An endoscope with an insertion tube having adjacent incisions of unequal spacing and a method for manufacturing such an endoscope.

Abstract

This disclosure relates to an endoscope having an insertion tube. The insertion tube (2) has a proximal passive flexible segment (C) and a distal curved segment (A). Incisions (2611, 2621, 2613, 2623) are provided in the proximal passive flexible segment (C) to allow the proximal passive flexible portion (C) to bend. Adjacent incisions (2611, 2621; 2613, 2623) are unequally spaced in the proximal passive flexible segment (C). The proximal passive flexible segment (C) has secondary incisions (2621, 2623) adjacent to the primary incisions (2611, 2613), wherein the secondary incisions (2621, 2623) are arranged to be adjacent to the primary incisions (2611, 2613) on the side closer to the secondary incisions (2621, 2623) in the longitudinal direction of the proximal passive flexible segment (C) rather than adjacent to the primary incisions (2611, 2613) on the other side of the secondary incisions (2621, 2623). The main cuts (2611, 2613) extend intermittently along the circumference of the proximal passive flexible segment (C), such that the non-cutting bridging elements (2631, 2633) are retained between the main cut portions (2611, 2613) located on the circumference. The proximal passive flexible segment (C) includes the main cuts (2611, 2613), wherein at least in a sub-region of the proximal passive flexible segment (C), the main cuts (2611, 2613) are spaced unequally from each other in the longitudinal direction of the proximal passive flexible segment (C).

Description

[0001] This disclosure relates to an endoscope having an insertion tube with unequally spaced adjacent incisions and a method of manufacturing such an endoscope.

[0002] An endoscope is a device that allows examination of the interior of a living organism and its cavities. A crucial component of an endoscope is its flexible insertion cannula. The requirements for this cannula are both demanding and varied. On one hand, it must be flexible to allow for insertion into the body. On the other hand, it must also possess a certain degree of rigidity. During the examination, the physician must be able to use control mechanisms to push and rotate the cannula. Therefore, the cannula must be sufficiently rigid to prevent kinking or bending. Consequently, traditional insertion cannulas require highly complex designs and incurred significant manufacturing costs to meet these requirements.

[0003] To meet all requirements, the insertion tube must possess various properties. The three most important properties of the insertion tube are bending flexibility, torsional stiffness (torsional resistance), and dimensional stability (shape / form stability). On the one hand, it must be flexible to be inserted into the object to be examined (e.g., the human body). On the other hand, the insertion tube must have high torsional stiffness to transmit the torque generated by the user through rotation of the control body to the distal end. Furthermore, the insertion tube must not deform when bent or twisted.

[0004] Requiring the insertion tube to possess all of the aforementioned characteristics simultaneously presents a technical contradiction. If a component has high torsional stiffness, it is typically rigid and dimensionally stable. However, if a component has high bending flexibility, it lacks high torsional stiffness and is dimensionally unstable.

[0005] To meet the above requirements, developers have been attempting to construct the base of the insertion tube using multiple components for some time. Known designs for the insertion tube base are available... Figure 25 .

[0006] exist Figure 25 In known solutions, three different components are assembled to achieve the relevant characteristics of the base of the insertion tube 1000, namely high flexibility, high torsional stiffness and high dimensional stability.

[0007] The plastic coating 1004 is heated until the inner portion of the material melts and enters the gaps in the metal mesh 1003. This combination provides high torsional stiffness and high bending flexibility to the base of the insertion tube 1000. However, dimensional stability is still lacking here. To address this, two metal plate spirals 1001 and 1002 arranged in opposite directions are used. These metal plate spirals 1001 and 1002 ensure the dimensional stability of the insertion tube. The combination now provides the insertion tube 1000 with the three essential characteristics mentioned above: high flexibility, high torsional stiffness, and high dimensional stability.

[0008] One disadvantage of this complex design is its economic aspect. Assembling the three components together involves a complex manufacturing process. Both materials and manufacturing processes drive up production costs.

[0009] The purpose of this disclosure is to provide a method for manufacturing an insertion tube for an endoscope and an endoscope having an insertion tube, which is technically less complex and can reduce costs.

[0010] This objective is achieved by an endoscope having the features of claim 1. A corresponding method is provided in claim 14. Further embodiments thereof are described in detail in the dependent claims.

[0011] This disclosure relates to an endoscope having an insertion tube, wherein the insertion tube has a proximal passive flexible segment and a distal curved segment, the proximal passive flexible segment having incisions to allow bending of the proximal passive flexible segment, adjacent incisions being unequally spaced in the proximal passive flexible segment, the proximal passive flexible segment having secondary incisions adjacent to primary incisions, the secondary incisions being arranged in the longitudinal direction of the proximal passive flexible segment closer to an adjacent primary incision on one side of the secondary incision than to an adjacent primary incision on the other side of the secondary incision, the primary incisions extending intermittently along the circumference of the proximal passive flexible segment such that cutting bridging elements (supports) are retained between the primary incision portions located on the circumference, wherein the proximal passive flexible segment has primary incisions, wherein at least within a sub-region of the proximal passive flexible segment, the primary incisions are unequally spaced (spaced apart) from each other in the longitudinal direction of the proximal passive flexible segment.

[0012] In the insertion tube of the endoscope according to this disclosure, the incisions are formed at unequal intervals. Therefore, the spacing between the incisions formed in the insertion tube is different from each other. The incisions may be formed perpendicular to the axis of the insertion tube. There are main incisions in the proximal passive flexible segment. At least within a sub-region of the proximal passive flexible segment, the main incisions are unequally spaced from each other in the longitudinal direction of the proximal passive flexible segment.

[0013] The endoscope is highly flexible in shaping the bending angle of the proximal passive flexible segment.

[0014] The main cuts may be spaced apart from each other in the longitudinal direction of the proximal passive flexible segment with a continuously increasing spacing. The main cuts may also be spaced apart from each other in the distal direction of the proximal passive flexible segment with a continuously increasing spacing. In this way, the potential bending angle of the proximal passive flexible segment decreases in the distal direction of the proximal passive flexible segment, and the bending (angle, deflection) increases accordingly.

[0015] The main cuts may be spaced apart from each other in the longitudinal direction of the proximal passive flexible segment with a continuously decreasing spacing. The main cuts may also be spaced apart from each other in the distal direction of the proximal passive flexible segment with a continuously decreasing spacing. In this way, the potential bending angle of the proximal passive flexible segment increases in the distal direction of the proximal passive flexible segment, and the bending (angle, deflection) decreases accordingly.

[0016] At least within a first sub-region of the proximal passive flexible segment, the main cuts may be spaced apart by a continuously increasing spacing in the longitudinal direction of the proximal passive flexible segment, and at least within a second sub-region of the proximal passive flexible segment, the main cuts may be spaced apart by a continuously decreasing spacing in the longitudinal direction of the proximal passive flexible segment. A proximal passive flexible segment can be realized, wherein the reduced potential bending angle in the first sub-region is combined with the increased potential bending angle in the second sub-region.

[0017] The first and second sub-regions can be adjacent to each other (abut against each other). A proximal passive flexible segment can be achieved, wherein the reduced potential bending angle of the first sub-region is directly / back-to-back combined with the increased potential bending angle of the second sub-region. The change in potential bending angle can be achieved over a relatively short longitudinal range.

[0018] A third sub-region may be provided between the first and second sub-regions, wherein the main cuts are equally spaced from each other in the longitudinal direction of the proximal passive flexible segment. The potential bending angle can be changed through a deliberately smooth transition of a constant potential bending angle (in the third sub-region).

[0019] The aspects of this disclosure described above can be appropriately combined. Attached Figure Description

[0020] Figure 1 A schematic side view of an endoscope that can be used with this disclosure is shown.

[0021] Figure 2 A partial schematic diagram of the insertion tube according to the present disclosure is shown.

[0022] Figure 3 A partial schematic side view of a portion of the proximal passive flexible segment of an insertion tube according to a first embodiment of the present disclosure is shown.

[0023] Figure 4 It shows Figure 3 A partial perspective view of a portion of the proximal passive flexible segment.

[0024] Figure 5 It shows Figure 3 Details of the near-end passive flexible segment are used to explain the bending stiffness.

[0025] Figure 6 The relationship between deformation and pipe cut spacing during bending and bending stiffness is shown.

[0026] Figure 7 It shows Figure 3 The details of the near-end passive flexible segment are further explained to clarify the bending stiffness.

[0027] Figure 8 The relationship between deformation and tube notch spacing during bending and torsional stiffness is shown.

[0028] Figure 9 It shows Figure 3 Details of the near-end passive flexible segment are explained to illustrate torsional stiffness.

[0029] Figure 10 It shows the torsional stress Figure 3 A partial perspective view of a portion of the proximal passive flexible segment of the first embodiment.

[0030] Figure 11 A partial schematic diagram of the transition between the distal curved section and the proximal passive flexible section of the insertion tube according to the present disclosure is shown, wherein the guide spring fixing section is shown.

[0031] Figure 12 Shown from the other side Figure 11 A partial perspective view of the guide spring fixing section.

[0032] Figure 13 A partial schematic diagram of a portion of the curved section of the insertion tube according to this disclosure is shown.

[0033] Figure 14 A partial schematic diagram of a portion of the bent section of the insertion tube according to this disclosure is shown, illustrating the... Figure 13 The view is in the direction of arrow I.

[0034] Figure 15 A partial schematic diagram of a portion of a curved section of an insertion tube according to the present disclosure is shown, in which a cable conduit is illustrated.

[0035] Figure 16 It shows Figure 14 A partial perspective view of the cable conduit.

[0036] Figure 17 A partial schematic side view of the curved section of the insertion tube according to this disclosure is shown.

[0037] Figure 18 It shows Figure 17 A partial schematic plan view of the curved section.

[0038] Figures 19 to 21 Partial perspective views of the distal ends of the curved segments are shown.

[0039] Figure 22 A partial perspective view shows the traction cable anchored at the far end of the bend.

[0040] Figure 23 It shows the same from the other side. Figure 22 The corresponding view.

[0041] Figure 24 A partial perspective view of the proximal passive flexible segment in the second embodiment is shown.

[0042] Figure 25 A partial perspective view of the insertion tube according to the prior art is shown.

[0043] Figure 26 A partial schematic diagram of the proximal passive flexible segment in a third embodiment of two variants compared to the previous embodiment is shown.

[0044] Figure 27 A partial schematic diagram of the proximal passive flexible segment in a third embodiment among more variations is shown. Example Description

[0045] The present disclosure will now be described in detail with reference to the embodiments and accompanying drawings.

[0046] First Embodiment

[0047] Now for reference Figures 1 to 23 The first embodiment of this disclosure is described below.

[0048] first, Figure 1 A schematic side view of the endoscope 1 that can be used with this disclosure is shown. From Figure 1 As can be seen, this endoscope 1 has an insertion tube 2 disposed on the distal side of the control body 3. The control body 3 is used as the operating unit of the endoscope 1. The control body 3 includes a handle unit 7.

[0049] Insertion tube 2 is a cylindrical pipe-like or tubular structure.

[0050] The insertion cannula 2, in its orientation into the patient, will be described in more detail below. The insertion cannula 2 is inserted distally / anteriorly.

[0051] On the distal side, the insertion tube 2 has a distal curved section (angled section, deflection section) A. The curved section A can be laterally bent relative to the proximal portion of the insertion tube 2 by one or more control lines (cables). The control lines (deflection lines) or cables (hereinafter referred to as control lines only) are supported at the inner circumferential surface of the insertion tube 2 within the insertion tube 2, which is guided along the extension direction of the insertion tube 2.

[0052] The distal end of the control line is anchored to the distal side of the curved section A. The proximal end of the control line is connected to a control element (steering element) located within the control body 3. This control element tensions the control line, causing the curved section A to produce the desired bend.

[0053] At the proximal end of the bend A, the insertion tube 2 is configured to form a flexible tube member that constitutes a proximal passive flexible segment 20. When the insertion tube 2 is inserted, the flexible segment 20 follows the bend A.

[0054] exist Figure 1 In the diagram, it is indicated that the flexible segment 20 is constructed along its longitudinal direction into regions with different degrees of flexibility. For example, viewed from the proximal direction, the flexible segment 20 has a first region B, a second region C, and a third region D. The first region B forms the distal end (distal region), the second region C forms the middle part (middle region, central part), and the third region D forms the proximal end (proximal region).

[0055] Zone D was not included. Figure 2 It is shown in a partial view.

[0056] To avoid twisting and bending between the bending segment A and the first region B, the first region B is preferably configured to have the highest flexibility among all regions of the flexible segment 20. Because the first region B has very high flexibility, there will be no abrupt change in flexibility between the bending segment A and the first region B.

[0057] The flexibility of zone C in the second region is lower than that of zone B in the first region. The flexibility of zone D in the third region is lower than that of zone C in the second region.

[0058] According to this disclosure, the insertion tube 2 is integrally formed. That is, at the transition from the curved section A to the flexible section 20, they are not two joined elements. Therefore, the distal curved section A and the proximal passive flexible section 20 having three zones B, C, and D are formed from a single conduit or a single tube.

[0059] On the proximal side, the insertion tube 2 is fixed to the distal end of the control body 3. The insertion tube 2 can be fixed to the control body 3 by, for example, a locking / retaining ring or a sealing ring, or it can be directly fixed to the control body 3. For example, the insertion tube 2 can be glued or screwed onto the control body 3. The control body 3 has a first control wheel (steering wheel) F as a first control element for controlling the control line or cable, and a second control wheel G as a second control element for controlling the control line or cable. The first control wheel F can cause the bent segment A to move in a first plane (e.g., towards and away from the control line or cable) by pulling the control line or cable. Figure 1 The observer in the middle) bends (angles, deflects). The second control wheel G can make the bent segment A in a second plane perpendicular to the first plane (e.g., by pulling the control line or cable). Figure 1 The upper and lower parts of the body are bent (at an angle, deflected).

[0060] For example, bending segment A can bend between 200 and 270 degrees. This is sufficient for most applications. In special forms, bending segment A can even bend 300 degrees.

[0061] The insertion tube 2 according to this disclosure and its manufacture are described in more detail below.

[0062] The entire insertion tube 2 is formed from a single conduit element (conduit component) or tubular element (tubular member, tubular piece / tubular element), hereinafter referred to as a conduit element. Preferably, the conduit element is a conduit (or tube) of a relatively rigid material. Particularly preferred is a conduit made of stainless steel. However, conduits made of rigid plastic may also be used. However, in principle, any material suitable for medical purposes may be used.

[0063] As explained in more detail below, a cut is formed in the pipe element using a laser cutting machine. Following the cut formation, certain portions of the pipe element are bent. Apart from forming the cut and bending, no further processing steps are required to manufacture the entire substrate (body) of the insertion tube 2. Subsequently, the substrate of the insertion tube 2 can be provided with control lines and surrounded (covered) by a cover element (sheath element).

[0064] The sections of insertion tube 2 will be described in more detail below.

[0065] Flexible segment 20

[0066] According to this disclosure, the flexible segment 20 forms the proximal portion of the insertion tube 2. The flexible segment 20 has three regions, B, C, and D, each with different flexibility.

[0067] Figure 1 To improve clarity, the proximal passive flexible segment 20 is shown as if the three regions B, C, and D were of equal length along the longitudinal direction of the insertion tube 2. However, this is not the case. The length of the intermediate region C is greater than that of the transition section B and the connecting section D. Among the three regions B, C, and D, the intermediate region C is the longest in the proximal passive flexible segment 20. In other words, the actual proximal passive flexible segment 20 is formed by the structure of the intermediate region C. The bending characteristics, elasticity, and torsional stiffness of the proximal passive flexible segment 20 are achieved through the structure of the intermediate region C.

[0068] In the following text, reference will be made to Figures 3 to 10 The structure of the middle section C and the actual structure of the proximal passive flexible segment 20 are described in more detail.

[0069] Figure 3 A partial schematic side view of a portion of the proximal passive flexible segment of an insertion tube according to a first embodiment of the present disclosure is shown.

[0070] Figure 4 It shows Figure 3A partial perspective view of a portion of the proximal passive flexible segment.

[0071] from Figure 3 and Figure 4 The cut structure according to the first embodiment of this disclosure can be seen.

[0072] In manufacturing this cut-out structure, a conduit (or tube) 2 is used as the raw material. The conduit 2 has an axial and longitudinal extent. The conduit 2 is made of a sufficiently rigid material. For example, stainless steel can be used. Plastic or a nickel-titanium alloy, such as nitinol, can also be used. The conduit 2 is then formed into the insertion tube according to this disclosure.

[0073] Pipe 2 has a shape (or profile) that is not initially flexible. Pipe 2 has high torsional stiffness and high dimensional stability.

[0074] In this pipe 2, preferably, a main cut 98 is formed on the circumference in the circumferential direction by a laser at a predetermined interval (distance, spacing) H. The circumferential direction refers to the direction extending perpendicular to the axis of the pipe 2. Along the pipe 2, the interval H is the same in all cases.

[0075] The main cut 98 penetrates the wall thickness of pipe 2. The main cut 98 extends approximately half the circumference of pipe 2. Therefore, each circumferential line forms two circumferentially continuous main cut portions 98A and 98B. A bridging element (support) 97 is located between each main cut portion 98A and 98B, at which the material of pipe 2 is not cut. Viewed longitudinally from the pipe 2, the proximal and distal portions of each main cut 98 are interconnected by the bridging element 97. Therefore, there are two bridging elements 97 on each circumferential line of the main cut 98. The two bridging elements 97 are arranged radially opposite each other on each circumferential line of the main cut 98. Viewed circumferentially, the lengths of the main cut portions 98A and 98B plus the length of the bridging element 97 correspond exactly to 180°. The lengths of the main cut portions 98A and 98B are equal.

[0076] like Figure 3 and Figure 4 As shown, from main cut 98 to main cut 98, along the longitudinal direction of pipe 2, the bridging components are staggered by 90° from each other.

[0077] Secondary cuts (auxiliary cuts, side cuts) 99 are formed in the longitudinal direction of pipe 2 at the proximal and distal ends of each bridging member 97. The secondary cuts 99 extend parallel to the main cut portions 98A and 98B. The circumferential length of the secondary cuts 99 is greater than the circumferential length of the bridging member 97. The lengths of the secondary cuts 99 are equal to each other.

[0078] In the longitudinal direction of pipe 2, the distance N between each secondary incision 99 and its adjacent main incision portions 98A, 98B is less than the distance H between the main incisions 98. Therefore, the proximal secondary incision 99 and the distal secondary incision 99 are associated with each main incision 98 that includes two main incision portions 98A, 98B.

[0079] like Figure 9 As shown, in the longitudinal direction of pipe 2, the distance N between each secondary cut 99 and its adjacent main cut 98A, 98B is also less than the distance M between each secondary cut 99 and its adjacent secondary cut 99 that is associated with the next main cut 98.

[0080] The main cut 98 and the secondary cut 99 alter the properties of pipe 2. Pipe 2 becomes flexible. Furthermore, the flexibility and other properties / characteristics of pipe 2 depend to a large extent on the structure of cuts 98 and 99. More specifically, (besides the material), the cut width, cut length, and spacing of the pipe cuts (pipe incisions) are important factors affecting the properties of pipe 2.

[0081] In section X (region X), there is a cut structure that causes pipe 2 to exhibit high flexibility.

[0082] The relationship between deformation during bending and the spacing of pipe cuts will be explained below.

[0083] A pipe (or tube) in its initial form without cuts has a certain bending stiffness (bending strength). Once the pipe is cut, the bending stiffness decreases depending on the shape and number of cuts in the pipe. Figure 6 The chart shows the relationship between pipe deformation and pipe cut spacing when the pipe is bent.

[0084] Figure 6 The simulation results of bending a pipe with a notch are shown. The figure illustrates the deformation of the pipe with the notch during bending.

[0085] A dotted line with two dots indicates the distance between a cut and its adjacent cuts.

[0086] Solid lines represent the deformation of the pipe during bending.

[0087] The vertical and horizontal axes represent the unit of length (e.g., mm).

[0088] from Figure 6 It can be seen that the greater the spacing between pipe cuts, the greater the bending stiffness (the smaller the deformation). If the spacing between pipe cuts becomes infinitely large, then pipe 2 reaches its initial maximum bending stiffness.

[0089] Because the insertion tube of an endoscope requires low bending stiffness (high flexibility), the spacing between tube cuts must be as small as possible.

[0090] According to this disclosure, the structure in section X is configured such that cuts 98 and 99 are close together (small spacing N) and form four spring-like segments F1, F2, F3, and F4. If the cut pipe 2 is now bent, segments F1, F2, F3, and F4 are pulled apart, thereby generating a spring-like reaction force. When the load is removed from pipe 2 after bending, the reaction force acts on pipe 2, causing the pipe to return to its straight shape. Along the longitudinal direction of pipe 2, this structure of section X is repeatedly offset by 90° along the entire length of the passive flexible section C at the proximal end of pipe 2. As a result, pipe 2 has uniform flexibility in all directions.

[0091] Figure 7 The X section is shown as an enlarged cross-section. In the structure of the main cut 98, which consists of a first main cut 98A and a second main cut 98B and has an associated secondary cut 99 in the X section, the spacing N between the main cuts 98A, 98B and the associated secondary cut 99 should be as small as possible in order to provide high flexibility.

[0092] The following explains the torsional stiffness (torsional resistance) of the pipeline.

[0093] Figure 8 The relationship between deformation and pipe notch spacing during torsion and torsional stiffness is shown. In other words, Figure 8 The chart shows the relationship between deformation and pipe cut spacing when the pipe is twisted.

[0094] Figure 8 The simulation results of bending a pipe with a notch are shown. The figure illustrates the deformation of the pipe with the notch during the torsion process.

[0095] The dashed line represents the distance between the incision and its adjacent incision.

[0096] Solid lines represent the deformation of the pipe during the twisting process.

[0097] The vertical and horizontal axes represent the unit of length (e.g., mm).

[0098] from Figure 8 It can be seen that a pipe (or tube) has a certain torsional stiffness in its initial state without cuts. Once the pipe is cut, the bending stiffness decreases depending on the shape and number of cuts. The larger the distance between the pipe cuts, the greater the torsional stiffness (and the smaller the deformation during rotation). If the distance between the pipe cuts becomes infinitely large, the pipe will reach its initial maximum torsional stiffness.

[0099] Because the insertion tube of the endoscope requires high torsional stiffness, the spacing between the tube cuts should be as large as possible.

[0100] Figure 9 The Y-section (region Y) of the enlarged cross-section shows the spacing (distance) M between each secondary incision 99 and its adjacent secondary incision 99 associated with the next main incision 98.

[0101] The structure of section Y indicates that, in order to provide high torsional stiffness, the spacing M between adjacent secondary cuts 99 should be as large as possible. The exact spacing M between adjacent secondary cuts 99 can be determined according to individual needs.

[0102] The process of achieving dimensional stability (shape / appearance stability) of tube 2 is described below.

[0103] Rigid pipes possess inherent dimensional stability. The Y-section structure allows pipe 2 to maintain dimensional stability even after multiple cuts 98 and 99 are made on it.

[0104] In this case, the secondary cuts 99 are arranged at intervals, making the Y section relatively long in the longitudinal direction of pipe 2. In other words, this results in the formation of a wide annular section in the Y section without cuts.

[0105] Section Y can be considered as a short pipe (or tube), thus exhibiting high dimensional stability. If the entire pipe 2 bends, segments F1, F2, F3, and F4 will deform due to the inherent stability of section Y.

[0106] Therefore, pipe 2 is flexible when bent, while being dimensionally stable.

[0107] The interaction between the X and Y parts will be explained below.

[0108] The overall structure of the proximal passive flexible segment C is a combination of the X and Y sections.

[0109] Each of the X and Y sections provides specific properties for pipe 2.

[0110] To achieve high flexibility, in the X section, the main incision 98 and the secondary incision 99 are arranged close to each other.

[0111] Conversely, in order to achieve high torsional stiffness, the secondary cuts 99 in the Y section are arranged to be spaced far apart from each other.

[0112] This leads to the following interaction between the X and Y parts:

[0113] In section Y, the secondary cuts 99 are widely spaced. Therefore, section Y is stable during bending and twisting. During bending, section Y remains almost unchanged. On the other hand, section X yields and determines the overall flexibility of pipe 2. The influence of section Y on the flexibility of pipe 2 is negligible.

[0114] In section X, the main incision 98 and the secondary incision 99 are arranged very close to each other.

[0115] In this embodiment, the cut widths of the main cut 98 and the secondary cut 99 are different from each other. Cut width refers to the width of each cut in the longitudinal direction of the pipe. When the main cut 98 and the secondary cut 99 are formed using a laser, the cut width is set by selecting the diameter of the emitted laser beam.

[0116] The width of the secondary incision 99 should be kept as small as possible. Using a laser, incision widths much smaller than 20 μm can be achieved, for example. For instance, a secondary incision 99 with a width of 20 μm can be formed. For example, a primary incision 98 with a width of 0.2 mm can be formed. These incision width values ​​are merely examples. The appropriate incision width for each case can be determined experimentally.

[0117] Preferably, the width of the main incision 98 is greater than the width of the secondary incision 99. For example, the width of the main incision 98 can be 10 times the width of the secondary incision 99. Again, this value is just an example. Appropriate coefficients can be set for each case as needed. This disclosure is not limited to these values.

[0118] Under torsional load, pipe 2 is subjected to a torque (torque) Mt acting around its longitudinal axis. For example... Figure 10 As shown, due to the torque, the imaginary (virtual) longitudinal line L of the pipe 2 extending parallel to the longitudinal axis undergoes a spiral deformation. Since the distance N between the main cut 98 and the secondary cut 99 in section X is very small, the deformation of section X will only differ slightly from that of section Y. The torsional stiffness of section Y determines the overall torsional stiffness of pipe 2. The influence of section X on the torsional stiffness of pipe 2 is negligible.

[0119] As described above, by forming cuts at different intervals, high flexibility and high torsional stiffness can be achieved in the near-end passive flexible section C of pipe 2.

[0120] Therefore, in the proximal passive flexible segment C of the flexible segment 20, the insertion tube 2 according to this disclosure can be bent laterally relative to its longitudinal axis, and has high flexibility and high torsional stiffness.

[0121] The difference between regions B, C and D in the flexible segment 20 is that the spacing H of the cuts 98 in the longitudinal direction is different, thus the density of the cuts 98 is different.

[0122] In region B, the spacing H of the cuts 98 is the smallest. Therefore, the density of cuts 98 is the highest in region B.

[0123] In region C, the spacing H of the incisions 98 is greater than that in region B. In region D, the spacing H of the incisions 98 is greater than that in region C.

[0124] Therefore, the flexibility and bendability of region B are higher than those of region C. Furthermore, the flexibility and bendability of region C are higher than those of region D. In other words, the flexibility and bendability of each region of the flexible segment 20 decreases in the proximal direction.

[0125] Region D has a portion without an incision on the proximal side. This portion forms the transition to control body J.

[0126] Transition from curved segment A to flexible segment 20

[0127] The transition from the curved section A to the flexible section 20 is in Figure 2 This is denoted as section K / area. Within section K, the curved section A ends. In other words, the first, or closest, component of curved section A is located at the far end of section K.

[0128] like Figure 2 , 11 As shown in Figure 12, in this K section, the wall surface of the pipe element is cut by a cut 70 with an inverted C-shaped notch. In other words, the cut 70 in the pipe element is cut into an incomplete circle. From Figure 11 It can be seen that the circle of the cut 70 is not cut through at the distal end. The non-cut distal end of the cut 70 forms a hinge 71 for the wing (lug, clip) 72. The wing 72 has a lower lug 73, an upper lug 74, and a wing center piece 75. The lower lug 73 is adjacent to the upper side of the wing center piece 75. The lower lug 74 is adjacent to the lower side of the wing center piece 75.

[0129] The wing 72 is formed as follows. Determine the location of the cut 70. Cut a hole 77 in the center of the cut 70. (See figure) Figure 2 As shown, a cut 70 is formed by laser. The vane center piece 75 is supported from the rear, i.e., from the inside of the pipe element, by a column (or piston). The lower lug 73 is bent inward at 90 degrees relative to the vane center piece 75. The bending line of the lug 73 relative to the vane center piece 75 extends parallel to the axis of the pipe element (in... Figure 2 and Figure 4 In the direction pointing to the left and right). The upper ear 74 is also bent inward by 90 degrees relative to the wing center member 75. The bending line of the ear 74 relative to the wing center member 75 also extends parallel to the axis of the pipe element. Thereafter, the wing center member 75 is bent inward by 90 degrees. The bending line of the wing center member 75 relative to the pipe element extends in a section perpendicular to the axis of the pipe element (in Figure 2 and Figure 11 (In the upward and downward directions). In other words, the winglet center member 75 bends inward by 90 degrees at hinge 71. Specifically, see Figure 12 The central part 75 of the wing is bent inward until the distal side edge of the lower ear 73 and the distal side edge of the upper ear 74 abut against the inner circumference of the pipe element.

[0130] The vane 72 serves as a support for the guide spring 8. Specifically, the proximal surface of the vane center member 75 forms a stop surface for the distal end of the guide spring 8. The two lugs 73 and 74 support the vane center member 75 and absorb the compressive force acting from the guide spring 8, and transmit the compressive force to the inner circumferential surface of the pipe element.

[0131] The vane center piece 75 has a center hole 77. The diameter of the hole 77 is larger than that of the control line but smaller than that of the guide spring 8. The control line is guided in the guide spring 8 to the flexible section 20, passes through the hole 70, and extends further to the curved section A.

[0132] In section K, the number of vanes 72 is equal to the number of control lines used (4 in this embodiment). The vanes 72 are evenly distributed circumferentially on the pipe element.

[0133] Bending segment A

[0134] The detailed structure of the curved segment A is as follows: Figures 13 to 18 As shown.

[0135] The curved segment A has independent connecting members (hinged members, hinge members) 6 arranged in the longitudinal direction of the curved segment A. The independent connecting members 6 are pivotable relative to each other. Figure 13 and Figure 14 The image shows three continuously arranged joints 6: joint 61, joint 62 near the proximal end of joint 61, and joint 63 near the proximal end of joint 62.

[0136] Except for the farthest connector 6 and the nearest connector 6, the connectors 6 are configured identically to each other.

[0137] The structure of each of the joints 6 will be discussed below with reference to the joint 62.

[0138] The joint 62 is formed as a pipe segment (pipe section) of a pipe element by laser cutting. The joint 62 has distal boundary lines 601, 602, 603, 604 and 605 and proximal boundary lines 606, 607, 608 and 609 at the circumference of the pipe element.

[0139] Each distal boundary line consists of a nearly circular head line 601, two neck lines 602, two shoulder lines 603, two arm lines 604, and an arm-end line 605. More specifically, the distal side of the joint 62 is formed as follows: The nearly circular head line 601 forms an incomplete circle, merging into the neck line 602 at the proximal side of each side. The shoulder line 603 connects to each of the two neck lines 602, extending approximately perpendicular to the axis of the conduit element. The arm line 604 connects to each of the two shoulder lines 603, extending approximately parallel to the axis of the conduit element in the distal direction. The two distal ends of the arm line 604 are joined by the arm-end line 605, which again extends perpendicular to the axis of the conduit element.

[0140] Therefore, the coupling 62 has a body 621, and a first head 622, a first arm 623, a second head 622, and a second arm 623 protruding 90 degrees from the body 621 toward the distal end along an imaginary circumference perpendicular to the axis of the coupling 62. Thus, the heads 622, 622 extend in a first imaginary plane. The arms 623, 623 extend in a second imaginary plane offset by 90 degrees relative to the first imaginary plane. The two heads 622, 622 of the coupling 62 form the pivot axis of the coupling 61 disposed on its distal end.

[0141] Each head 622 is formed distally by a head line 601. Between the head 622 and the body 621, a neck line 602 forms a constriction. The head 622 is more prominent distally than the corresponding arm 623.

[0142] The proximal boundary line consists of a curved lead 606, two bottom leads 607, two straight leads 608, and a waist line 609. More specifically, the proximal side of the connector 62 is formed as follows: The curved lead 606 forms an incomplete circle with an opening on the proximal side. At each open end of the incomplete circle, the curved lead 606 merges with the bottom leads 607, and each bottom lead extends approximately perpendicular to the axis of the conduit element.

[0143] Each of the two baselines 607 is connected to a straight line 608, which extends approximately parallel to the axis of the conduit element in the distal direction. The two distal ends of the straight line 608 are connected by a waist line 609, which again extends perpendicular to the axis of the conduit element.

[0144] Therefore, the connector 62 has two feet 624 extending in the proximal direction on the proximal side of the body 621. Each foot 624 has a straight edge at a straight foot line 608 and a curved edge at a curved foot line 606 in the extending direction.

[0145] In the region between the two straight legs 608, the arm of the proximal connector 63 is arranged to slide in the longitudinal direction. In the region between the two curved legs 606, the head of the proximal connector 63 is arranged to remain fixed in the longitudinal direction. At most, slight movement may occur due to the play between the inner circumference of the curved legs and the outer circumference of the near-circular head line.

[0146] like Figure 14 As shown, in the non-bent state of the curved segment A, the waistline 609 is spaced apart from the arm end line 605 of the proximal connector 63. The arm end line 605 and the waistline 609 of the proximal connector 63 are parallel to each other.

[0147] like Figure 14 As shown, in the non-bent state of the curved segment A, the bottom line 607 is spaced apart from the shoulder line 603 of the proximal joint 63. Figure 14 As shown, the bottom line 607 and shoulder line 603 of the proximal connector 63 can be parallel or approximately parallel to each other, or they can be at a slight angle (inclination) relative to each other. Between the bottom line 607 and shoulder line 603 of the proximal connector 63, not only is a simple cutting line formed, but the material of the pipe element has been cut into quadrilateral pieces.

[0148] Each head 622 forms a connection portion that connects to the adjacent engaging member 6. The foot 624 forms a guide portion that engages with the adjacent engaging member 6, allowing the engaging members 6 to move axially relative to each other.

[0149] Figure 17 A top view of the curved segment A with the corresponding connector 6 is shown. In this top view, the head 622 of the connector 6 can be seen.

[0150] Figure 18 A side view of the curved segment A with the corresponding coupling 6 is shown. In this side view, the foot 624 of the coupling 6 can be seen.

[0151] like Figure 2 and Figures 17 to 21 As shown, the farthest connector 6 has no head.

[0152] like Figure 2 , Figure 11 and Figure 18 As shown, the nearest end of the connector 6 has no foot.

[0153] In this embodiment, the bending segment A can bend in two bending directions (angular direction and deflection direction), that is... Figure 13 (as well as Figure 17 The upward and downward directions of the joint 6, wherein each head 622 of the joint 6 forms the bending axis of the joint 6. In other words, Figure 17The curved segment A in the middle can pivot upwards and downwards. For example... Figure 18 As shown, the curved segment A can pivot toward and away from the observer.

[0154] like Figure 15 and Figure 16 As shown, the waistline 609 forms the hinge portion of the cable guide wing (cable guide plate) 630. The cable guide wing 630 extends from the waistline 609. For the cable guide wing 630, a portion of the material is taken from the arm end line 605 extending along the straight leg line 608 to the proximal connector 63. The cable guide wing 630 is hinged (pivoted) at the waistline 609 and bent inward by 90 degrees. The cable guide wing 630 has a central hole 631. The diameter of the hole 631 is larger than that of the control line.

[0155] Each connector 6 has a cable guide wing 630 with a hole 631, such that the cable guide wing 630 for a particular control line is arranged continuously in the longitudinal direction of the bend section A. The cable guide wing 630 serves as a guide protrusion thereon to support the control line. Thus, the cable guide wing 630 guides its associated control line through the bend section A.

[0156] like Figure 17 As shown, the connectors 6 can also be arranged on the curved section A such that their heads face the proximal direction. Alternatively, as... Figure 13 As shown, the connectors 6 can also be arranged on the curved section A with their heads facing the distal direction.

[0157] The distal end of the curved segment A, as shown Figures 19 to 21 As shown. In Figures 19 to 21 In the middle, the joint 69 of the curved segment A located at the farthest point on the distal side can be seen. The distal side of the control line 9 is anchored in the joint 69 located at the farthest point on the distal side. The control line 9 extends from the control body 3 to the joint 69 located at the farthest point on the distal side of the curved segment A.

[0158] Tighten control line

[0159] Figure 22 and Figure 23 The connection of control line 9 is shown in detail.

[0160] Control line 9 is connected to control wheel G in control body 3. When control wheel G rotates in the tensioning direction, control line 9 is tensioned. When control wheel G rotates in the unwinding direction opposite to the tensioning direction, control line 9 is unwinded.

[0161] The control line 9 extends from the control body 3 in the insertion tube 2 to the connector 69 and forms a first segment 91. This first segment 91 of the control line 9 extends along the inner circumference of the insertion tube 2. Figure 22The slit 691 is shown by reference numeral 91. A slit 691 is formed on the distal side of the joint 69 (see reference numeral 91). Figure 20 The slit 691 penetrates the peripheral wall of the joint 69 and extends along the longitudinal direction of the joint 69. Another similar slit 692 is provided on the distal side of the joint 69, which is radially opposite to the slit 691.

[0162] The control line 9 extends in the distal direction at the inner periphery of the connector 69 and extends outward through the slit 691, wraps around the circumference of the connector 69 to the slit 692 at the outer periphery of the connector 69, extends inward through the slit 692, and extends in the proximal direction at the inner periphery of the connector 69 to the control wheel G in the control body 3.

[0163] The control line 9 is thus divided into a first segment 91 extending from the control wheel G in the control body 3 to the slit 691, a second segment 92 extending from the slit 691 at the outer periphery of the joint 69 to the slit 692 along the circumference of the joint 69, and a third segment 93 extending from the slit 692 to the control wheel G in the control body 3.

[0164] Because the third segment 93 anchored at the joint 69 is pushed in the proximal direction, the control line 9 is tensioned by rotating the control wheel G in the tensioning direction, thereby bending the bend A. Therefore, the third segment 93 of the control line 9 forms the distal anchoring portion of the control line 9.

[0165] Manufacturing method

[0166] The insertion tube 2 according to this disclosure can be manufactured from a single conduit element by laser cutting. This conduit element is made of a relatively rigid material, such as stainless steel or even a suitable hard plastic. Due to the cutting process, the originally rigid conduit element becomes flexible while still retaining its rigidity.

[0167] These cuts form corresponding lateral cuts (cuts extending perpendicular to the axis) 98 and 99 in the proximal passive flexible segment 20, hole 77, cut 70 in transition K, hole 631, each of the joints 6 in the distal curved segment A, and slits 691 and 692. This order should not be interpreted as restrictive. For example, slits 691 and 692 may be cut before the joints 6. Furthermore, the order of the cuts may also be reversed.

[0168] The flexibility and stiffness of pipe components can be controlled by the shape, arrangement, and size of the cuts.

[0169] The positions of each cut can be calculated and determined in advance. In a programmable laser cutting machine, specified data for each cut can be input to automatically form the insertion tube 2.

[0170] Each of the joints 6 is completely cut off and forms a body that is physically separate from each other, but they are connected together only in a shape-fitting manner (interlocking connection, reliable connection).

[0171] After laser cutting the pipe components, the vane 72 and cable guide vane 630 are bent inward. The blank of the insertion tube 2 is thus completed.

[0172] The control line 9 can now be inserted and connected to the preform of the insertion tube 2. The preform of the insertion tube 2 can be connected to the control body 3. Furthermore, a coating (preferably a metallic coating for shielding electrical controls) surrounding the preform of the insertion tube 2 can be applied to the preform of the insertion tube 2, and an elastic cover (sheath) of plastic or rubber can also be applied to the preform of the insertion tube 2. The elastic cover of plastic or rubber is heat-shrinkable.

[0173] Second Embodiment

[0174] Now for reference Figure 24 The second embodiment of this disclosure is described below.

[0175] Figure 24 A partial schematic diagram of the proximal passive flexible segment in the second embodiment is shown.

[0176] according to Figure 24 The proximal passive flexible segment 20 constructed according to the principle shown can replace the proximal passive flexible segment 20 of the first embodiment. In other words, the control body 3 and the bending segment A can be combined together using the proximal passive flexible segment 20 of this embodiment 2.

[0177] As mentioned above, please also see Figure 1 The distal curved section A, which has three zones B, C, and D, and the proximal passive flexible section 20 are formed by a single pipe or tube.

[0178] Region B forms the transition section B between the intermediate section C and the curved section A. Region C forms the intermediate section C. Region D forms the connection section D of the proximal passive flexible section 20 at the control body 3. That is to say, the entire insertion tube, including the connection section D at the control body 3, the intermediate section C, the transition section B between the intermediate section C and the curved section A, and the curved section A, is made of a single pipe element.

[0179] To improve clarity, Figure 1 The proximal passive flexible segment 20 is shown as if the three regions B, C, and D were of equal length along the longitudinal direction of the insertion tube 2. However, this is not the case. The length of the intermediate section C is greater than that of the transition section B and the connecting section D. The intermediate section C is the longest of the proximal passive flexible segment 20. In other words, the actual proximal passive flexible segment 20 is formed by the structure of the intermediate section C. The bending characteristics, elasticity, and torsional stiffness of the proximal passive flexible segment 20 are achieved through the structure of the intermediate section C.

[0180] The following reference Figure 24 The structure of the middle part C of the proximal passive flexible segment 20 is described in more detail.

[0181] The proximal passive flexible segment 20 is made of the pipe element described above. In the intermediate section C, multiple main cuts 990 are laser-cut along the longitudinal direction of the pipe element. These main cuts 990 extend parallel to each other. The main cuts 990 extend perpendicular to the axis of the pipe element.

[0182] More specifically, the main cuts 990 extend intermittently along the circumference of the middle portion C, such that the non-cutting bridging members (supports) 992 are retained between the main cuts located on the circumferential line. In this embodiment, four main cuts are formed when viewed circumferentially.

[0183] Figure 24 These main incisions are shown in more detail. Figure 24 The first sequence of main incisions formed in the circumferential direction is shown, with reference numerals 990A, 990B, and 990C. Figure 24 The second sequence of main incisions formed in the circumferential direction is further illustrated, with reference numerals 990A1 and 990B1. The first sequence of main incisions, with reference numerals 990A, 990B, and 990C, is adjacent in the longitudinal direction to the second sequence of main incisions formed in the circumferential direction, with reference numerals 990A1 and 990B1. The lengths of the main incisions in the circumferential direction are always the same. That is, not only are the lengths of the main incisions in the circumferential direction equal in a specific sequence of main incisions, but the lengths of the main incisions in the circumferential direction are also equal in all sequences of main incisions throughout the entire intermediate section C.

[0184] exist Figure 24 The first sequence of main cuts shown includes a first main cut 990A, a second main cut 990B, and a third main cut 990C. An invisible fourth main cut is located on the side of the pipe element facing away from the observer, behind the drawing plane. The first main cut 990A, second main cut 990B, third main cut 990C, and a fourth main cut (not shown) are formed continuously along the circumference of the pipe element. Therefore, the pipe element is cut four times in segments of equal length along this circumference. Bridging elements 992 are provided at the end of the first main cut 990A, the beginning of the second main cut 990B, the end of the second main cut 990B, the beginning of the third main cut 990C, the end of the third main cut 990C, the beginning of the fourth main cut (not shown), and the end of the fourth main cut (not shown) and the beginning of the first main cut 990A. The piping components were not cut in the area of ​​bridging member 992.

[0185] exist Figure 24In the second sequence of main cutouts shown, the first main cutout 990A1 and the second main cutout 990B1 are shown. The invisible third and fourth main cutouts are arranged on the side of the pipe element facing away from the observer, behind the drawing plane.

[0186] The second sequence main cutout is offset relative to the first sequence main cutout. In the adjacent second sequence, the areas where the first sequence main cutouts 990A, 990B, and 990C remain in their respective bridging members 992 correspond to the areas forming the centers of main cutouts 990A1 and 990B1 when viewed circumferentially from the pipe element. Therefore, the bridging members are positioned such that they are offset by 45 degrees in the longitudinal direction of the pipe element from one sequence main cutout 990 to another.

[0187] All main cuts 990 in the piping element have the same cut width. The spacing between all sequential main cuts 990 in the piping element is the same.

[0188] like Figure 24 As shown, in the longitudinal direction of the pipe element, the secondary cut 991 is provided near each bridging member 992.

[0189] Secondary cuts 991 are formed on both sides of the pipe element adjacent to the bridging member 992 in the longitudinal direction. The secondary cuts 991 are shorter than the main cuts 990. The ends of the secondary cuts 991 overlap with the adjacent main cuts 990.

[0190] All secondary cuts 991 have the same length as each other in the circumferential direction of the pipe element. All secondary cuts 991 are parallel to each other and also parallel to the main cut 990.

[0191] Near both sides of the conduit element in the longitudinal direction, a sequence of secondary incisions 991 is associated with a sequence of primary incisions 990. In other words, each sequence of primary incisions 990 has a proximal sequence of secondary incisions 991 and a distal sequence of secondary incisions 991.

[0192] Therefore, viewed along the longitudinal direction of the conduit element, a sequence of primary incisions 990 is followed by a distal sequence of secondary incisions 991, and then by a proximal sequence of secondary incisions 991 following the primary incision 990 of the next sequence. Viewed along the longitudinal direction of the conduit element, a sequence of secondary incisions 991 has, on one side, another sequence of secondary incisions 991 as an adjacent incision, and on the other side, a sequence of primary incisions 990 as an adjacent incision.

[0193] The secondary cut 991 is formed to be closer to the nearest primary cut 990 rather than the nearest secondary cut 991 in the longitudinal direction of the pipe element.

[0194] In other words, secondary incisions 991 are set up adjacent to the main incision 990, such that they are arranged closer to the adjacent main incision 990 rather than the adjacent secondary incision 991.

[0195] To illustrate this point, Figure 24 The secondary cut 991 of the first sequence main cut portion is shown as secondary cut 991a, and the secondary cut 991 of the second sequence main cut portion is shown as secondary cut 991b. The secondary cut 991a of the first sequence main cut portion is arranged closer to the adjacent main cut portions 990A, 990B, and 990C than to the adjacent secondary cut 991b. Therefore, the spacing between adjacent cuts in the pipe element is unequal.

[0196] All secondary cuts 991 in the pipe component have the same cut width. The cut width of the secondary cut 991 is narrower than the cut width of the main cut 990.

[0197] Effects of the second embodiment

[0198] Similar to the first embodiment, the structure of the second embodiment provides both very high flexibility and high torsional stiffness for the insertion tube 2.

[0199] Third Embodiment

[0200] In the first and second embodiments, the main cuts in the flexible segment C are spaced equally apart.

[0201] Conversely, in this third embodiment, the main cuts in the flexible segment C are spaced unequally apart. All other aspects are the same as in the previous embodiments.

[0202] Figure 26 A partial schematic diagram of the proximal passive flexible segment in a third embodiment of two variants compared to the previous embodiment is shown.

[0203] Specifically, Figure 26 The first variant 2601, the second variant 2602, and the third variant 2603 of the cut design in the flexible segment C are shown.

[0204] In the second variant 2602, as in the first and second embodiments, for comparative purposes, the main cuts 2612 are equally spaced from each other in the flexible segment C.

[0205] However, in the first variant 2601 and the third variant 2603, the adjacent main incisions 2611 and 2613 in the flexible segment C are not equidistant from each other. Figure 26 Subregions within the mid-proximal passive flexible segment C of each of the first variant 2601 and the third variant 2603 are shown. Within these subregions, the spacing between adjacent main incisions is unequal.

[0206] Therefore, in the various variants shown, the spacing (distance) between adjacent main incisions is designed to be different. Figure 26 In each of the upper segments, the spacing between adjacent main incisions is marked with a circle. In the distal direction of the flexible segment C, the spacing between adjacent main incisions increases in the first variant 2601; remains unchanged in the second variant 2602; and decreases in the third variant 2603.

[0207] The first variant 2601 illustrates a case where the spacing between adjacent main incisions 2611—measured in the direction of extension of the endoscope—increases distally. The main incisions shown in the first variant 2601 are grouped together using reference numeral 2611. Non-cutting bridging elements (supports) 2631 exist between the main incision portions 2611 located on the circumference. Secondary incisions are indicated by reference numeral 2621. Secondary incisions have been described in the preceding embodiments. Details explained therein are clearly explained.

[0208] The distance between the first main incision 2611A and the second main incision 2611B shown is smaller than the distance between the second main incision 2611B and the third main incision 2611C ​​shown. The distance between the second main incision 2611B and the third main incision 2611C ​​shown is smaller than the distance between the third main incision 2611C ​​and the fourth main incision 2611D shown, and so on. In the distal direction, the distance between the main incisions 2611A, 2611B, 2611C, 2611D, 2611E and 2611F shown becomes increasingly larger.

[0209] In the first variant 2601, the spacing between the main incisions can increase uniformly (continuously) toward the distal side.

[0210] For example, increasing the interval can make the interval H2 between the second main incision 2611B and the third main incision 2611C ​​larger than the interval H1 between the first main incision 2611A and the second main incision 2611B by a value y (difference); the distance H3 between the fourth main incision 2611D and the third main incision 2611C ​​is the same value y larger than the distance H2.

[0211] In another embodiment, increasing the spacing can make the spacing H2 between the second main incision 2611B and the third main incision 2611C ​​larger than the spacing H1 between the first main incision 2611A and the second main incision 2611B by a value y; the spacing H3 between the fourth main incision 2611D and the third main incision 2611C ​​is larger than the spacing H2 by y multiplied by a coefficient z (z is greater than 1).

[0212] It can arbitrarily reflect the reduction of spacing.

[0213] In the first variant 2601, the spacing between the main incisions can also increase unevenly (discontinuously) toward the distal end.

[0214] The third variant 2603 shows a case where the spacing between adjacent main incisions 2613—measured in the direction of extension of the endoscope—decreases towards the distal side. The main incisions shown in the third variant 2603 are grouped together using reference numeral 2613. Non-cutting bridging elements (supports) 2633 exist between the main incision portions 2613 located on the circumference. Secondary incisions are indicated by reference numeral 2623. Secondary incisions have been described in the preceding embodiments. Details explained therein are clearly explained.

[0215] The distance between the first main incision 2613A and the second main incision 2613B is greater than the distance between the second main incision 2613B and the third main incision 2613C. The distance between the second main incision 2613B and the third main incision 2613C is greater than the distance between the third main incision 2613C and the fourth main incision 2613D, and so on. In the distal direction, the distance between the main incisions 2613A, 2613B, 2613C, 2613D, 2613E, and 2613F becomes progressively smaller.

[0216] In the third variant 2603, the spacing between the main incisions can decrease uniformly (continuously) toward the distal side. However, in the third variant 2603, the spacing between the main incisions can also decrease non-uniformly (discontinuously) toward the distal side. As in the first variant, the increase in spacing can be arbitrarily reflected.

[0217] Therefore, in the first variant 2601, the main incisions 2611 are spaced apart from each other with a continuously increasing spacing in the longitudinal direction of the proximal passive flexible segment C; in the third variant 2603, the main incisions 2613 are spaced apart from each other with a continuously decreasing spacing in the longitudinal direction of the proximal passive flexible segment C.

[0218] The first variant 2601 and the third variant 2603 can be combined into a sub-region in the proximal passive flexible segment C, such that, at least in the first sub-region 2601 of the proximal passive flexible segment C, the main cuts 2611 are spaced apart from each other in the longitudinal direction of the proximal passive flexible segment C with a continuously increasing spacing, and at least in the second sub-region 2603 of the proximal passive flexible segment C, the main cuts 2613 are spaced apart from each other in the longitudinal direction of the proximal passive flexible segment C with a continuously decreasing spacing.

[0219] The first sub-region 2601 and the second sub-region 2603 can be adjacent to each other (connected).

[0220] In another embodiment, the third sub-region 2602 may exist between the first sub-region 2601 and the second sub-region 2603, and the spacing between the main cuts of the third sub-region 2602 is equal.

[0221] Figure 27 A partial schematic diagram of the proximal passive flexible segment in a third embodiment among more variations is shown.

[0222] exist Figure 26 In some embodiments, a decrease or increase in the spacing between adjacent main incisions is shown. This disclosure is not limited thereto.

[0223] Adjacent main incisions may have unequal spacing, and the spacing between adjacent main incisions neither increases nor decreases in the direction of extension of the endoscope.

[0224] Figure 27 An example of this situation is shown.

[0225] Figure 27 An embodiment of the fourth variant as sub-region 2701 is shown on the left.

[0226] Figure 27 An embodiment of the fifth variant as sub-region 2702 is shown on the right.

[0227] In the two variants shown, the spacing between adjacent main incisions is also designed to be different. Figure 27 In the middle, the spacing between adjacent main incisions is marked with a circle.

[0228] The main cuts shown in the fourth variant 2701 are grouped together using reference numeral 2711. The main cuts in the fifth variant 2702 are grouped together using reference numeral 2713. Non-cutting bridging elements (without reference numerals) exist between the main cut portions located on the circumference. Secondary cuts are shown without reference numerals. Secondary cuts have been described in the preceding embodiments. The details explained therein are clearly explained.

[0229] In the fourth variant 2701, the interval between the first main incision 2711A and the second main incision 2711B is greater than the interval between the second main incision 2711B and the third main incision 2711C. The interval between the second main incision 2711B and the third main incision 2711C is smaller than the interval between the third main incision 2711C and the fourth main incision 2711D. The interval between the third main incision 2711C and the fourth main incision 2711D is greater than the interval between the fourth main incision 2711D and the fifth main incision 2711E. The interval between the fourth main incision 2711D and the fifth main incision 2711E is approximately equal to the interval between the fifth main incision 2711E and the sixth main incision 2711F. The interval between the fifth main incision 2711E and the sixth main incision 2711F shown is smaller than the interval between the sixth main incision 2711F and the seventh main incision 2711G shown.

[0230] Therefore, in the distal direction, there are fairly specific spacings between the main cuts 2711A, 2711B, 2711C, 2711D, 2711E, 2711F and 2711G shown.

[0231] In the fifth variant 2702, specific spacings between the main cuts 2713A, 2713B, 2713C, 2713D, 2713E, 2713F and 2713G are also illustrated.

[0232] In another variant, not shown, adjacent main incisions can each have completely arbitrary spacing from each other. Relatively short spacing can be followed by relatively large spacing.

[0233] Figure 26 and Figure 27 A sub-region of the proximal passive flexible segment C is shown. Within this sub-region, the spacing between adjacent main incisions is unequal. At the boundary of this sub-region, in the remaining portion of the proximal passive flexible segment C, the spacing between adjacent main incisions can be equal. Alternatively, the spacing between adjacent main incisions can be unequal throughout the entire proximal passive flexible segment C. The different possibilities shown can be appropriately combined to design unequal adjacent spacing between adjacent main incisions.

[0234] Therefore, the third embodiment shows an endoscope with an insertion tube 2 having a proximal passive flexible segment C and a distal curved segment A. Incisions 2611, 2621, 2613, and 2623 are disposed in the proximal passive flexible segment C, allowing the proximal passive flexible segment C to bend. The spacing between adjacent incisions 2611, 2621, 2613, and 2623 in the proximal passive flexible segment C is unequal. The proximal passive flexible segment C has secondary incisions 2621 and 2623 adjacent to the primary incisions 2611 and 2613. The secondary incisions 2621 and 2623 are arranged to be adjacent to the primary incisions 2611 and 2613 on one side of the secondary incisions 2621 and 2623 in the longitudinal direction of the proximal passive flexible segment C, rather than adjacent to the primary incisions 2611 and 2613 on the other side of the secondary incisions 2621 and 2623. The main cuts 2611 and 2613 extend intermittently along the circumference of the proximal passive flexible segment C, such that the non-cutting bridging elements (supports) 2631 and 2633 are retained between the main cuts 2611 and 2613 located on the circumference; the proximal passive flexible segment C includes the main cuts 2611 and 2613, wherein at least in the sub-region of the proximal passive flexible segment C, the main cuts 2611 and 2613 are spaced unequally apart from each other in the longitudinal direction of the proximal passive flexible segment C.

[0235] Effects of the third embodiment

[0236] Because of the different spacing between adjacent main incisions, a proximal passive flexible segment C can be designed, in which highly flexible bending (angle and deflection) can be achieved.

[0237] The larger the distance between adjacent main incisions, the smaller the bending angle and the smaller the angular range (bending range, deflection range) in the proximal passive flexible segment C. Conversely, the smaller the distance between adjacent main incisions, the larger the bending angle and the larger the angular range in the proximal passive flexible segment C.

[0238] The increasing spacing between adjacent main incisions leads to a continuous decrease in the bending angle and angular range in the proximal passive flexible segment C.

[0239] The structure, where the spacing between adjacent main incisions continuously decreases, causes the bending angle in the proximal passive flexible segment C to continuously increase, and the angular range also continuously increases.

[0240] By combining small and large spacing between adjacent main cuts, it becomes possible to highly personalize the bending angle and articulation range in the proximal passive flexible segment C in the extension direction.

[0241] It can achieve curved shapes (angular shapes, deflection shapes) that have not been used in practice before, and these shapes are even suitable for complex anatomical conditions.

[0242] Certain bending properties (bending curve, stiffness, etc.) can be specified for selected and precisely defined segments and subsegments within the curved section of the endoscope in a highly targeted manner.

[0243] Other alternatives

[0244] In the first and second embodiments, the flexible segment 20 has a first region B, a second region C, and a third region D that differ in flexibility when viewed from the proximal direction. The number of regions or portions with different flexibility is not limited. The flexible segment 20 may also have more or fewer regions with different flexibility. This disclosure also applies to insertion tubes in which the flexible segment 20 always has constant flexibility.

[0245] In the first and second embodiments, the conduit element of the insertion tube 2 is formed of stainless steel. This disclosure is not limited thereto. The material of the insertion tube 2 can be any sufficiently hard material, such as hard plastic. Alternatively, nitinol (a nickel-titanium alloy) can be used as the conduit material. Furthermore, this material possesses so-called superelasticity, meaning it can elastically deform over a wide range without permanently bending.

[0246] In the first and second embodiments, cuts are made in the pipe element using a laser cutting machine. These cuts can be made with great precision. Therefore, laser manufacturing is preferred. However, it is conceivable in principle that these cuts can also be made by other manufacturing methods, such as saws, wire saws, etc.

[0247] In the first and second embodiments, the curved segment A can bend (angle, deflect) in two bending directions (angular directions), i.e. Figure 6 and Figure 7 The upward and downward directions. In an alternative, each joint 6 is formed such that it is offset by 90 degrees from the joint 6 to the head 622 of the joint 6 about the axis of the bent segment A (the axis of the joint 6). In this alternative, the bent segment A can be bent in four bending directions, i.e., in... Figure 6 and Figure 7 Upward and downward, as well as towards and away from the observer.

[0248] In this alternative, the bending segment A can be bent in four bending directions, using two control lines 9 that extend in the insertion tube 2, offset from each other by 90 degrees. The connector 92 then has four distal slits, also offset from each other by 90 degrees.

[0249] In this embodiment, each joint 6 is formed in the shape described above. This disclosure is not limited to the shape of the joint 6. It is sufficient if the joints are cut in the curved segments A that are connected to each other, and the joints allow the curved segments A to deflect.

[0250] according to Figure 24The proximal passive flexible segment C constructed according to the principle shown can be applied to either the first or second embodiment. This means that... Figure 24 The proximal passive flexible segment C shown forms part of a single-piece conduit element for the entire insertion tube 2. Therefore, the conduit element for the entire insertion tube 2, including the proximal passive flexible segment C, is fabricated from the conduit element by laser cutting.

[0251] Alternatively, in the first or second embodiment, the proximal passive flexible end C may be manufactured separately from the rest of the insertion tube 2.

[0252] exist Figure 24 In one embodiment, two secondary cuts are arranged adjacent to each bridging member on both sides of the bridging member in the longitudinal direction of the pipe element. In an alternative embodiment, one secondary cut may be arranged adjacent to each bridging member on one side of the bridging member in the longitudinal direction of the pipe element.

[0253] In the first embodiment, a main cut is provided such that the two bridging components remain between the main cut along the circumference of the pipe element.

[0254] In the second embodiment, a main cut is provided such that four bridging components remain between the main cuts along the circumference of the pipe element.

[0255] This disclosure is not limited thereto. Preferably, the number of bridging members between the main cuts along the circumference of the pipe element is at least two or more and can be any number.

[0256] In the first embodiment, the width of the main incision 98 is greater than the width of the secondary incision 99. Similarly, in the second embodiment, the width of the main incision can be greater than the width of the secondary incision. However, the principles of this disclosure also apply to the case where the width of the main incision is equal to the width of the secondary incision.

[0257] This disclosure is advantageously applicable to duodenoscopes, gastroscopes, colonoscopes, or similar endoscopes. The principles of this disclosure can also be applied to any other type of endoscope.

[0258] The principles of this disclosure can also be applied to other medical devices that use insertion tubes.

[0259] Reference Symbol List

[0260] 1. Endoscope

[0261] 2. Insert tube, pipe

[0262] 3. Control System

[0263] 6. Connecting parts

[0264] 7 Handle Units

[0265] 8 guide springs

[0266] 9 Control lines

[0267] 20 flexible segments

[0268] 61 Connecting parts

[0269] 62 joints

[0270] 63 Connecting parts

[0271] 69 The joint furthest from the distal end

[0272] 70 incisions

[0273] 71 hinge

[0274] 72 winglets

[0275] 73 lower ear pieces

[0276] 74 upper earpiece

[0277] 75 Blade Center Part

[0278] 77 holes

[0279] The first segment of the 91 control line

[0280] The second segment of the 92 control line

[0281] The third segment of the 93 control line

[0282] 97 Bridging component / support strip

[0283] 98 main incision

[0284] 99 incisions

[0285] 201 Cut from above

[0286] 202 Cut from below

[0287] 203 Non-cutting gap / space

[0288] 204 cut from the side

[0289] 601 head line

[0290] 602 neckline

[0291] 603 shoulder line

[0292] 604 arm line

[0293] 605 arm end line

[0294] 606 Curved Baseboard

[0295] 607 bottom line

[0296] 608 straight leg cable

[0297] 609 waistline

[0298] 621 main body

[0299] 622 head

[0300] 623 Arm

[0301] 624 feet

[0302] 630 cable guide vane

[0303] 631 center hole

[0304] 691 slits

[0305] 692 slits

[0306] 801 cut from above

[0307] Cut from below with 802

[0308] 803 Non-cutting gap / space

[0309] 805 Annular segment with short cut

[0310] 811 From the short cut above

[0311] 812 From the short incision below

[0312] 880 cable guide vane

[0313] 990 main incision

[0314] 991 incisions

[0315] 992 bridging component / support strip

[0316] 1000 insertion tube

[0317] 1001 metal sheet spiral parts

[0318] 1002 metal sheet spiral component

[0319] 1003 metal mesh

[0320] 1004 plastic coating

[0321] 2601 sub-region

[0322] 2602 sub-region

[0323] 2603 sub-region

[0324] 2611 main incision

[0325] 2612 main incision

[0326] 2613 main incision

[0327] 2621 incisions

[0328] 2623 incisions

[0329] 2631 Bridging component / support strip

[0330] 2633 Bridging component / support bar

[0331] Sub-region 2701

[0332] Sub-region 2702

[0333] 2711 main incision

[0334] 2713 main incision

[0335] A curved section

[0336] A' bending section

[0337] B. Zone 1 (distal end)

[0338] C. Second Zone (Middle Section)

[0339] D. Zone 3 (proximal end)

[0340] F First control wheel (first control component)

[0341] G. Second control wheel (second control component)

[0342] H spacing

[0343] J Control Unit Casing

[0344] K Transition Section

[0345] Longitudinal line of pipe L2

[0346] M spacing

[0347] N spacing

[0348] X causes highly flexible sections / regions to appear in tube 2.

[0349] Y causes sections / areas of pipe 2 to have high torsional stiffness.

Claims

1. An endoscope having an insertion tube (2), characterized in that, The insertion tube (2) includes a proximal passive flexible section and a distal curved section. The proximal passive flexible segment is provided with main incisions (2611, 2612, 2613) and secondary incisions (2621, 2623) to allow the proximal passive flexible segment to bend. The adjacent primary incisions (2611, 2613) and secondary incisions (2621, 2623) have unequal spacing at the proximal passive flexible segment. The proximal passive flexible segment includes secondary incisions (2621, 2623) adjacent to the main incisions (2611, 2613), wherein the secondary incisions (2621, 2623) are arranged in the longitudinal direction of the proximal passive flexible segment closer to the adjacent main incisions (2611, 2613) on the side of the secondary incisions (2621, 2623) rather than on the other side of the adjacent main incisions (2611, 2613). The main cuts (2611, 2613) extend intermittently along the circumference of the proximal passive flexible segment, such that the non-cutting bridging elements (2631, 2633) remain between the main cut portions located on the circumference, wherein, The proximal passive flexible segment includes main incisions (2611, 2613), wherein, at least within a sub-region of the proximal passive flexible segment, the main incisions (2611, 2613) are spaced unequally apart from each other in the longitudinal direction of the proximal passive flexible segment. At least within the first sub-region (2601) of the proximal passive flexible segment, the main cuts (2611) are spaced apart from each other at a continuously increasing spacing in the longitudinal direction of the proximal passive flexible segment, and At least within the second sub-region (2603) of the proximal passive flexible segment, the main cuts (2613) are spaced apart from each other at a continuously decreasing spacing in the longitudinal direction of the proximal passive flexible segment. A third sub-region (2602) is provided between the first sub-region (2601) and the second sub-region (2603), wherein the main cuts (2612) in the third sub-region (2602) are equally spaced from each other in the longitudinal direction of the proximal passive flexible segment.

2. The endoscope according to claim 1, characterized in that, The main incisions (2611, 2613) are parallel to each other.

3. The endoscope according to claim 1, characterized in that, The secondary cuts (2621, 2623) are respectively arranged adjacent to the bridging members (2631, 2633) between the main cuts located on the circumference.

4. The endoscope according to claim 3, characterized in that, One of the sub-cuts (2621, 2623) is arranged to be adjacent to each of the bridging members (2631, 2633) in the longitudinal direction of the proximal passive flexible segment on one side of the bridging member (2631, 2633).

5. The endoscope according to claim 3, characterized in that, The two sub-cuts (2621, 2623) are arranged to be adjacent to each of the bridging members (2631, 2633) in the longitudinal direction of the proximal passive flexible segments on both sides of the bridging members (2631, 2633).

6. The endoscope according to any one of claims 1 to 5, characterized in that, The main incisions (2611, 2613) are wider than the secondary incisions (2621, 2623).

7. The endoscope according to any one of claims 1 to 5, characterized in that, The entire insertion tube (2) includes the connection between the proximal passive flexible section and the control body (3), the proximal passive flexible section, the transition between the proximal passive flexible section and the distal curved section, and the distal curved section, and the insertion tube (2) is made of a single pipe element.

8. A method for manufacturing an insertion tube (2) of an endoscope from tubular components, characterized in that, The insertion tube (2) includes a proximal passive flexible segment and a distal curved segment, wherein, The proximal passive flexible segment is provided with main incisions (2611, 2612, 2613) and secondary incisions (2621, 2623) to allow the proximal passive flexible segment to bend; wherein, The main incisions (2611, 2613) and the secondary incisions (2621, 2623) are provided in the proximal passive flexible segment, such that the spacing between adjacent main incisions (2611, 2613) and secondary incisions (2621, 2623) is unequal. In the proximal passive flexible segment, secondary incisions (2621, 2623) are formed adjacent to the main incisions (2611, 2613), wherein the secondary incisions (2621, 2623) are arranged to be adjacent to the main incisions (2611, 2613) on one side closer to the secondary incisions (2621, 2623) in the longitudinal direction of the proximal passive flexible segment, rather than adjacent to the main incisions (2611, 2613) on the other side of the secondary incisions (2621, 2623). The main cuts (2611, 2613) are intermittently cut along the circumference of the proximal passive flexible segment, such that non-cutting bridging elements (2631, 2633) remain between the main cut portions located on the circumference, wherein, Main incisions (2611, 2613) are provided in the proximal passive flexible segment, wherein, at least within a sub-region of the proximal passive flexible segment, the main incisions (2611, 2613) are spaced unequally apart from each other in the longitudinal direction of the proximal passive flexible segment. At least within the first sub-region (2601) of the proximal passive flexible segment, the main cuts (2611) are spaced apart from each other at a continuously increasing spacing in the longitudinal direction of the proximal passive flexible segment, and At least within the second sub-region (2603) of the proximal passive flexible segment, the main cuts (2613) are spaced apart from each other in the longitudinal direction of the proximal passive flexible segment with a continuously decreasing spacing (H). A third sub-region (2602) is provided between the first sub-region (2601) and the second sub-region (2603), wherein the main cuts (2612) in the third sub-region (2602) are equally spaced from each other in the longitudinal direction of the proximal passive flexible segment.

9. The method according to claim 8, characterized in that, The main incisions (2611, 2613) are cut parallel to each other.

10. The method according to claim 8, characterized in that, The bridging members (2631, 2633) located adjacent to the main cuts on the circumference cuts respectively cut the secondary cuts (2621, 2623).

11. The method according to claim 10, characterized in that, Each of the bridging members (2631, 2633) in the longitudinal direction of the proximal passive flexible segment adjacent to the bridging member (2631, 2633) is cut with a secondary cut (2621, 2623).

12. The method according to claim 10, characterized in that, Each of the bridging members (2631, 2633) in the longitudinal direction of the proximal passive flexible segment adjacent to both sides of the bridging members (2631, 2633) is cut with two secondary cuts (2621, 2623).

13. The method according to any one of claims 8 to 12, characterized in that, The main incisions (2611, 2613) are wider than the secondary incisions (2621, 2623).

14. The method according to any one of claims 8 to 12, characterized in that, The entire insertion tube (2) includes the connection between the proximal passive flexible section and the control body (3), the proximal passive flexible section, the transition between the proximal passive flexible section and the distal curved section, and the distal curved section, and the insertion tube (2) is made of a single pipe element.

15. The method according to any one of claims 8 to 12, characterized in that, The main incisions (2611, 2613) and the secondary incisions (2621, 2623) are formed by laser.

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