendable and can be made of spring steel, stainless steel or bendable plastic material. Despite its bendability, the flexible plate 30 is incompressible and inextensible. Therefore, the flexible plate 30 has a function similar to that of a spine.

[0073] Pulling the pulling rope 11 in the proximal direction causes the curved portion 3, which is curved in an unloaded state, to bend in a direction in which the curved portion 3 becomes straight. In other words, pulling the pulling rope 11 in the proximal direction causes the curved portion 3 to stretch.

[0074] Distal end 4

[0075] The distal end 4 can serve as the endoscope head. A pull cord 11 is anchored in the distal end 4. An optical system (not shown) and a camera (not shown) are provided on the distal side of the distal end 4. The optical system is connected to a light conductor 13 and ensures illumination of the scene to be observed. The camera is connected to a camera cable 12 and takes pictures of the illuminated scene.

[0076] The sleeve 10 may abut on the distal end 4 , or alternatively, may cover the outer peripheral side of the distal end 4 .

[0077] The endoscope 1 according to the present invention can be extremely small. The outer diameter of the sleeve 10 of the curved portion 3, the insertion tube 2, and the distal end 4 can be 3 mm or less. In even smaller designs, the outer diameter of the sleeve 10 of the curved portion 3, the insertion tube 2, and the distal end 4 can even be 2 mm or 1 mm or less.

[0078] Functions of the present invention

[0079] By pulling the pull cord 11 in the proximal direction, the distance between the distal end of the insertion tube 2 and the distal end 4 is reduced. When the single pull cord 11 disposed in the first chamber 31 is pulled, the flexible plate 30 bends to the side where the first chamber 31 is located. As a result, the curved portion 3 pivots to the side, wherein the curved portion 3 adopts a straight (i.e., stretched) shape (to the left in FIG. 3(A) ). By pulling the pull cord 11, the curved portion 3 can eventually adopt a completely straight shape. When the curved portion 3 has adopted a completely straight shape and the pull cord 11 continues to be pulled in the proximal direction, the curved portion 3 bends in a direction opposite to the direction of its initial curvature (to the left in FIG. 3(A) ).

[0080] Advantages of the present invention

[0081] The curved portion 3 shows a very simple design, utilizes few components, and can therefore be manufactured at very low cost.

[0082] The curved portion 3 does not require an eyelet or other traction cord guiding element (as a cord guide). This is particularly advantageous for thin insertion tubes, as no cavity is required for an eyelet. The flexible plate 30 divides the interior of the curved portion 3 into two chambers 31 and 32. Chamber 31 serves as a cord guide for the traction cord 11. As a result, the traction cord 11 is securely guided.

[0083] The bending portion 3 can be brought into any desired bending position by pulling a single pulling cable 11. However, for this purpose, only a single pulling cable 11 is required. Thus, the space that would be required for other pulling cables is saved. As a result, the bending portion 3 and thus the entire endoscope can be constructed with an even smaller diameter.

[0084] Therefore, the curved portion 3 according to the present invention can be used for an endoscope including an extremely small insertion tube.

[0085] Second embodiment

[0086] Hereinafter, the second embodiment of the present invention is referred to Figures 5 to 7 Provide a description.

[0087] In the second embodiment, the spring element 18 for anti-twist protection is arranged in the sleeve 10 of the first embodiment.

[0088] Otherwise, the structure of the second embodiment is similar to that of the first embodiment.

[0089] Figure 5 A schematic side view of a sleeve 10 of a second embodiment of a bending portion 3 is shown. For the sake of clarity, the pulling cord 11 and the bendable plate 30 are not shown, nor are the camera cable 12 and the optical conductor 13.

[0090] To impart advantageous bendability to the sleeve 10, Figure 6 The spring element 18 shown is embedded in the interior of the sleeve 10. Figure 7 In FIG. 1 , the position of the spring element 18 is indicated in a cross section of the sleeve 10 of the second embodiment.

[0091] The sleeve 10 of the second embodiment may be manufactured such that plastic material is cast or extruded onto the spring element 18 so that the spring element 18 is clamped between the inner and outer peripheral surfaces of the sleeve 10 made of the plastic material.

[0092] Thus, the sleeve 10 of the second embodiment is configured to be flexible, yet also rigid and torsionally resistant.

[0093] Otherwise, the same advantages as those of the first embodiment are obtained.

[0094] Third embodiment

[0095] Hereinafter, the third embodiment of the present invention is referred to Figure 8 Provide a description.

[0096] Figure 8 A schematic side view showing the interior of a curved portion in a third embodiment is shown.

[0097] The curved portion of the third embodiment can utilize the cover 21 of the first or second embodiment. This also applies to the following embodiments.

[0098] Furthermore, the curved portion of the third embodiment utilizes a known hinge structure and includes hinge rings 301. A plurality of hinge rings 301 are arranged along the longitudinal direction of the curved portion. Adjacent hinge rings 301 are coupled to each other via hinges 304, such that they are pivotable relative to each other about the axis of the hinges 304. Thus, each pair of adjacent hinge rings 301 has two hinges 304, which are positioned 180 degrees apart from each other, i.e., at diagonal positions of the hinge rings 301. The first hinge ring 301 at the proximal end of the curved portion includes two hinges 304 only on the distal side. The last hinge ring 301 at the distal end of the curved portion includes two hinges 304 only on the proximal side. The radially outer side of the hinge structure formed by the hinge rings 301 is covered by a cover (not shown).

[0099] Each hinge ring 301 has a right eyelet 302 and a left eyelet 302 on its periphery. More precisely, the respective eyelets 302 are formed on the inner peripheral surface of the respective hinge ring 301. The respective eyelets 302 form an opening extending in the longitudinal direction of the curved portion. The pulling rope described below or the pre-bent spring rod described below can be received in the opening. The eyelets 302 are only schematically indicated. Figure 8 middle.

[0100] The right eyelets 302 are arranged on the side opposite to the left eyelets 302. In other words, the right eyelets 302 are positioned 180 degrees apart from the left eyelets 302 on the hinge ring 301, i.e., they are arranged at diagonal positions on the hinge ring 301. When viewed in the longitudinal direction of the curved portion, all the left eyelets 302 are arranged in a row. Similarly, when viewed in the longitudinal direction of the curved portion, all the right eyelets 302 are arranged in a row.

[0101] exist Figure 8 , the left eyelet 302 is arranged on the left side of the hinge ring 301 and the right eyelet 302 is arranged on the right side of the hinge ring 301 .

[0102] In this third embodiment, the pull cord 11 is guided through the left eyelet 302 of the articulation ring 301. In this third embodiment, the pre-bent spring rod 330 is guided through the right eyelet 302 of the articulation ring 301. The distal end of the pull cord 11 is fixed to the last articulation ring 301 at the distal end of the bend. The distal end of the pre-bent spring rod 330 is fixed to the last articulation ring 301 at the distal end of the bend. The spring rod 330 constitutes an additional element used in addition to the pull cord in the bend.

[0103] The pre-bent spring rod 330 is a spring wire.

[0104] The pre-bent spring rod 330 is pre-bent toward the curved side, i.e. Figure 8 In this embodiment, for example, the pre-bent spring rod 330 is pre-bent by about 90 degrees. However, the pre-bent angle can be selected as needed.

[0105] The pre-bend of the pre-bent spring rod 330 imparts a pre-set portion that is bent to the side (ie, Figure 8 In this non-actuated state, the right side portions of the articulated ring 301 may abut against each other, or may have a minimum distance, while the left side portions of the articulated ring 301 are maximally spaced apart from each other.

[0106] The pre-bent spring rod 330 has such a length that, in the non-actuated state described above, it protrudes in the proximal direction at the first articulated ring 301 at the proximal end of the bent portion, as shown in FIG. Figure 8 The portion of the pre-bent spring rod 330 that projects to the proximal side of the first hinge ring 301 in the non-actuated state has a straight extension, see Figure 8 The pre-bent spring rod 330 is arranged in the right eyelet 302 of the hinge ring 301 such that the pre-bent spring rod 330 is slidable relative to the right eyelet 302 of the hinge ring 301 .

[0107] The pulling rope 11 is guided in the left eyelet 302 or the hinged ring 301. Figure 8Starting from the inactive state, the pull cord 11 is pulled proximally, causing the left side portions of the hinge ring 301 to rotate about the hinge portion 304 and be pulled toward each other. Because the distal end of the pre-bent spring rod 330 is fixed to the last hinge ring 301 at the distal end of the bend, and the pre-bent spring rod 330 is slidable relative to the right eyelet 302 of the hinge ring 301, the hinge ring 301 can pivot about the hinge portion 304. This increases the distance of the hinge ring 301 on its right side. The pre-bent spring rod 330, guided in the right eyelet 302, does not prevent the distance of the hinge ring 301 from increasing on its right side because it is slidably supported in the right eyelet 302.

[0108] Thus, by pulling the pulling cord 11 , the curved portion can be brought into a stretched position, in which the articulated rings 301 are aligned parallel to each other.

[0109] When the pull cord 11 is pulled in the proximal direction starting from the stretched position, the left side portions of the hinged rings 301 continue to rotate (pivot) around the hinge 304 and pull toward each other until they abut each other. In this case, the hinged rings 301 are spaced apart from each other to the greatest extent on their right side portions.

[0110] The straight portion of the pre-bent spring rod 330 protruding to the proximal side of the first articulated ring 301 in the non-actuated state has such a length that, taking into account Figure 8 The curved portion can be bent to the left by at least 90 degrees by pulling the pulling rope 11. The straight portion of the pre-bent spring rod 330 protruding to the proximal side of the first hinge ring 301 in the non-actuated state can also be designed to be longer. Figure 8 Then, the bent portion can be bent to the left by more than 90 degrees by pulling the pulling rope 11. The straight portion of the pre-bent spring rod 330 protruding to the proximal side of the first hinge ring 301 in the non-actuated state can also be designed to be shorter. Figure 8 Then, the bent portion can be bent to the left by less than 90 degrees by pulling the pulling rope 11. The pre-bent spring rod 330 can be provided with a stopper at the proximal end so that the proximal end of the pre-bent spring rod 330 cannot slide through the right eyelet 302 of the first hinge ring 301.

[0111] Fourth embodiment

[0112] Hereinafter, the fourth embodiment of the present invention refers to Figure 9 Provide a description.

[0113] Figure 9 A schematic side view showing the interior of a curved portion in a fourth embodiment is shown.

[0114] The curved portion of the fourth embodiment similarly utilizes the known hinge structure explained in the third embodiment and includes hinge rings 301. Multiple hinge rings 301 are arranged along the longitudinal direction of the curved portion. Adjacent hinge rings 301 are coupled to each other via hinges 304, allowing them to pivot toward each other about the axes of the hinges 304. Thus, each pair of adjacent hinge rings 301 has two hinges 304, positioned 180 degrees apart from each other, i.e., at diagonal positions of the hinge rings 301. The first hinge ring 301 at the proximal end of the curved portion has two hinges 304 only on its distal side. The last hinge ring 301 at the distal end of the curved portion has two hinges 304 only on its proximal side.

[0115] Each hinge ring 301 has right and left eyelets 302 along its periphery. The right eyelets 302 are arranged on the side opposite the left eyelets 302. In other words, the right eyelets 302 are positioned 180 degrees apart from the left eyelets 302 on the hinge ring 301, i.e., they are arranged at diagonal positions on the hinge ring 301. When viewed in the longitudinal direction of the curved portion, all the left eyelets 302 are arranged in a row. Similarly, when viewed in the longitudinal direction of the curved portion, all the right eyelets 302 are arranged in a row.

[0116] exist Figure 9 , the left eyelet 302 is arranged on the left side of the hinge ring 301 and the right eyelet 302 is arranged on the right side of the hinge ring 301 .

[0117] In this fourth embodiment, the pull cord 11 is guided in the left eyelet 302 of the hinge ring 301. In this fourth embodiment, the distal guide pull cord (not shown because Figure 8 The distal end of the pull cord 11 is secured to the last articulated ring 301 at the distal end of the bend. The distal end of the distal guide pull cord is secured to the last articulated ring 301 at the distal end of the bend. On the proximal side, a proximal coil spring element 3300 is arranged (connected) to the distal guide pull cord. This coil spring element 330 forms an additional element. The tension of the coil spring element 3300 predetermines the bending direction of the bend.

[0118] Basically, the fourth embodiment differs from the third embodiment in that a combination of a distal guide pull rope and a proximal coil spring element 3300 is provided instead of the pre-bent spring rod 330. The rest of the aspects are the same. The explanations made about the third embodiment also apply to the fourth embodiment. The combination of the distal guide pull rope and the proximal coil spring element 3300 essentially constitutes a combined pull rope body for integral traction. The proximal coil spring element 330 is already in a non-actuated initial state under tension. Therefore, the combination of the distal guide pull rope and the proximal coil spring element 3300 is in a biased state, which causes the bent portion that is already in the non-actuated initial state to bend to the radial side, see Figure 9 , where the combination of the distal guide pull cord and the proximal coil spring element 3300 is arranged in the curved portion.

[0119] The distal guide pull cord may have a length that, for example, runs through an offset curved portion, wherein the connection point for the proximal coil spring element 3300 may be provided at the proximal end of the curved portion, in front of or behind the proximal end of the curved portion. In the non-actuated state described above, the proximal coil spring element 3300 protrudes in the proximal direction over the first articulation ring 301 at the proximal end of the curved portion, or is located proximal to the curved portion, as shown in FIG. Figure 9 shown.

[0120] The length of the combination of the distal guide pull cord and the proximal coil spring element 3300 can be selected to be similar to the length of the pre-bent spring rod 330 of the third embodiment.

[0121] The proximal coil spring element 3300 is expandable. The proximal coil spring element 3300 acts as a tension spring.

[0122] The proximal coil spring element 3300 is biased such that the curved portion is pre-bent to one curved side, ie, to Figure 9 In this embodiment, for example, the curved portion is pre-bent by about 90 degrees in this manner. However, the pre-bending angle can be selected as needed.

[0123] Due to the biasing force of the proximal coil spring element 3300, the bent portion of the fourth embodiment in the non-actuated state has a pre-set portion that is bent to the side, that is, bent to the side. Figure 9 In this non-actuated state, the right side portions of the articulated ring 301 are adjacent to each other, whereas the left side portions of the articulated ring 301 are maximally spaced apart from each other.

[0124] The pulling rope 11 is guided in the left eyelet 302 of the hinged ring 301. Figure 9Starting from the non-actuated state of the articulated ring 301, when the pull cord 11 is pulled in the proximal direction, the left side portions of the articulated ring 301 rotate about the hinge portion 304 and are pulled toward each other. In this way, on the right side portions of the articulated ring 301, which are held together by the biasing force of the proximal coil spring element 3300, the combination of the distal guide pull cord and the proximal coil spring element 3300 is stretched (i.e., only the proximal coil spring element 3300 is stretched), causing the right side portions of the articulated ring 301 to move away from each other while the articulated ring 301 rotates about the hinge portion 304.

[0125] Thus, by pulling the pulling cord 11 , the curved portion can be brought into a stretched position, in which the articulated rings 301 are aligned parallel to each other.

[0126] When the pulling rope 11 is pulled in the proximal direction starting from the stretched position, the left side portions of the hinged ring 301 continue to rotate around the hinge portion 304 and are pulled toward each other until they abut each other. In this case, the right side portions of the hinged ring 301 are maximally spaced apart from each other, and the proximal coil spring element 3300 is maximally stretched. In this case, the bent portion is not as Figure 9 Shown facing forward, but facing left.

[0127] Fifth embodiment

[0128] Hereinafter, the fifth embodiment of the present invention refers to Figure 10 Provide a description.

[0129] Figure 10 A schematic side view showing the interior of a curved portion in a fifth embodiment is shown.

[0130] The fifth embodiment is a further development of the fourth embodiment in which the pull cord 11 is guided in the left eyelet 302 of the articulation ring 301 and the combination of the distal guide pull cord and the proximal helical spring element 3300 is guided in the right eyelet 302 of the articulation ring 301 .

[0131] In this fifth embodiment, in addition to the structure of the fourth embodiment, the additional eyelets on each hinge ring 301 are arranged 90 degrees apart. On each hinge ring 301, four eyelets are evenly distributed along the circumference and offset 90 degrees. When viewed in the longitudinal direction of the curved portion, all left-side eyelets 302 are arranged in a row. Furthermore, when viewed in the longitudinal direction of the curved portion, all right-side eyelets 302 are arranged in a row. Furthermore, when viewed in the longitudinal direction of the curved portion, all front-side eyelets 302 are arranged in a row. Finally, when viewed in the longitudinal direction of the curved portion, all rear-side eyelets 302 are arranged in a row.

[0132] The first pull cord 11 is guided through the left eyelet 302 of the hinged ring 301. The first biasing combination of the distal guide pull cord and the proximal coil spring element 3300 is guided through the right eyelet 302 of the hinged ring 301. The second pull cord 11 is guided through the front eyelet 302 of the hinged ring 301. The second biasing combination of the distal guide pull cord and the proximal coil spring element 3300 is guided through the rear eyelet 302 of the hinged ring 301. More precisely, in each of the respective combinations of the distal guide pull cord and the proximal coil spring element 3300, the distal guide pull cord is guided through the eyelet, and the proximal coil spring element 3300 provides the biasing force.

[0133] Adjacent hinge rings 301 pivot toward each other around hinges 304. In the present invention, hinges 304 refer to bearings that allow hinge rings 301 to pivot to adjacent hinge rings 301. Hinge 304 includes a pivot axis around which hinge rings 301 pivot to adjacent hinge rings 301.

[0134] Adjacent articulated rings 301 are coupled to one another by hinges 304 so that they are pivotable toward one another about the axes of the hinges 304. Each articulated ring 301 includes two hinges 304 on the proximal side (spaced 180 degrees apart from one another, i.e., located diagonally on the articulated ring 301), with the exception of the first articulated ring 301 at the proximal end of the curved portion and the last articulated ring 301 at the distal end of the curved portion. On the distal side, each articulated ring 301 includes two hinges 304 on the proximal side, which are equally spaced 180 degrees apart from one another, i.e., located diagonally on the articulated ring 301. The hinges 304 on the distal side are arranged 90 degrees offset from the hinges 304 on the proximal side at the periphery of the articulated ring 301.

[0135] When viewed in the proximal and distal directions, the positions of the two hinges 304 on the hinge ring 301 provide for subsequent rotation of approximately 90 degrees in the proximal and distal directions. Thus, the hinge ring 301 can pivot relative to each other not only to the left and right but also to the front and back.

[0136] The first articulated ring 301 at the proximal end of the curved portion comprises two articulations 304 on the distal side only. The last articulated ring 301 at the distal end comprises two articulations 304 on the proximal side only.

[0137] In the fourth embodiment, considering Figure 8, the curved portion can be pivoted to the right and left, and thus pivoted in two directions. In this fifth embodiment, taking into account Figure 9 , the curved portion can be pivoted to the right and left as well as to the front (towards the observer) and the rear (away from the observer), and thus in four directions.

[0138] In the rear eyelet 302 and in the right eyelet 302, the first and second combinations of the distal guide pull cord and the proximal coil spring element 3300 are arranged to be biased. Figure 9 In the non-actuated state, corresponding areas of adjacent articulated rings 301 between the rear eyelet 302 and the right eyelet 302 abut or have a minimum distance.

[0139] When from Figure 9 Starting from the non-actuated state of the articulated ring 301, when the first and second pull cords 11 are pulled uniformly in the proximal direction, the left and front sides of the articulated ring 301 rotate (pivot) about the hinge 304 and are pulled toward each other. In this way, the first and second biased proximal coil spring elements 3300 are pulled (stretched and thus extended) on the right and rear sides of the articulated ring 301, which are held together by the distal guide pull cord and the first and second biased proximal coil spring elements 3300, causing the right and rear sides of the articulated ring 301 to move away from each other as the articulated ring 301 rotates (pivots) about the hinge 304.

[0140] If only the first pulling rope 11 is pulled in the proximal direction, the distal end of the curved portion moves to the left.

[0141] If only the second pulling cord 11 is pulled in the proximal direction, the distal end of the curved portion moves to the front side (toward the viewer).

[0142] The combined pulling and unpulling movement of the first and second pull cords 11 and 11 allows the distal end of the curved portion to pivot in a desired direction in three-dimensional space.

[0143] The curved portion at the distal end 4 may likewise bend to the right and left as well as to the front (towards the viewer) and back (away from the viewer), thus bending in four directions and all intermediate directions therebetween.

[0144] Sixth embodiment

[0145] Hereinafter, the sixth embodiment of the present invention is described with reference to Figure 11 Provide a description.

[0146] Figure 11 A schematic side view showing the interior of a curved portion in a sixth embodiment is shown.

[0147] The sixth embodiment is a further development of the third embodiment. In the third embodiment, the pulling rope 11 is guided in the left eyelet 302 of the hinge ring 301, and the pre-bent spring rod 330 is guided in the right eyelet 302 of the hinge ring 301. The pre-bent spring rod 330 is configured as an elastic wire.

[0148] In this sixth embodiment, similar to the fifth embodiment, the structure of the third embodiment is modified, with additional eyelets arranged on each hinge ring 301, offset by 90 degrees. On each hinge ring 301, four eyelets, evenly distributed along the circumference, are arranged offset by 90 degrees. When viewed in the longitudinal direction of the curved portion, all left-side eyelets 302 are arranged in a row. Furthermore, when viewed in the longitudinal direction of the curved portion, all right-side eyelets 302 are arranged in a row. Furthermore, when viewed in the longitudinal direction of the curved portion, all front-side eyelets 302 are arranged in a row. Finally, when viewed in the longitudinal direction of the curved portion, all rear-side eyelets 302 are arranged in a row.

[0149] The first traction cord 11 is guided through the left eyelet 302 of the hinged ring 301. The first pre-bent spring rod 330 is guided through the right eyelet 302 of the hinged ring 301. The second traction cord 11 is guided through the front eyelet 302 of the hinged ring 301. The second pre-bent spring rod 330 is guided through the rear eyelet 302 of the hinged ring 301. The first pre-bent spring rod 330 and the second pre-bent spring rod 330 are configured as pre-bent spring wires.

[0150] Adjacent hinge rings 301 pivot relative to each other about hinges 304 , as in the fifth embodiment.

[0151] The prebend spring bar 330 is prebent to the right side in a manner similar to the third embodiment. For example, the prebend spring bar 330 is prebent approximately 90 degree. However, the prebend angle can be selected as required.

[0152] Due to the pre-bending of the pre-bent spring rod 330, the bent portion has a pre-set portion that is bent to the side in the non-actuated state, that is, bent to Figure 11 In the non-activated state, the sides of the articulated ring 301 opposite the pulling rope 11 abut against each other, as in the fifth embodiment. In the non-activated state, the sides of the articulated ring 301 on which the pre-bent spring rods 330 are arranged for guidance in their eyelets 302 are maximally spaced apart from each other.

[0153] As in the fifth embodiment, the two pre-bent spring rods 330 have such a length that in the non-actuated state described above, they protrude in the proximal direction over the first articulated ring 301 at the proximal end of the curved portion, as shown in FIG. Figure 11 The portion of the pre-bent spring rod 330 (which projects to the proximal side of the first hinge ring 301 in the non-actuated state) has a straight extension, see Figure 11 The pre-bent spring rod 330 is arranged in the right eyelet 302 of the hinge ring 301 and in the rear eyelet 302 of the hinge ring 301 such that the pre-bent spring rod 330 is slidable relative to the right eyelet 302 of the hinge ring 301 and the rear eyelet 302 of the hinge ring 301 .

[0154] Therefore, the structure and function of the sixth embodiment correspond to the combination of the third and fifth embodiments.

[0155] In the sixth embodiment, considering Figure 11 , the curved portion can be pivoted to the right and left as well as to the front (towards the viewer) and the back (away from the viewer), and thus in four directions, and all intermediate directions therebetween.

[0156] Other alternatives

[0157] In the first embodiment, the pulling rope 11 is arranged in the first chamber 31, which is arranged radially outward relative to the bend of the plate 30. No pulling rope is present in the second chamber 32, which is arranged radially inward relative to the bend of the plate 30. The principles of the present invention can also be applied to a structure in which two or more pulling ropes 11 are arranged in the first chamber 31, which is arranged radially outward relative to the bend of the plate 30. Even in this alternative, no pulling rope is present in the second chamber 32, which is arranged radially inward relative to the bend of the plate 30.

[0158] In the second embodiment, the spring element 18 is interposed between the inner and outer peripheral surfaces of the sleeve 10. In an alternative, the spring element may be provided on the inner peripheral surface of the sleeve 10 to impart the desired elasticity and bending stiffness to the sleeve 10.

[0159] In the first embodiment, the elastic sleeve 10 of the curved portion 3 forms a distal continuation of the cover 21 of the insertion tube 2. In an alternative, the elastic sleeve 10 and the cover 21 may be a one-piece cover extending from the control member to the distal end 4 of the endoscope.

[0160] In the first embodiment, the flexible plate 30 is in the form of an elongated rectangle. The flexible plate 30 may also take other shapes. The cross-section of the flexible plate 30 may be rectangular, oval, elliptical, or even in the shape of a racetrack. A racetrack shape (or stadium shape) has linear segments interposed between semicircular end pieces. Consequently, one side of the separation element is longer than the other. The separation element bends around the thinner side. This way, when the pull cord is pulled, the bending direction is predetermined.

[0161] In an embodiment, the separation element is in the form of a flexible or bendable plate. The present invention is not limited thereto. For example, when the sleeve 10 is manufactured by extrusion, the separation element can also be prepared as a partition. In this case, the separation element is integrally connected to the sleeve 10. To achieve sufficient pushing stability, a wire mesh can be incorporated into the separation element.

[0162] In the third to sixth embodiments, an eyelet serves as a traction cord guide element. The present invention is not limited thereto. To guide the traction cord, traction cord guide elements of various structures may be used. For example, traction cord guide elements having an open, semi-open, or closed guide body may be used. The eyelet is an example of a closed guide body. A guide body for guiding a traction cord need not be completely closed. In an open or semi-open design, the guide body has an incomplete housing that does not completely enclose the guide cord.

[0163] In an alternative to the fourth and sixth embodiments, the combination of the distal guide pull rope and the proximal coil spring element 3300 is replaced by a coil spring element 3300. In this alternative, the biasing coil spring 3300 is guided in the right eyelet 302 of the articulation ring 301. The distal end of the biasing coil spring 3300 is fixed to the last articulation ring 301 at the distal end of the bend. The biasing coil spring 3300 has such a length that, in the non-actuated state described above, it can protrude in the proximal direction above the first articulation ring 301 at the proximal end of the bend, as shown in FIG. Figure 9 shown.

[0164] In the embodiment, the optical system including the light conductor 13 and the camera including the camera cable 12 are merely examples of use of the endoscope according to the present invention and may be modified or even omitted.

[0165] Alternatively, when the present invention is applied to a larger endoscope, a working catheter, an irrigation catheter and / or an ultrasound sensor, etc. may be installed.

[0166] The present invention may be advantageously applied to flexible endoscopes.The principles of the present invention may be applied to any type of endoscope comprising a curved portion.

[0167] List of reference numerals

[0168] 1. Endoscope

[0169] 2 Insertion tube

[0170] 3 curved parts

[0171] 4 distal end

[0172] 10 sleeves

[0173] 11 Pulling rope

[0174] 12 camera cables

[0175] 13 Photoconductor

[0176] 18 spring elements

[0177] 21 covering

[0178] 22 Wire Network

[0179] 30 separation elements

[0180] 31 First Chamber

[0181] 32 Second Chamber

[0182] 35 distal portion of the flexible plate

[0183] 36 proximal portion of the flexible plate

[0184] 301 hinged ring

[0185] 302 eyelets

[0186] 304 hinge

[0187] 330 pre-bent spring rod

[0188] 3300 coil spring.

Claims

1. An endoscope (1), comprising: a flexible insertion tube (2), and a curved portion (3), said curved portion (3) being controllable from the proximal side, said curved portion (3) being connected to said insertion tube (2) towards the distal side, wherein in the curved portion (3), at least one pulling rope (11) runs for the pivotal movement of the curved portion (3), the pulling rope (11) being anchored to the distal end of the curved portion (3), wherein the biasing elastic element (30) is arranged parallel to the pulling rope (11) in the longitudinal direction of the curved portion (3), The biasing elastic element (30) applies a biasing force for bending the bending portion in a predetermined manner, The curved portion (3) comprises a sleeve (10), The sleeve (10) is formed by a spring element (18) being clamped between an inner peripheral surface and an outer peripheral surface of the sleeve (10) made of a plastic material. Furthermore, the biasing elastic element is a bendable separation element (30), and the bendable separation element (30) divides the cross section of the sleeve (10) into two independent chambers (31, 32). In one chamber (31) of the two chambers (31, 32) separated by the bendable separation element (30), the pulling rope (11) is arranged in the longitudinal direction of the sleeve (10) for pivotal movement of the bending portion (3).

2. The endoscope (1) according to claim 1, wherein The biasing elastic member (30) has a predetermined bent portion toward one side of the bent portion (3).

3. The endoscope (1) according to claim 2, wherein The predetermined bend of the biasing elastic element (30) provides maximum pivoting of the bent portion (3) to one side.

4. The endoscope (1) according to any one of claims 1 to 3, wherein In one chamber (31) of the two chambers (31, 32) separated by the bendable separation element (30), the bendable separation element (30) is arranged on the outside of the radius of the bendable separation element (30) bent in a predetermined manner, and the pulling rope (11) is arranged in the longitudinal direction of the sleeve (10) for pivotal movement of the bent portion (3).

5. The endoscope (1) according to any one of claims 1 to 3, wherein The bendable separation element (30) is anchored on its proximal side to the distal end region of the insertion tube (2).

6. The endoscope (1) according to claim 5, wherein The insertion tube (2) has an outer covering (21) and an elastic wire mesh (22) below the outer covering (21), the proximal side (36) of the bendable separation element (30) being anchored to the distal end region of the wire mesh (22).

7. The endoscope (1) according to claim 6, wherein The proximal side (36) of the bendable separation element (30) is inserted into, welded to, or glued to the distal end region of the wire mesh (22).

8. The endoscope (1) according to any one of claims 1 to 3, wherein The sleeve (10) of the curved portion (3) has an outer diameter of 3 mm or less.

9. The endoscope (1) according to any one of claims 1 to 3, wherein The sleeve (10) of the curved portion (3) has an outer diameter of 1 mm or less.

10. The endoscope (1) according to any one of claims 1 to 3, wherein The bendable separation element (30) is made of spring steel, stainless steel or bendable plastic material.

11. The endoscope (1) according to any one of claims 1 to 3, wherein The cross section of the bendable separation element (30) is configured such that the cross section of the bendable separation element (30) is wider in a first direction and narrower in a second direction perpendicular to the first direction.

12. The endoscope (1) according to any one of claims 1 to 3, wherein In the chamber (31) arranged on the outer side of the bendable separation element (30), a single pulling rope (11) is arranged for the pivotal movement of the bending portion (3), and in the other chamber (32) arranged on the inner side of the bendable separation element (30), no pulling rope is arranged.

13. The endoscope (1) according to any one of claims 1 to 3, wherein In the chamber (31) arranged on the outer side of the bendable separation element (30), a plurality of pulling ropes (11) are arranged for pivotal movement of the bending portion (3), and in the other chamber (32) arranged on the inner side of the bendable separation element (30), no pulling rope is arranged.

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