Endoscope

Abstract

Embodiments of this application provide an endoscope, including a handle, an endoscope tip, and a support rod connecting the handle and the endoscope tip. A first joint assembly is disposed within a lever of the handle, and the first joint assembly is interference-fitted with an elastic component. When the lever is moved in a first direction, it drives the endoscope tip to rotate in a first predetermined direction corresponding to the first direction. When the lever is moved in a second direction, it drives the endoscope tip to rotate in a second predetermined direction corresponding to the second direction. The elastic component resists the movement of the lever and suspends the first joint assembly when the lever is not moved, thereby keeping the endoscope tip in a predetermined position corresponding to the first predetermined direction and / or the second predetermined direction.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to an endoscope. Background Technology

[0002] Minimally invasive surgery is known to offer numerous advantages over traditional open surgery, including less pain, shorter hospital stays, faster return to normal activities, smaller scars, shorter recovery times, and less damage to tissues. To perform these procedures, access to the patient can be created through incisions or natural body orifices, and robotic and manual minimally invasive surgical instruments can be used.

[0003] An endoscope is a medical device that allows doctors to capture images to diagnose problems in internal organs by inserting and guiding the instrument through a natural body orifice or a surgically created opening to a target location within the patient's body. In some cases, it can also be used to perform therapeutic procedures on internal organs. It can be manipulated so that its distal end can be controlled for navigational purposes; for example, an image-capturing device such as a stereoscope or single-field-of-view camera can be positioned at its distal end so that the image captured by the camera from that view can be viewed by the doctor on a display screen. Surgical instruments used for cutting, grasping, cauterizing, etc., can extend beyond the distal end of the endoscope to perform various therapeutic procedures at the target location.

[0004] In existing technologies, the bending direction of the endoscope lens is easily restricted after it is inserted into the body, resulting in a limited imaging range. In particular, when it is necessary to take images from different directions, the inflexibility and inconvenience of rotation or locking lead to a poor user experience. Summary of the Invention

[0005] Therefore, in order to solve the above problems, this application provides an endoscope that can be easily rotated and locked.

[0006] One aspect of this application provides an endoscope, including an endoscope tip and a lever for adjusting the direction of the endoscope tip. The lever includes a first joint assembly and an elastic component that is interference-fitted with a movable portion of the first joint assembly. When the first joint assembly is subjected to a first directional force, the endoscope tip moves toward a first predetermined position. When the force is removed, the elastic component provides friction to suspend the first joint assembly, thereby keeping the endoscope tip in the first predetermined position.

[0007] In a specific embodiment, the elastic component includes two first spring pieces, and a first friction fit structure is provided at a first set of relative positions of the movable part of the first joint component. Both first spring pieces are provided with a second friction fit structure. When the first joint component is subjected to a first direction and / or a second direction opposite to the first direction, the second friction fit structure slides and rubs along the surface of the first friction fit structure.

[0008] In one specific embodiment, when the first joint assembly is subjected to the second directional actuating force, the endoscope tip moves to a second predetermined position opposite to the first predetermined position. When the actuating force fails, the two first springs provide friction to suspend the first joint assembly, thereby keeping the endoscope tip in the second predetermined position.

[0009] In one specific embodiment, the elastic component further includes two second springs. The first friction engagement structure is provided at a second set of relative positions of the movable portion of the first joint component. The line connecting the second set of relative positions is perpendicular to the line connecting the first set of relative positions. Both second springs are provided with the second friction engagement structure. When the first joint component is subjected to a third-direction and / or a fourth-direction actuating force opposite to the third-direction, the second friction engagement structure of the second spring slides and rubs along the surface of the first friction engagement structure. The endoscope tip moves to a third predetermined position and / or a fourth predetermined position. When the actuating force fails, the two second springs provide friction to suspend the first joint component, thereby keeping the endoscope tip in the third predetermined position and / or the fourth predetermined position.

[0010] In one specific embodiment, the first joint assembly includes a first joint, a second joint, and a third joint. The second joint is rotatably connected to the first joint, the third joint is fixed, and the second joint is rotatably connected relative to the third joint. One end of each of the two first spring plates is fixed relative to the first joint, and the other end of each spring plate is frictionally interference-fitted with the second joint. One end of each of the two second spring plates is fixed relative to the third joint, and the other end of each spring plate is frictionally interference-fitted with the second joint.

[0011] In one specific embodiment, the first friction fit structure is a mesh-like concave-convex surface, and the second friction fit structure is a fixed protrusion or a protruding pin whose front and rear positions can be finely adjusted.

[0012] In one specific embodiment, the lever includes a cap body, the first joint is fixedly connected to the cap body and moves with the cap body, the two first spring pieces are both "L" shaped, the two second spring pieces are both "L" shaped, and the vertical end of the "L" shape is frictionally interference-fitted with the second joint, the horizontal end is fixed to a first bracket, the first bracket is fixed to a second bracket, the second bracket is fixed in the handle, and the third joint is embedded between the first bracket and the second bracket.

[0013] In one specific embodiment, the endoscope has a second joint assembly supporting the endoscope lens at its front end. The second joint assembly is connected to the first joint assembly via four drive wires, which are housed within a support rod. The handle is connected to the support rod. The second joint assembly includes a fourth joint, a fifth joint, and a sixth joint. The fourth joint is located at the end of the support rod and is fixed relative to the support rod. The fifth joint is rotatably connected relative to the fourth joint. One end of the sixth joint is rotatably connected to the fifth joint, and the other end is fixedly connected to the endoscope lens.

[0014] In one specific embodiment, four drive wire through holes are provided at the relative positions of the second and third joints. The first joint is provided with four first limiting structures corresponding to the positions of the four drive wire through holes of the second and third joints. The fourth and fifth joints are provided with four drive wire through holes at the relative positions of the fourth and fifth joints. The sixth joint is provided with four second limiting structures corresponding to the positions of the four drive wire through holes of the fourth and fifth joints. One end of each of the four drive wires passes through the corresponding drive wire through holes of the second and third joints and is then limited and fixed by the corresponding first limiting structure. The other end of each of the four drive wires passes through the corresponding drive wire through holes of the fourth and fifth joints and is then limited and fixed by the corresponding second limiting structure.

[0015] In one specific embodiment, the first limiting structure includes a first through hole and a second through hole separated by a partition. One end of the drive wire passes through the first through hole, then folds around into the second through hole and is welded and fixed in the second through hole. The second limiting structure includes a limiting hole, and the other end of the drive wire is welded and fixed in the limiting hole.

[0016] In one specific embodiment, two connectors are respectively provided between the first and second joints, between the second and third joints, between the fourth and fifth joints, and between the fifth and sixth joints. Each connector has a protrusion at each of its two ends. Each protrusion of the first to sixth joints corresponding to the connector has a fixing hole that mates with the protrusion. Each connector has a through hole. One end of each of the four drive wires passes through one connector on the first joint assembly side, and the other end of each of the four drive wires passes through one connector on the second joint assembly side.

[0017] In one specific embodiment, the line connecting the two connectors between the first and second joints is perpendicular to the line connecting the two connectors between the second and third joints; the line connecting the two connectors between the fourth and fifth joints is perpendicular to the line connecting the two connectors between the fifth and sixth joints.

[0018] In one specific embodiment, rotating connection structures are respectively formed between the first joint and the second joint, between the second joint and the third joint, between the fourth joint and the fifth joint, and between the fifth joint and the sixth joint, which cooperate with each other to form a rotating connection between the joints, and the rotating connection structures are located between the fixing holes.

[0019] In one specific embodiment, the rotation axis of the rotational connection structure between the first and second joints is perpendicular to the rotation axis of the rotational connection structure between the second and third joints; the rotation axis of the rotational connection structure between the fourth and fifth joints is perpendicular to the rotation axis of the rotational connection structure between the fifth and sixth joints.

[0020] Another aspect of this application provides an endoscope, including:

[0021] The handle has a lever.

[0022] The endoscope tip, wherein the endoscope tip has an endoscope lens, and

[0023] A support rod connects the handle and the endoscope tip. A first joint assembly is provided inside the lever. The first joint assembly is interference-fitted with an elastic component. When the lever is moved in a first direction, it drives the endoscope lens to rotate in a first predetermined direction corresponding to the first direction. When the lever is moved in a second direction, it drives the endoscope lens to rotate in a second predetermined direction corresponding to the second direction. The elastic component resists the movement of the lever and keeps the first joint assembly suspended when the lever is not moved, thereby keeping the endoscope lens in a predetermined position corresponding to the first predetermined direction and / or the second predetermined direction.

[0024] In one specific embodiment, the elastic component includes two first spring pieces disposed at a first set of relative positions on the side of the first joint component and two second spring pieces disposed at a second set of relative positions on the side of the first joint component. The line connecting the second set of relative positions is perpendicular to the line connecting the first set of relative positions. The first set of relative positions and the second set of relative positions are respectively provided with a first friction fit structure. Each of the two first spring pieces and the second spring piece is fixed at one end and provided with a second friction fit structure at the other end. The second friction fit structure and the first friction fit structure form a friction interference fit.

[0025] In one specific embodiment, the lever includes a cap body, and the first joint assembly includes a first joint, a second joint, and a third joint. The first joint is fixedly connected to the cap body and moves with the cap body. The third joint is fixed in the handle. The second joint is rotatably connected to the first joint and rotatably connected relative to the third joint. One end of each of the two first spring pieces is fixed to the first joint, and the other end is slidably rubbed against the second joint when the first joint is moved, providing frictional force to suspend the first joint assembly when the movement is removed. One end of each of the two second spring pieces is fixed relative to the third joint, and the other end is slidably rubbed against the second joint when the first joint is moved, providing frictional force to suspend the first joint assembly when the movement is removed.

[0026] In one specific embodiment, the endoscope front end is provided with a second joint assembly to support the endoscope lens. The first joint assembly and the second joint assembly are connected by a drive wire housed in the support rod. When the lever is used to move in the first direction and / or the second direction, the drive wire drives the second joint assembly to move, thereby causing the endoscope lens to rotate in the first predetermined direction and / or the second predetermined direction.

[0027] In one specific embodiment, the first predetermined direction is the same as or opposite to the first direction, and the second predetermined direction is the same as or opposite to the second direction.

[0028] The endoscope of this application has at least the following beneficial effects:

[0029] The endoscope tip is tilted by a joint component inside the lever. The joint component is equipped with an elastic component, which is directly controlled by interference fit. When it is turned or pushed, the elastic component can slide by friction, and when it is not turned or pushed, it presses against the joint component by friction, so that the endoscope tip can be kept in the predetermined position. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of an endoscope provided in an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A schematic diagram of the lever of the endoscope being moved in the first direction;

[0032] Figure 3 for Figure 1 A schematic diagram of the lever of the endoscope being moved in the second direction;

[0033] Figure 4 for Figure 1 A schematic diagram of the endoscope structure provided in the first embodiment of the present invention after removing the support rod and handle;

[0034] Figure 5 for Figure 4 A schematic diagram of the assembly of the first and second joint components with the support rod;

[0035] Figure 6 for Figure 5 A schematic diagram showing the symmetrical bending of the first and sixth joints;

[0036] Figure 7 For the first and sixth joints towards Figure 6 A schematic diagram showing symmetrical bending in opposite directions;

[0037] Figure 8 for Figure 5 A schematic diagram showing the symmetrical bending of the second and fifth joints;

[0038] Figure 9 For the second and fifth joints towards Figure 8 A schematic diagram showing symmetrical bending in opposite directions;

[0039] Figure 10 A schematic diagram showing the first and second axes labeled for the first joint assembly;

[0040] Figure 11 A schematic diagram showing the third and fourth axes labeled for the second joint assembly;

[0041] Figure 12 This is a schematic diagram of the drive wire passing through the tube.

[0042] Figure 13 A schematic diagram of the assembly of the lever and the first joint assembly;

[0043] Figure 14 A schematic diagram of a joint assembly with connectors;

[0044] Figure 15 for Figure 14 A schematic diagram of the structure where the joint assembly rotates 90°.

[0045] Figure 16 for Figure 14 Schematic diagram of the middle connector;

[0046] Figure 17 for Figure 4 A schematic diagram of the structure of the first joint;

[0047] Figure 18 for Figure 4 Schematic diagram of the structure of the second joint;

[0048] Figure 19 for Figure 4 Schematic diagram of the third joint;

[0049] Figure 20 for Figure 4 A schematic diagram of a joint assembly with a connector between the first and second joints;

[0050] Figure 21 for Figure 20 Another structural schematic diagram of the first joint component;

[0051] Figure 22 A schematic diagram of the first joint assembly with an elastic component on the endoscope handle side provided in the second embodiment of the present invention;

[0052] Figure 23 for Figure 22 A schematic diagram after removing the first spring clip, the second spring clip, and the top support;

[0053] Figure 24 for Figure 23 Another perspective view of the first joint assembly;

[0054] Figure 25 for Figure 22 A schematic diagram of the first structure of the first and second spring fragments in the image;

[0055] Figure 26 for Figure 22A schematic diagram of the first and second limiting structures of the drive wire in the diagram;

[0056] Figure 27 for Figure 22 A schematic diagram of the second structure of the first and second springs in the middle.

[0057] The component labels in the diagram are as follows:

[0058] Endoscope 100, Handle 101, Lever 102

[0059] Cap body 1021, support rod 103, tube body 1031

[0060] Second joint assembly 104, Fourth joint 1041, Fifth joint 1042

[0061] Sixth joint 1043, endoscope tip 105, lens 106

[0062] First joint assembly 107; First joint 1071; Second joint 1072

[0063] Third joint 1073, first drive wire 1081, second drive wire 1082

[0064] Third drive wire 1083, fourth drive wire 1084, connector 109

[0065] First connector 109a, second connector 109b, support column 1091

[0066] Protrusion 1092, Through hole 1093, Elastic component 1012

[0067] First shrapnel 1012a, Second shrapnel 1012b, First limiting structure 1013

[0068] Second limiting structure 1014; First friction fit structure 1012c; Second friction fit structure 1012d

[0069] First support 1015 Second support 1016 Top support 1017

[0070] Pin 1018, First through hole 1013a, Second through hole 1013b

[0071] Limiting hole 1014a, drive wire 108, pin holes 1019, 1020b

[0072] 1020 protruding pin, 1020a end face, 1015a fixed base Detailed Implementation

[0073] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0074] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The term "joint" as used herein refers to a connection in which two elements have power transmission. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the drawings. For example, if the device is flipped in the drawings, an element or feature described as "below" or "under" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0075] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during the procedure, while "proximal" refers to the end closest to the operator. The term "coupling" as used in this article can be broadly understood as two or more objects being connected to any event in a way that allows absolutely coupled objects to operate together such that there is no relative movement between the objects in at least one direction. For example, the coupling of a protrusion and a groove, where they can move radially relative to each other but not axially.

[0076] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This device includes an end effector, which can be a surgical tool used to perform surgical procedures, such as an electrocautery device, forceps, stapler, scissors, imaging equipment such as an endoscope or ultrasound probe, and the like. The end effector may also provide articulated components, such as joint assemblies, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The device may also include stored information that can be updated by a surgical system, thereby enabling one-way or two-way communication between the device and one or more system components.

[0077] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0078] like Figure 1 As shown, the endoscope 100 provided by the present invention includes a handle 101, a lever 102, an endoscope tip 105, and a support rod 103. The lever 102 is mounted on the handle 101, allowing the operator to operate it while holding the handle 101. Specifically, the operator's thumb and / or index finger can operate the lever 102 while holding the handle 101. The endoscope tip 105 is used to acquire images. Specifically, the endoscope tip 105 includes a lens 106, which extends into and bends within the body to achieve imaging at different angles. One end of the support rod 103 is connected to the handle 101, and the other end is connected to the endoscope tip 105. The support rod 103 connects the handle 101 and the endoscope tip 105, and also houses a drive wire for transmitting power between the lever 102 and the endoscope tip 105.

[0079] like Figure 2 As shown, when the lever 102 is moved in the first direction, the power of the lever 102 is transmitted through the support rod 103, thereby driving the endoscope tip 105 to rotate in the first predetermined direction corresponding to the first direction. Figure 3 As shown, when the lever 102 is moved in the second direction, the power of the lever 102 is transmitted through the support rod 103, thereby driving the endoscope tip 105 to rotate in the second predetermined direction corresponding to the second direction.

[0080] The first direction is the same as the first predetermined direction, and the second direction is the same as the second predetermined direction, that is, when the lever 102 is turned, the endoscope tip 105 rotates in the same direction. Alternatively, the first direction is opposite to the first predetermined direction, and the second direction is opposite to the second predetermined direction, that is, when the lever 102 is turned, the endoscope tip 105 rotates in the opposite direction.

[0081] In actual use, when the first direction is the same as the first predetermined direction and the second direction is the same as the second predetermined direction, the first direction can be forward or backward. When the lever 102 is moved forward, it drives the endoscope tip 105 to rotate forward; when the lever 102 is moved backward, it drives the endoscope tip 105 to rotate backward. The second direction can be left or right. When the lever 102 is moved to the left, it drives the endoscope tip 105 to rotate to the left; when the lever 102 is moved to the right, it drives the endoscope tip 105 to rotate to the right. Alternatively, when the first direction is opposite to the first predetermined direction and the second direction is opposite to the second predetermined direction, the first direction can be forward or backward. When the lever 102 is moved forward, it drives the endoscope tip 105 to rotate backward; when the lever 102 is moved backward, it drives the endoscope tip 105 to rotate forward. The second direction can be left or right. When the lever 102 is moved to the left, it drives the endoscope tip 105 to rotate right; when the lever 102 is moved to the right, it drives the endoscope tip 105 to rotate left. As can be seen from the above, the lever 102 can be moved in the forward, backward, left, and right directions to make the endoscope tip 105 rotate in all four directions, thus realizing the four-directional rotation of the endoscope tip 105.

[0082] Of course, in practical applications, the first direction can also have an angle with the front-back direction, and the angle between the first direction and the front-back direction can be any angle such as 30° or 60°. Similarly, the second direction can also have an angle with the left-right direction, and the angle between the second direction and the left-right direction can be any angle such as 30° or 60°, without limitation here.

[0083] like Figure 4As shown, the endoscope 100 also includes a first joint assembly 107 and a second joint assembly 104. The first joint assembly 107 is connected to a lever 102, and the second joint assembly 104 is connected to the endoscope tip 105. Specifically, when the lever 102 is moved in a first direction, it drives the first joint assembly 107 to rotate in that direction. The power from the first joint assembly 107 is then transmitted to the second joint assembly 104, causing the second joint assembly 104 to rotate in a first predetermined direction, ultimately enabling the second joint assembly 104 to drive the endoscope tip 105 to rotate in that first predetermined direction. When the lever 102 is also moved in a second direction, it drives the first joint assembly 107 to rotate in that direction. The power from the first joint assembly 107 is then transmitted to the second joint assembly 104, causing the second joint assembly 104 to rotate in a second predetermined direction, ultimately enabling the second joint assembly 104 to drive the endoscope tip 105 to rotate in that second predetermined direction. In this embodiment, the linkage between the first joint assembly 107 and the second joint assembly 104 is achieved, thereby enabling the linkage between the lever 102 and the endoscope tip 105, so that when the lever 102 is moved, the endoscope tip 105 rotates relative to the support rod 103.

[0084] The first joint assembly 107 is located between the lever 102 and the support rod 103. One end of the first joint assembly 107 is connected to the lever 102, and the other end of the first joint assembly 107 is connected to the support rod 103. Figure 5 As shown, the second joint assembly 104 is located between the endoscope tip 105 and the support rod 103. One end of the second joint assembly 104 is connected to the endoscope tip 105, and the other end of the second joint assembly 104 is connected to the support rod 103.

[0085] like Figure 5As shown, the first joint assembly 107 includes a first joint 1071, a second joint 1072, and a third joint 1073, arranged sequentially, with the second joint 1072 located between the first joint 1071 and the third joint 1073. The first joint 1071 is rotatably connected to the second joint 1072, and the second joint 1072 is rotatably connected to the third joint 1073. Specifically, the end of the second joint 1072 closest to the first joint 1071 is rotatably connected to the first joint 1071, and the end of the second joint 1072 closest to the third joint 1073 is rotatably connected to the third joint 1073. Both ends of the second joint 1072 are hinged to the first joint 1071 and the second joint 1072, respectively. The first joint 1071 is fixedly connected to the lever 102, and the third joint 1073 is connected to the support rod 103. Specifically, the first joint 1071 and the lever 102 can be interference-fitted, threaded, screwed, or integrated into one structure, and the third joint 1073 and the support rod 103 can be interference-fitted, threaded, screwed, or integrated into one structure, etc., without limitation.

[0086] The second joint assembly 104 includes a fourth joint 1041, a fifth joint 1042, and a sixth joint 1043, arranged sequentially, with the fifth joint 1042 located between the fourth joint 1041 and the sixth joint 1043. The fourth joint 1041 is rotatably connected to the fifth joint 1042, and the fifth joint 1042 is rotatably connected to the sixth joint 1043. Specifically, the end of the fifth joint 1042 closest to the fourth joint 1041 is rotatably connected to the fourth joint 1041, and the end of the fifth joint 1042 closest to the sixth joint 1043 is rotatably connected to the sixth joint 1043. Both ends of the fifth joint 1042 are hinged to the fourth joint 1041 and the sixth joint 1043, respectively. The sixth joint 1043 is fixedly connected to the endoscope tip 105, and the fourth joint 1041 is connected to the support rod 103. Specifically, the sixth joint 1043 and the endoscope tip 105 can be interference-fitted, threaded, screwed, or integrated into one structure, and the fourth joint 1041 and the support rod 103 can be interference-fitted, threaded, screwed, or integrated into one structure, etc., without limitation.

[0087] The first joint 1071, the second joint 1072, the third joint 1073, the sixth joint 1043, the fifth joint 1042, and the fourth joint 1041 can be symmetrically arranged. In specific applications, such as... Figure 6 As shown and Figure 7As shown, when the first joint 1071 rotates clockwise or counterclockwise along a first direction, power is transmitted to the sixth joint 1043, causing the sixth joint 1043 to rotate along a first predetermined direction. Specifically, the first direction is the rotation of the first joint 1071 around the axis of rotation between the second joint 1072 and the first joint 1071. Figure 8 As shown and Figure 9 As shown, when the first joint 1071 rotates clockwise or counterclockwise around the second joint 1072 in a second direction, power is transmitted to the sixth joint 1043, causing the sixth joint 1043 and the fifth joint 1042 to rotate in a second predetermined direction. Specifically, the second direction is the rotation of the first joint 1071 around the axis of rotation between the second joint 1072 and the third joint 1073.

[0088] Furthermore, such as Figure 10 As shown, the rotation axis of the first joint 1071 and the second joint 1072 is the first axis a, meaning that the first joint 1071 can rotate relative to the second joint 1072 around the first axis a. The rotation axis of the third joint 1073 and the second joint 1072 is the second axis b, meaning that the second joint 1072 can rotate relative to the third joint 1073 around the second axis b. The angle between the first axis a and the second axis b is greater than 0°. In other words, the first axis a and the second axis b are not parallel to each other. In a preferred embodiment, the first axis a and the second axis b are perpendicular to each other; for example, the first axis a is along the diameter direction of the first joint 1071, and the second axis b is along the diameter direction of the third joint 1073.

[0089] like Figure 11 As shown, the rotation axis of the fourth joint 1041 and the fifth joint 1042 is the third axis c, meaning the fifth joint 1042 can rotate relative to the fourth joint 1041 around the third axis c. The rotation axis of the fifth joint 1042 and the sixth joint 1043 is the fourth axis d, meaning the sixth joint 1043 can rotate relative to the fifth joint 1042 around the fourth axis d. The angle between the third axis c and the fourth axis d is greater than 0°. In other words, the third axis c and the fourth axis d are not parallel to each other. In a preferred embodiment, the third axis c and the fourth axis d are perpendicular to each other; for example, the third axis c is along the diameter direction of the fourth joint 1041, and the fourth axis b is along the diameter direction of the sixth joint 1043.

[0090] When the first joint assembly 107 and the second joint assembly 104 are symmetrically arranged, the first axis a is parallel to the fourth axis d, and the second axis b is parallel to the third axis c. In this case, when the lever 102 drives the first joint 1071 to rotate, the power is transmitted to the sixth joint 1043 to cause the sixth joint 1043 to rotate in the opposite direction. Alternatively, the first axis a can be parallel to the third axis c, and the second axis b can be parallel to the fourth axis d. In this case, the first joint assembly 107 and the second joint assembly 104 are asymmetrically arranged, and when the lever 102 drives the first joint 1071 to rotate, the power is transmitted to the sixth joint 1043 to cause the sixth joint 1043 to rotate in the opposite direction.

[0091] When the first axis a and the second axis b are perpendicular to each other, and the third axis c is perpendicular to the fourth axis d, the bending direction of the endoscope tip 105 when the sixth joint 1043 drives it to rotate around the third axis c is perpendicular to the bending direction of the endoscope tip 105 when the sixth joint 1043 drives it to rotate around the fourth axis d. The four bending directions of the endoscope tip 105 are evenly distributed circumferentially, which is more conducive to medical observation.

[0092] In one specific embodiment, the ratio of the width of the first joint 1071 to the width of the sixth joint 1043 is a first predetermined ratio, such as a reasonable ratio of 1:1, 2:1, 3:2, and 4:3. The width of the first joint 1071 is the distance between the two farthest points on the first joint 1071, and the width of the sixth joint 1043 is the distance between the two farthest points on the sixth joint 1043. The transmission ratio between the first joint 1071 and the sixth joint 1043 is inversely proportional to the first predetermined ratio. By adjusting the first predetermined ratio, the transmission ratio between the first joint 1071 and the sixth joint 1043 is adjusted so that the bending of the endoscope tip 105 driven by the sixth joint 1043 is suitable for the internal space, while the rotation of the first joint 1071 and the lever 102 is suitable for manual operation by the operator.

[0093] In addition, the width of the first joint 1071 can be greater than the width of the sixth joint 1043, so that the sixth joint 1043 can be inserted into the body, and the larger width of the first joint 1071 makes it easier to operate.

[0094] Both the first joint 1071 and the sixth joint 1043 can be cylindrical. In this case, the width of the first joint 1071 is the diameter of the first joint 1071, and the width of the sixth joint 1043 is the diameter of the sixth joint 1043.

[0095] like Figure 10 and Figure 11As shown, in another preferred embodiment, the endoscope 100 further includes a first drive wire 1081 and a second drive wire 1082. Both the first drive wire 1081 and the second drive wire 1082 are threaded through the support rod 103. One end of each of the first drive wire 1081 and the second drive wire 1082 is fixed to a first joint 1071, and the other end is fixed to a sixth joint 1043. That is, both ends of the first drive wire 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively, and both ends of the second drive wire 1082 are also fixed to the first joint 1071 and the sixth joint 1043, respectively. When the lever 102 is turned, it drives the first joint 1071 to rotate, transmitting power to the sixth joint 1043 through the first drive wire 1081 and the second drive wire 1082, causing the sixth joint 1043 to rotate the endoscope tip 105.

[0096] Alternatively, one end of the first drive wire 1081 is fixed to the first joint 1071, and the other end is fixed to the sixth joint 1043; one end of the second drive wire 1082 is fixed to the second joint 1072, and the other end is fixed to the sixth joint 1043. Specifically, both ends of the first drive wire 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively, and both ends of the second drive wire 1082 are fixed to the second joint 1072 and the sixth joint 1043, respectively. When the lever 102 is turned, it drives the first joint 1071 to rotate in a first direction, and transmits power to the sixth joint 1043 through the first drive wire 1081, so that the sixth joint 1043 drives the endoscope tip 105 to rotate in a first predetermined direction. When the lever 102 is turned, it can also drive the second joint 1072 to rotate in a second direction, and transmit power to the sixth joint 1043 through the second drive wire 1082, so that the sixth joint 1043 drives the endoscope tip 105 to rotate in a second predetermined direction.

[0097] Furthermore, the endoscope 100 also includes a third drive wire 1083 and a fourth drive wire 1084, both of which are inserted into the support rod 103. The third drive wire 1083 is positioned opposite to the first drive wire 1081, and both are connected to their corresponding joints in the first joint assembly 107 and the second joint assembly 104 in the same way. That is, the first drive wire 1081 and the third drive wire 1083 are located at the same end and fixed to the same joint. The fourth drive wire 1084 is positioned opposite to the second drive wire 1082, and both are connected to their corresponding joints in the first joint assembly 107 and the second joint assembly 104 in the same way. That is, the second drive wire 1082 and the fourth drive wire 1084 are located at the same end and fixed to the same joint.

[0098] In the above embodiments, when the lens 106 is bent inside the body, precise transmission over a long distance and in a narrow space can be achieved simply by pulling the drive wire. The drive wire extends along the length of the support rod 103, and the connection between the drive wire and the joint assembly is simple and easy to operate. Moreover, the lens 106 is relatively close to the third axis c and the fourth axis d, which results in a smaller bending diameter of the lens 106, less space occupied during bending, and less likelihood of collision or interference with other surgical instruments.

[0099] like Figure 12 As shown, the endoscope 100 also includes a tube 1031, which is sleeved on the first drive wire 1081 and the second drive wire 1082. The tube 1031 is used to provide a resisting force to the first drive wire 1081 and the second drive wire 1082, thereby changing the extension direction of the first drive wire 1081 and the second drive wire 1082 between the first joint assembly 107 and the second joint assembly 104. When the tube 1031 bends, the inner wall of the tube 1031 abuts against the first drive wire 1081 and the second drive wire 1082, causing the first drive wire 1081 and the second drive wire 1082 to bend.

[0100] Similarly, a tube 1031 may also be fitted onto the third drive wire 1083 and the fourth drive wire 1084. The tube 1031 is used to provide a resisting force to the third drive wire 1083 and the fourth drive wire 1084, thereby changing the extension direction of the third drive wire 1083 and the fourth drive wire 1084 between the first joint assembly 107 and the second joint assembly 104.

[0101] In another embodiment, the endoscope 100 further includes a reversing wheel (not shown) disposed within the support rod 103. The reversing wheel is used to change the extension direction of the first drive wire 1081 and the second drive wire 1082 between the first joint assembly 107 and the second joint assembly 104. Specifically, the first drive wire 1081 and the second drive wire 1082 each bypass the reversing wheel, realizing the bending and turning of the first drive wire 1081 and the second drive wire 1082. The reversing wheel can also be used to change the extension direction of the third drive wire 1083 and the fourth drive wire 1084 between the first joint assembly 107 and the second joint assembly 104. That is, the third drive wire 1083 and the fourth drive wire 1084 each bypass the reversing wheel, realizing the bending and turning of the third drive wire 1083 and the fourth drive wire 1084.

[0102] like Figure 11 As shown, in a preferred embodiment, the rotation axis of the fourth joint 1041 and the fifth joint 1042 is the third axis c, and the rotation axis of the fifth joint 1042 and the sixth joint 1043 is the fourth axis d. The endoscope 100 also includes a first drive wire 1081, a second drive wire 1082, a third drive wire 1083 and a fourth drive wire 1084 passing through the support rod 103.

[0103] The first drive wire 1081 and the third drive wire 1083 are located on both sides of the fourth axis d, respectively. The sixth joint 1043 is driven to rotate around the fourth axis d via the first drive wire 1081 and the third drive wire 1083. The first predetermined direction is the rotation of the endoscope tip 105 around the fourth axis d. The second drive wire 1082 and the fourth drive wire 1084 are located on both sides of the third axis c, respectively. The fifth joint 1042 is driven to rotate around the third axis c via the second drive wire 1082 and the fourth drive wire 1084. The second predetermined direction is the rotation of the endoscope tip 105 around the third axis c.

[0104] Specifically, pulling the first drive wire 1081 or the third drive wire 1083 can cause the sixth joint 1043 to rotate around the fourth axis d to one side or to the other side. At this time, the sixth joint 1043 drives the endoscope tip 105 to rotate around the fourth axis d, and the first predetermined direction is the rotation of the endoscope tip 105 around the fourth axis d.

[0105] Specifically, pulling the second drive wire 1082 or the fourth drive wire 1084 can cause the fifth joint 1042 and the sixth joint 1043 to rotate together around the third axis c to one side or to the other side. At this time, the sixth joint 1043 drives the endoscope tip 105 to rotate around the third axis c, and the second predetermined direction is the rotation of the endoscope tip 105 around the third axis c.

[0106] like Figure 4 As shown, for ease of operation, the straight line containing the first joint assembly 107 intersects the straight line containing the second joint assembly 104. The straight line containing the first joint assembly 107 follows the arrangement direction of the first joint 1071, the second joint 1072, and the third joint 1073, while the straight line containing the second joint assembly 104 follows the arrangement direction of the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043. The arrangement direction of the first joint 1071, the second joint 1072, and the third joint 1073 differs from that of the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043. This arrangement allows for the design of the relative positions of the straight lines containing the first joint assembly 107 and the second joint assembly 104 according to actual needs, adapting to different types of endoscope 100 usage methods.

[0107] like Figure 13 As shown, for ease of operation, the lever 102 includes a cap 1021 fixedly connected to the first joint assembly 107, and the cap 1021 can be fixedly connected to the first joint 1071.

[0108] The cap body 1021 can be cylindrical and covers the first joint 1071. One end of the cap body 1021 is fixedly connected to the first joint 1071, and the other end of the cap body 1021 is the operating end. The first joint assembly 107 is located inside the handle 101, and the operating end of the cap body 1021 protrudes from the outside of the handle 101. The operator can hold the handle 101 and operate the operating end of the cap body 1021 with their thumb and / or index finger.

[0109] like Figure 14 and Figure 15 As shown, the first joint assembly 107 and / or the second joint assembly 104 also include a connector 109 for connecting two adjacent joints. Figure 16 As shown, the connector 109 includes a support post 1091 and two protrusions 1092 extending from the end of the support post 1091.

[0110] Each joint is provided with a fixing hole i, and the protrusion 1092 is used to be inserted into the corresponding fixing hole i. When two adjacent joints rotate relative to each other, the protrusion 1092 rotates in the fixing hole i.

[0111] The number of connectors 109 can be multiple, for example, they can be divided into multiple first connectors 109a and multiple second connectors 109b. The following description takes the first joint assembly 107 as an example. The first connector 109a is connected to the first joint 1071 and the second joint 1072, and the second connector 109b is connected to the second joint 1072 and the third joint 1073.

[0112] The two protrusions 1092 of the first connector 109a respectively engage with the fixing holes i of the first joint 1071 and the second joint 1072, and the protrusions 1092 can rotate within the fixing holes i. The axes of the two protrusions 1092 of the first connector 109a are parallel to the first axis a, and the first axis a and the axes of the two protrusions 1092 of the first connector 109a are located in the same plane. The axes of the two protrusions 1092 of the first connector 109a and the first axis a are arranged sequentially along the arrangement direction of the three joints. The arrangement direction of the three joints is perpendicular to the first axis a and the second axis b. With this configuration, when the first joint 1071 rotates relative to the second joint 1072, the two protrusions 1092 of the first connector 109a rotate within the fixing holes i, causing the first connector 109a to swing, thus ensuring smoother rotation of the first joint 1071. In addition, the first connector 109a can also prevent the first joint 1071 and the second joint 1072 from separating.

[0113] Both the second joint 1072 and the third joint 1073 have fixing holes i for the protrusions 1092 to engage. The two protrusions 1092 of the second connector 109b engage in the fixing holes i of the second joint 1072 and the third joint 1073 respectively, and the protrusions 1092 can rotate within the fixing holes i. The axes of the two protrusions 1092 of the second connector 109b are parallel to the second axis b, and the second axis b and the axes of the two protrusions 1092 of the second connector 109b are located in the same plane. The axes of the two protrusions 1092 of the second connector 109b and the second axis b are arranged sequentially along the arrangement direction of the three joints. The arrangement direction of the three joints is perpendicular to the first axis a and the second axis b. With this configuration, when the second joint 1072 rotates relative to the third joint 1073, the two protrusions 1092 of the second connector 109b rotate within the fixing holes i, causing the second connector 109b to swing, thus ensuring smoother rotation of the second joint 1072. In addition, the second connector 109b can also prevent the third joint 1073 and the second joint 1072 from separating.

[0114] The rotational connection between joints is illustrated using the first joint assembly 107 as an example. One of the first joints 1071 and 1072 has a protrusion h, and the other has a groove e. The inner wall of the groove e and the top surface of the protrusion h are both arc surfaces. The protrusion h can be inserted into the groove e, allowing the first joint 1071 and the second joint 1072 to rotate relative to each other, thus achieving a rotational connection between the first joint 1071 and the second joint 1072. That is, the protrusion h and the groove e constitute a rotational connection structure. After the protrusion h is inserted into the groove e, the arc surface extends around the first axis a, and the cross-section of the arc surface is an arc. The protrusion h and the groove e are located between the fixing hole i. Figures 17-19 As shown, one of the second joint 1072 and the third joint 1073 is provided with a protrusion h, and the other of the second joint 1072 and the third joint 1073 is provided with a groove e. The inner wall of the groove e and the top surface of the protrusion h are both arc surfaces. The protrusion h can be inserted into the groove e so that the second joint 1072 and the third joint 1073 can rotate relative to each other, thereby realizing the rotational connection between the second joint 1072 and the third joint 1073. After the protrusion h is inserted into the groove e, the arc surface extends around the second axis b, and the cross-section of the arc surface is an arc.

[0115] Preferably, both ends of the second joint 1072 are provided with protrusions h, and the first joint 1071 and the third joint 1073 are provided with grooves e. The protrusion h at one end of the second joint 1072 is engaged in the groove e of the first joint 1071, and the protrusion h at the other end of the second joint 1072 is engaged in the groove e of the third joint 1073, so that both ends of the second joint 1072 are rotatably connected to the first joint 1071 and the third joint 1073 respectively.

[0116] The first joint 1071 and the second joint 1072 are rotatably connected by two grooves e and two protrusions h that respectively engage with the two grooves e. Specifically, the first joint 1071 has two grooves e, and the first end of the second joint 1072 has two protrusions h that mate with the two grooves e of the first joint 1071. The two protrusions h at the first end of the second joint 1072 are respectively engaged with the two grooves e of the first joint 1071 to achieve the rotatable connection between the first joint 1071 and the second joint 1072. Alternatively, the first joint 1071 has two protrusions h, and the first end of the second joint 1072 has two grooves e that mate with the two protrusions h of the first joint 1071. The two protrusions h of the first joint 1071 are respectively engaged with the two grooves e at the first end of the second joint 1072 to achieve the rotatable connection between the first joint 1071 and the second joint 1072.

[0117] Similarly, the second joint 1072 and the third joint 1073 are rotatably connected by two grooves e and two protrusions h that respectively engage with the two grooves e. That is, the third joint 1073 has two grooves e, and the second end of the second joint 1072 has two protrusions h that mate with the two grooves e of the third joint 1073. The two protrusions h at the second end of the second joint 1072 respectively engage with the two grooves e of the third joint 1073 to achieve a rotatable connection between the second joint 1072 and the third joint 1073. Alternatively, the third joint 1073 has two protrusions h, and the second end of the second joint 1072 has two grooves e that mate with the two protrusions h of the third joint 1073. The two protrusions h of the third joint 1073 respectively engage with the two grooves e at the second end of the second joint 1072 to achieve a rotatable connection between the third joint 1073 and the second joint 1072.

[0118] Of course, the second joint 1072 and the third joint 1073 can also be rotatably connected through a groove e and a protrusion h that is inserted into the groove e, and the second joint 1072 and the first joint 1071 can also be rotatably connected through a groove e and a protrusion h that is inserted into the groove e. This is not limited here.

[0119] like Figure 20 As shown, there are two first connectors 109a. Two sets of matching grooves e and protrusions h between the first joint 1071 and the second joint 1072 are located between the two protrusions 1092 of the two first connectors 109a. Specifically, the first joint 1071 and the second joint 1072 are rotatably connected by two sets of grooves e and protrusions h. Each set of grooves e and the protrusion h that engages with the groove e is located between the two protrusions 1092 of one of the first connectors 109a.

[0120] like Figure 21As shown, there are two second connectors 109b. Two sets of matching grooves e and protrusions h between the second joint 1072 and the third joint 1073 are respectively located between the two protrusions 1092 of the two second connectors 109b. Specifically, the second joint 1072 and the third joint 1073 are rotatably connected by two sets of grooves e and protrusions h, with each set of grooves e and protrusions h that engage with the grooves e located between the two protrusions 1092 of one of the second connectors 109b.

[0121] The second joint assembly 104 has the same structure as the first joint assembly 107, and will not be described again here.

[0122] One end of the first drive wire 1081 is fixed to the first joint 1071, and the other end is fixed to the sixth joint 1043, that is, both ends of the first drive wire 1081 are fixed to the first joint 1071 and the sixth joint 1043 respectively. Figure 17 As shown, the connector 109 also includes a through hole 1093 passing through the support column 1091. Each joint is provided with a drive wire through hole f. The first drive wire 1081 passes through the drive wire through hole f of each joint and the through hole 1093 of the connector 109 in sequence and terminates at the sixth joint 1043. With this configuration, the first drive wire 1081 is perpendicular to the axis of the two protrusions 1092 of the connector 109. Therefore, when the first drive wire 1081 is pulled, it will not cause the two joints that cooperate with the connector 109 to rotate relative to each other.

[0123] To facilitate the passage of the endoscope system's light source cable through the joint assembly, each joint has a receiving hole g adjacent to the drive wire through hole f. The receiving hole g is used for the endoscope 100's light source cable to pass through. The light source cable can be an LED cable, fiber optic cable, etc.

[0124] Please see Figure 22 This is a partial schematic diagram of the handle 101 of the endoscope provided in the second embodiment of the present invention. The endoscope of the second embodiment is basically the same as the endoscope of the first embodiment, except that the first joint assembly in the handle 101 has an interference fit elastic component 1012, and a first limiting structure 1013 for the drive wire is added.

[0125] Please refer to the following: Figure 23 and Figure 25In this embodiment, the elastic component 1012 includes two first spring pieces 1012a and two second spring pieces 1012b. The two first spring pieces 1012a are disposed at a first set of relative positions of the first joint component, and the two second spring pieces 1012b are disposed at a second set of relative positions of the first joint component. Specifically, the first joint component includes a first joint 1071, a second joint 1072, and a third joint 1073. The two first spring pieces 1012a are disposed at a relative position between the first joint 1071 and the second joint 1072, and the two second spring pieces 1012b are disposed at a relative position between the second joint 1072 and the third joint. The line connecting the first set of relative positions is perpendicular to the line connecting the second set of relative positions. One end of each of the two first spring pieces 1012a is fixed to the first joint 1071, and the other end of each forms an interference fit with the side of the second joint 1072. One end of each of the two second spring pieces 1012b is fixed to the third joint 1073, and the other end of each forms an interference fit with the side of the second joint 1072.

[0126] In this example, the interference fit is a friction interference fit. Specifically, a first friction fit structure 1012c is provided on the four sides (left, right, front, and back) of the second joint 1072, and a second friction fit structure 1012d is provided at the corresponding position of the elastic component 1012. The first friction fit structure 1012c has multiple spaced grooves or uneven friction surfaces, and the second friction fit structure 1012d has protrusions. Under the action of external force, the second friction fit structure 1012d can slide and rub along the first friction fit structure 1012c, and can remain in place by friction when the external force is removed, thus pressing the joint at the resting position, i.e., producing a hovering effect. The elastic material of the elastic component 1012 provides flexibility for repeated use, and the sheet-like contact area is large, which is beneficial for pressing the joint. Of course, it can be understood that the sheet-like shape can also be plate-like or multiple strip-like deformations.

[0127] To better secure the first joint 1071 to the cap of the lever (see...) Figure 13 In reference numeral 1021), and further securing the first spring 1012a, a top support 1017 can be added. The first spring 1012a can be directly L-shaped. To increase the stability of the second spring 1012b, the second spring 1012b is designed as an L-shape, with one vertical end of the L-shape used for sliding friction and the other end used for fixing. Please refer to... Figure 24 The second spring 1012b can be first fixed to the L-shaped fixing seat 1015a in the first bracket 1015, which is fixed to the second bracket 1016. Then, the third joint 1073 is press-fitted between the first bracket 1015 and the second bracket 1016, thus fixing the third joint 1073. The spring and the bracket can be fixed by the pin 1018 and the pin hole 1019.

[0128] In actual use, when the user moves (or pushes) the cap body of the lever to the left or right, the top support 1017, together with the first joint 1071, moves with the cap body. The end of the first spring piece 1012a slides and rubs against the side of the second joint 1072, and the first joint 1071 and the second joint 1072 also rotate around their axis of rotation by means of the protrusion h and the corresponding groove (see...). Figure 10 The rotation of reference numeral a) helps to achieve the movement of other joints in a predetermined direction as described in the first embodiment above, so that the endoscope tip can reach a predetermined position to the left or right. The first spring 1012a causes the second joint 1072 to be suspended, so that the endoscope tip is suspended at the predetermined position.

[0129] When the user moves (or pushes) the lever forward or backward, the top support 1017, along with the first joint 1071, moves with the cap. Since the first joint 1071 is connected to the second joint 1072, and the second joint 1072 rotates relative to the third joint 1073 around its axis of rotation via the protrusion h and the corresponding groove (see...),... Figure 10 (b) This helps to achieve the movement of other joints in a predetermined direction as described in the first embodiment above. The endoscope tip can reach a predetermined position forward or backward. The end of the second spring 1012b slides and rubs against the side of the second joint 1072 until the prying (or pushing) fails and stops, thus suspending the second joint 1072. In this way, the endoscope tip is suspended in the predetermined position. This suspension method achieves the effect of stopping the endoscope when the user stops it, that is, convenient rotation locking, with a self-locking function. The endoscope has the function of prying in four directions: forward, backward, left, and right. When the doctor finishes using the endoscope and pulls it out of the abdominal cavity, when it passes through the puncture lock, the joint can be straightened by the force of the puncture lock, and the endoscope can be directly pulled out, that is, there is no need to manually apply a force to straighten the joint.

[0130] Please refer to the following: Figure 26 The first joint 1071 is provided with a first limiting structure 1013 for the drive wire. Specifically, the first joint 1071 corresponds to the four drive wire through holes of the second joint 1072 and the third joint 1073 (see...). Figure 17 Four first limiting structures 1013 are provided at position f). Each first limiting structure 1013 includes a separated first through hole 1013a and a second through hole 1013b. One end of the drive wire 108 passes through the first through hole 1013a, then folds around into the second through hole 1013b and is welded and fixed in the second through hole 1013b. This limiting structure allows the drive wire to be better straightened and fixed, eliminating the need for traditional knotting.

[0131] In other embodiments, at the sixth joint of the second joint assembly (see...) Figure 11 Reference numeral 1043) may use a second limiting structure 1014, which has only one limiting hole 1014a, and the other end of the drive wire 108 may be directly welded and fixed in the limiting hole 1014a.

[0132] Please see Figure 27 The diagram illustrates another structure of the first spring 1012a and the second spring 1012b described above. In this alternative structure, the friction-fitting structure on the spring is a protruding pin 1020 whose position is adjustable back and forth. Ideally, the end face 1020a of the protruding pin 1020 that contacts the side of the first joint assembly is spherical for better contact. When the lever actuates the first joint assembly, the protruding pin 1020 can move slightly back and forth in its pin hole 1020a, thereby slightly adjusting the amount of interference between the spring and the joint. This reduces the resistance experienced by the user when actuating the joint, but the protruding pin 1020 can still maintain the required hovering resistance on the side of the joint when the actuating force is removed.

[0133] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An endoscope, comprising an endoscope tip and a lever for adjusting the direction of the endoscope tip, characterized in that, The lever includes a first joint assembly and an elastic component that is interference-fitted with the movable portion of the first joint assembly. When the first joint assembly is subjected to a first directional toggle force, the endoscope tip moves toward a first predetermined position. When the toggle force is removed, the elastic component provides friction to suspend the first joint assembly, thereby keeping the endoscope tip in the first predetermined position. The first joint assembly includes a first joint, a second joint, and a third joint. The second joint is rotatably connected to the first joint, and the third joint is fixed. The second joint is rotatably connected relative to the third joint. A first friction fit structure is provided at a first set of relative positions on the side of the second joint of the first joint assembly. The elastic component includes two first spring sheets, each of which is provided with a second friction fit structure. One end of each of the two first spring sheets is fixed relative to the first joint, and the second friction fit structure at the other end of each spring sheet forms a friction interference fit with the first friction fit structure of the second joint.

2. The endoscope as described in claim 1, characterized in that, When the first joint assembly is subjected to a driving force in a first direction and / or a second direction opposite to the first direction, the second friction fit structure slides and rubs along the surface of the first friction fit structure.

3. The endoscope as described in claim 2, characterized in that, When the first joint assembly is subjected to the second directional force, the endoscope tip moves to a second predetermined position opposite to the first predetermined position. When the force is removed, the two first springs provide friction to suspend the first joint assembly, thereby keeping the endoscope tip in the second predetermined position.

4. The endoscope as described in claim 3, characterized in that, The elastic component further includes two second springs. The first friction fit structure is provided at a second set of relative positions on the second joint side of the first joint component. The line connecting the second set of relative positions is perpendicular to the line connecting the first set of relative positions. Both second springs are provided with the second friction fit structure. When the first joint component is subjected to a third-direction and / or a fourth-direction actuating force opposite to the third-direction, the second friction fit structure of the second spring slides and rubs along the surface of the first friction fit structure. The endoscope tip moves to a third predetermined position and / or a fourth predetermined position. When the actuating force fails, the two second springs provide friction to suspend the first joint component, thereby keeping the endoscope tip in the third predetermined position and / or the fourth predetermined position.

5. The endoscope as described in claim 4, characterized in that, One end of each of the two second spring pieces is fixed relative to the third joint, and the other end of each spring piece is frictionally interference-fitted with the second joint.

6. The endoscope as described in claim 4, characterized in that, The first friction fit structure is a mesh-like concave-convex surface, and the second friction fit structure is a fixed protrusion or a protruding pin whose front and rear positions can be finely adjusted.

7. The endoscope as described in claim 5, characterized in that, The lever is disposed in the handle. The lever includes a cap body. The first joint is fixedly connected to the cap body and moves with the cap body. The two first spring pieces are both "L"-shaped, and the two second spring pieces are both "L"-shaped. The vertical end of the "L" shape is frictionally pressurized with the second joint, and the horizontal end is fixed to a first bracket. The first bracket is fixed to a second bracket, and the second bracket is fixed in the handle. The third joint is embedded between the first bracket and the second bracket.

8. The endoscope as described in claim 5, characterized in that, The endoscope has a second joint assembly at its front end that supports the endoscope lens. The second joint assembly is connected to the first joint assembly by four drive wires, which are housed within a support rod. The second joint assembly includes a fourth joint, a fifth joint, and a sixth joint. The fourth joint is located at the end of the support rod and is fixed relative to the support rod. The fifth joint is rotatably connected relative to the fourth joint. One end of the sixth joint is rotatably connected to the fifth joint, and the other end is fixedly connected to the endoscope lens.

9. The endoscope as described in claim 8, characterized in that, Four drive wire through holes are provided at the relative positions of the second and third joints. Four first limiting structures are provided at the positions of the four drive wire through holes of the second and third joints corresponding to the positions of the first joints. Four drive wire through holes are provided at the relative positions of the fourth and fifth joints. Four second limiting structures are provided at the positions of the fourth and fifth joints corresponding to the positions of the four drive wire through holes of the sixth joint. One end of each of the four drive wires passes through the corresponding drive wire through holes of the second and third joints and is then limited and fixed by the corresponding first limiting structures. The other end of each of the four drive wires passes through the corresponding drive wire through holes of the fourth and fifth joints and is then limited and fixed by the corresponding second limiting structures.

10. The endoscope as described in claim 9, characterized in that, The first limiting structure includes a first through hole and a second through hole, one end of the drive wire passes through the first through hole, then folds around into the second through hole and is welded and fixed in the second through hole; the second limiting structure includes a limiting hole, and the other end of the drive wire is welded and fixed in the limiting hole.

11. The endoscope as described in claim 9, characterized in that, Two connectors are provided between the first and second joints, between the second and third joints, between the fourth and fifth joints, and between the fifth and sixth joints. Each connector has a protrusion at each of its two ends. Each protrusion of the first to sixth joints has a fixing hole that mates with the protrusion. Each connector has a through hole. One end of each of the four drive wires passes through one connector on the side of the first joint assembly, and the other end of each of the four drive wires passes through one connector on the side of the second joint assembly.

12. The endoscope as described in claim 11, characterized in that, The line connecting the two connectors between the first and second joints is perpendicular to the line connecting the two connectors between the second and third joints; the line connecting the two connectors between the fourth and fifth joints is perpendicular to the line connecting the two connectors between the fifth and sixth joints.

13. The endoscope as described in claim 11, characterized in that, Rotating connection structures are formed between the first and second joints, between the second and third joints, between the fourth and fifth joints, and between the fifth and sixth joints, respectively, to form a rotating connection structure that allows the joints to rotate together, and the rotating connection structure is located between the fixing holes.

14. The endoscope as described in claim 13, characterized in that, The rotation axis of the rotational connection structure between the first and second joints is perpendicular to the rotation axis of the rotational connection structure between the second and third joints; the rotation axis of the rotational connection structure between the fourth and fifth joints is perpendicular to the rotation axis of the rotational connection structure between the fifth and sixth joints.

15. An endoscope comprising: The handle has a lever. The endoscope tip, wherein the endoscope tip has an endoscope lens, and A support rod connecting the handle and the endoscope tip is characterized in that a first joint assembly is provided inside the lever, the first joint assembly is interference-fitted with an elastic component, the lever is used to drive the endoscope lens to rotate in a first predetermined direction corresponding to the first direction when it is moved in a first direction, the lever is also used to drive the endoscope lens to rotate in a second predetermined direction corresponding to the second direction when it is moved in a second direction, the elastic component resists the movement of the lever and keeps the first joint assembly suspended when the lever is not moved, thereby keeping the endoscope lens in a predetermined position corresponding to the first predetermined direction and / or the second predetermined direction; The first joint assembly includes a first joint, a second joint, and a third joint. The second joint is rotatably connected to the first joint, and the third joint is fixed. The second joint is rotatably connected relative to the third joint. A first friction fit structure is provided at a first set of relative positions on the side of the second joint of the first joint assembly. The elastic component includes two first spring sheets, each of which is provided with a second friction fit structure. One end of each of the two first spring sheets is fixed relative to the first joint, and the second friction fit structure at the other end of each spring sheet forms a friction interference fit with the first friction fit structure of the second joint.

16. The endoscope as described in claim 15, characterized in that, The elastic component further includes two second spring pieces disposed at a second set of relative positions on the side of the second joint of the first joint component. The line connecting the second set of relative positions is perpendicular to the line connecting the first set of relative positions. The second set of relative positions is provided with a first friction fit structure. One end of each of the two second spring pieces is fixed to the third joint, and the other end is provided with a second friction fit structure. The second friction fit structure and the first friction fit structure form a friction interference fit.

17. The endoscope as claimed in claim 16, characterized in that, The lever includes a cap body, the first joint is fixedly connected to the cap body and moves with the cap body, the third joint is fixed in the handle, one end of each of the two first springs is fixed to the first joint, and the other end can slide and rub against the second joint when the first joint is moved, and provides frictional force to suspend the first joint assembly when the movement is removed. One end of each of the two second springs is fixed relative to the third joint, and the other end can slide and rub against the second joint when the first joint is moved, providing frictional force to suspend the first joint assembly when the movement is removed.

18. The endoscope as claimed in claim 15, characterized in that, The endoscope has a second joint assembly at its front end to support the endoscope lens. The first joint assembly and the second joint assembly are connected by a drive wire housed in the support rod. When the lever is moved in the first direction and / or the second direction, the drive wire drives the second joint assembly to move, thereby causing the endoscope lens to rotate in the first predetermined direction and / or the second predetermined direction.

19. The endoscope as claimed in claim 15, characterized in that, The first predetermined direction is the same as or opposite to the first direction, and the second predetermined direction is the same as or opposite to the second direction.

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