Ultrasonic endoscope

Abstract

The present application provides an ultrasonic endoscope, which can stably and reliably limit the lifting forceps by simple lifting forceps structure. It comprises: an ultrasonic transducer arranged at the front end side of the head end; a rotating shaft part capable of rotating around the rotating shaft; a lifting forceps arranged at the head end and closer to the base end side of the head end relative to the ultrasonic transducer, connected to one end of the rotating shaft part in a way of rotating with the rotating shaft part; a rotating arm connected to the other end of the rotating shaft part in a way of rotating with the rotating shaft part, and provided with a recess on the side away from the rotating shaft part; and a traction part fixedly connected with a fixed rod, connected with the rotating arm by inserting the fixed rod into the recess to pull the rotating arm, wherein the fixed rod can move in the recess, and when the rotating arm rotates to a pre-set upper limit position or lower limit position, the fixed rod abuts against the end of the recess to limit the further rotation of the rotating arm.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an ultrasonic endoscope. Background Technology

[0002] Endoscopes, as an important tool in modern medicine, can be inserted into the body through natural openings or tiny incisions to perform various examinations and minimally invasive surgeries. Generally, an endoscope consists of an insertion section that extends into the body and an operating section for manipulating the insertion section. A tip is fixed at the top of the insertion section. The tip includes an end mount and components such as a camera and illumination unit mounted on the end mount.

[0003] Furthermore, endoscopes such as duodenoscopes and ultrasound endoscopes are equipped with a forceps lifting mechanism on the end mount. This forceps lifting mechanism can change the direction of medical instruments entering through the instrument channel in the insertion section, such as biopsy forceps, stone retrieval baskets, and incision knives. Taking ultrasound endoscopes as an example, the surgeon only needs to turn the forceps lifting knob on the operating section to control the direction in which medical instruments, such as biopsy needles, extend from the instrument channel. Guided by ultrasound images, the surgeon can adjust the instrument's posture to reach the target area of ​​the lesion and avoid blood vessels, greatly improving the accuracy, safety, and efficiency of the surgery.

[0004] Furthermore, for ease of cleaning and disinfection, in endoscopes with a lifting clamp mechanism, the lifting clamp and the traction mechanism that drives the lifting clamp to rotate are separated into two independent spaces. For example, in patent document CN105982635B, the lifting platform (i.e., the lifting clamp) is housed in a lifting platform receiving slit, and the lifting platform lifting rod (i.e., the traction mechanism) is housed in a lifting rod receiving chamber, with the lifting platform receiving slit and the lifting rod receiving chamber separated by a partition wall. Thus, the lifting rod receiving chamber and the traction channel of the traction mechanism are not exposed to the human body and are not contaminated, reducing the workload of cleaning and disinfection and minimizing the risk of cross-infection.

[0005] However, in patent document CN105982635B, the limiter mechanism for limiting the rotation of the clamp is located in the operating part, which is connected to the clamp via a long steel wire rope or other traction mechanism. When the clamp is limited to a preset upper or lower limit position, relying solely on the limiter mechanism in the operating part to limit the clamp will result in displacement deviation in the clamp's stroke. Consequently, the clamp cannot stably and accurately perform the clamping / lowering action within the upper and lower limit positions.

[0006] On the other hand, setting a limiting mechanism in the lifting clamp installation space at the head end can stably limit the lifting clamp, but it will make the structure at the head end more complex, increase cleaning dead zones, and pose a risk of cross-infection. Summary of the Invention

[0007] In order to address at least one of the problems existing in the prior art, the present invention proposes an ultrasonic endoscope, the purpose of which is to stably and reliably limit the position of the lifting clamp through a simple structure.

[0008] To achieve the above objectives, one embodiment of the present invention is an ultrasonic endoscope, comprising: a head end portion having a front end portion disposed at the front end of an insertion portion, characterized in that it comprises:

[0009] An ultrasonic transducer is disposed at the front end of the head end; a rotating shaft is rotatable about the rotating shaft; a lifting clamp is disposed at the head end and closer to the base end of the head end than the ultrasonic transducer, and is integrally connected to one end of the rotating shaft; a rotating arm is integrally connected to the other end of the rotating shaft and has a recess on the side away from the rotating shaft; a traction unit is fixedly connected to a fixing rod, which is inserted into the recess and connected to the rotating arm to traction the rotating arm to rotate. The fixing rod can move within the recess. When the rotating arm rotates to a preset upper or lower limit position, the fixing rod abuts against the end of the recess to limit further rotation of the rotating arm.

[0010] Preferably, the recess is parallel to the plane defined by the axis of the fixing rod and the rotation axis.

[0011] Preferably, the rotating arm has a first arm portion, a second arm portion, and a third arm portion. The first arm portion is fixedly connected to the rotating shaft portion, the second arm portion is located on one side of the lifting clamp relative to the first arm portion, and the third arm portion connects the first arm portion and the second arm portion.

[0012] Preferably, the traction part is provided with a push rod, and the top end of the push rod is fixedly connected to the fixing rod.

[0013] Preferably, the push rod is provided with two claws protruding from the top of the push rod, the two claws being positioned opposite each other with a gap between them, the rotating arm is provided with a fixing part, the fixing part is provided with the recessed part, the fixing rod passes through the recessed part inserted into the gap, and its two ends are respectively fixedly connected to the two claws.

[0014] Preferably, the outer side of the rotating arm is provided with a protrusion, and the top of the protrusion is located on the straight line of the rotating axis.

[0015] Preferably, the head end of the ultrasonic endoscope also has a partition wall that separates the space where the lifting clamp is located from the space where the rotating arm is located. The partition wall is provided with a boss. The rotating shaft passes through the boss and the through hole of the partition wall and is fixedly connected to the lifting clamp. A first sealing member is provided in the through hole.

[0016] Preferably, the lifting clamp has a notch, the boss extends into the interior of the notch, and a second sealing member is provided in the notch.

[0017] Preferably, the lifting clamp has an abutment surface that abuts against the treatment instrument; the central plane penetrating the geometric center of the ultrasonic transducer coincides with the projection of the central plane of the abutment surface along its length direction onto the length axis of the insertion portion.

[0018] Preferably, when the rotating arm rotates to the preset upper limit position, its rotation angle relative to the axis of the head end is not less than 15°, and when the rotating arm rotates to the preset lower limit position, its rotation angle relative to the axis of the head end is not greater than 85°.

[0019] According to the ultrasonic endoscope of the present invention, when the rotating arm rotates to a preset upper or lower limit position, the fixed rod fixed to the traction part interferes with and abuts against the recess provided on the rotating arm, preventing further rotation of the rotating arm and thus limiting the lifting clamp. Therefore, the limiting mechanism can be located at the end of the endoscope lens, reducing the stroke error of the lifting clamp during lifting and lowering; furthermore, by using the connection structure between the traction part and the rotating arm as the limiting mechanism, it is possible to avoid adding new features or parts to the end of the head, further simplifying the structure of the end of the head, reducing cleaning dead zones in the space where the lifting clamp is installed, and preventing cross-infection. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a perspective view of an example of the endoscope lens tip of the present invention.

[0022] Figure 2 This is a schematic diagram of the endoscope tip when the rotating arm is in the lower limit position.

[0023] Figure 3 This is a schematic diagram of the endoscope lens tip when the rotating arm is in the middle position.

[0024] Figure 4 This is a schematic diagram of the endoscope tip when the rotating arm is in its upper limit position.

[0025] Figure 5 This is a perspective view of the rotating arm at the end of the endoscope in this invention.

[0026] Figure 6 This is a cross-sectional view of the endoscope lens end of the present invention along the rotation axis of the rotation axis portion.

[0027] Figure 7 This is a cross-sectional view along the rotation axis of another example of the endoscope lens end of the present invention.

[0028] Figure 8 This is a perspective view of another example of the endoscope lens tip of the present invention.

[0029] Figure 9 for Figure 8 A magnified view of region A in the middle.

[0030] Figure 10 This is a perspective view of an example of the endoscope lens tip of the present invention.

[0031] 1. Ultrasonic transducer; 11. Cable; 2. End seat; 21. Boss; 22. Side cover; 23. First sealing member; 24. Second sealing member; 25. Illumination part; 26. Observation part; 3. Rotating shaft part; 4. Lifting clamp; 41. Abutment surface; 5. Rotating arm; 51. Recessed part; 52. Protruding part; 53. First arm part; 54. Second arm part; 55. Third arm part; 56. Fixing part; 6. Partition wall; 7. Traction part; 71. Push rod; 72. Claw part; 8. Fixing rod; 9. Spring tube. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0033] An ultrasonic endoscope has an insertion section and an operating section for operating the insertion section. An end seat is located at the top of the insertion section, and a lifting clamp mechanism is provided at the instrument channel opening of the end seat. The operating section operates the traction part of the lifting clamp mechanism, causing the lifting clamp to rise or fall (i.e., rotate), thereby changing the direction of travel of the instrument entering through the instrument channel.

[0034] The ultrasonic endoscope with a lifting clamp mechanism according to the present invention will now be described in detail with reference to the accompanying drawings.

[0035] like Figure 1 As shown, the ultrasonic endoscope has an insertion section and a head end located at the front end of the insertion section. The head end includes an end seat 2 and an ultrasonic transducer 1 mounted on top of the end seat 2. The head end is located at the front end of the insertion section of the endoscope. The head end includes an illumination section 25 that illuminates the observed area with illumination light transmitted through a light guide tube inside the endoscope 1, and an observation section 26 that captures images of the observed area within the body and transmits the captured images as observation images (endoscopic images) to a processor device. The ultrasonic transducer 1 is connected via a cable 11 (see reference). Figure 6 , Figure 7 It is connected to the ultrasound host. The lifting clamp mechanism is installed on the end seat 2 and mainly includes a rotating shaft 3, a lifting clamp 4, a rotating arm 5, and a traction part 7.

[0036] Furthermore, for the head end, the position along the length axis of the insertion part and at the front end is defined as the front side (front end side), and the position on the opposite side is defined as the rear side (base end side).

[0037] The ultrasonic transducer 1 is located on the front end side of the head end, and the observation part and the illumination part are located on the base end side closer to the head end relative to the head end.

[0038] The rotating shaft 3 is capable of rotating around the rotating shaft. The lifting clamp 4 is connected to one end of the rotating shaft 3 in a manner that allows it to rotate as a whole. The rotating arm 5 is connected to the other end of the rotating shaft 3 in a manner that allows it to rotate as a whole. Thus, the lifting clamp 4 and the rotating arm 5 are fixedly connected to both ends of the rotating shaft 3, and all three can rotate as a whole.

[0039] like Figure 1 As shown, the rotating shaft 3 and the rotating arm 5 are integrally formed to reduce the number of parts and the workload of assembly. However, the rotating shaft 3 and the lifting clamp 4 can also be integrally formed, or the rotating shaft 3, the lifting clamp 4, and the rotating arm 5 can be independent and connected by means of threads, welding, etc.

[0040] The traction unit 7 is connected to the rotating arm 5, pulling the rotating arm 5 to rotate, thereby driving the rotating shaft 3 and the lifting clamp 4 to rotate. Furthermore, the traction unit 7, protected by the spring tube 9, is connected to the operating unit via the endoscope insertion part, and pulls the rotating arm 5 to rotate under the operation of the operating unit. The traction unit 7 can be a traction component commonly used in the art, such as a wire rope.

[0041] In this invention, a recessed portion 51 is provided on the side of the rotating arm 5 away from the rotating shaft portion 3. Furthermore, a fixing rod 8 is fixedly connected to the traction portion 7 by welding or other means. The traction portion 7 is connected to the rotating arm 5 by inserting the fixing rod 8 into the recessed portion 51.

[0042] The recess 51 can be a groove, hole, or other narrow, elongated shape. The fixing rod 8 can move within the recess 51 along its length.

[0043] Reference Figures 2-4 The process of the traction unit 7 traction rotating arm 5 rotating is explained.

[0044] like Figure 2 As shown, when the rotating arm 5 rotates downward (counterclockwise in the figure) to the preset lower limit position, the fixed rod 8 abuts against the end of the recessed part 51. The downward movement of the traction part 7 and the rotation of the rotating arm 5 interfere with each other due to this abutment. The traction part 7 cannot pull downward, thereby restricting the rotating arm 5 from rotating further downward.

[0045] Next, as Figure 3 As shown, when the operating unit operates the traction unit 7, the traction unit 7 pushes the rotating arm 5 to rotate upward from the lower limit position (clockwise in the figure), or the traction unit 7 pulls the rotating arm 5 to rotate downward from the upper limit position (counterclockwise in the figure), the fixing rod 8 moves from the end of the recess 51 to the middle of the recess 51, thereby eliminating motion interference, so that the rotating arm 5 can rotate.

[0046] like Figure 4 As shown, when the rotating arm 5 rotates upward (clockwise in the figure) to the preset upper limit position, the fixed rod 8 abuts against the end of the recessed part 51 again. The upward movement of the traction part 7 and the rotation of the rotating arm 5 interfere with each other due to this abutment. The traction part 7 cannot push upward, thereby restricting the rotating arm 5 from rotating further upward.

[0047] That is, in this invention, when the rotating arm 5 rotates to a preset upper or lower limit position, the upper or lower limit position can be designed as needed. For example, the rotation range of the lifting clamp 4 relative to the axis of the endoscope lens end can be used as the reference point.

[0048] The upper and lower limit positions of the rotating arm 5 are set at [15°, 85°]. The angle setting of the upper limit position ensures that when the treatment instrument (biopsy needle, etc.) passes through the exit of the treatment instrument channel normally, the contact surface 41 of the forceps will not interfere with the treatment instrument (biopsy needle, etc.). The angle setting of the lower limit position ensures that the soft sheath can be locked by the forceps 4 and the end seat 2, while the deformation of its internal channel will not affect the passage of the internal treatment instrument. The fixing rod 2 abuts against the end of the recess 51, restricting further rotation of the rotating arm 5. Thus, the rotation of the forceps 4 can be limited.

[0049] For example, the rotation range of the lifting forceps 4 relative to the axis of the endoscope end is set to (0°~90°) to set the upper and lower limit positions of the rotating arm 5, so as to prevent the soft sheath of the treatment instrument (biopsy needle, etc.) from deforming due to excessive angle, which would cause the treatment instrument (biopsy needle, etc.) to not be able to exit the soft sheath smoothly.

[0050] Therefore, the lifting clamp structure of the ultrasonic endoscope according to the present invention can set the limiting mechanism at the tip of the endoscope, reducing the stroke error of the lifting clamp during lifting and lowering, and preventing the lifting clamp from shaking during limiting; it can also simplify the structure of the tip, reduce the cleaning dead angle of the space where the lifting clamp is installed, and prevent cross-infection. The length of the rigid end of the tip does not exceed 36mm, ensuring a compact structural layout, suitable for scenarios with limited space, such as when an ultrasonic transducer is set on the front side of the tip and enters the body cavity.

[0051] Furthermore, the upper and lower limit positions of the rotating arm 5 can be preset according to the lifting range of the clamping device 4, and the length of the recess 51 can be set according to the rotation stroke of the clamping device 4. Although in Figure 2 as well as Figure 4 In the middle, the fixed rod 8 abuts against the same end of the recessed part 51. However, depending on the structure, when the rotating arm 5 rotates to the preset upper limit position and lower limit position, the fixed rod 8 can also abut against different ends of the recessed part 51.

[0052] In addition, such as Figures 2-4 As shown, the recess 51 is parallel to the plane defined by the axis of the fixed rod 8 and the rotation axis of the rotating shaft portion 3. Specifically, the length direction of the recess 51 is parallel to the plane defined by the axis of the fixed rod 8 and the rotation axis of the rotating shaft portion 3. For example... Figure 3 In the middle position, the length direction of the recess 51 is perpendicular to the movement direction of the traction part 7, and all the force applied to the rotating arm 5 by the traction part 7 is converted into a force that makes the rotating arm 5 rotate. Therefore, during the rotation of the rotating arm 5, a larger proportion of the force applied to the recess 51 by the fixing rod 8 can be converted into a force that pushes the rotating arm 5 to rotate, reducing the force required to operate the traction part 7 and improving the operability of the lifting clamp mechanism of the ultrasonic endoscope.

[0053] Reference Figures 5-6 The rotating arm 5 in this invention will be described in detail below.

[0054] like Figures 5-6 As shown, the rotating arm 5 has a first arm portion 53, a second arm portion 54, and a third arm portion 55. The first arm portion 53 is fixedly connected to the rotating shaft portion 3. The third arm portion 55 connects the first arm portion 53 and the second arm portion 54. Figure 6 As shown, the second arm 54 is located on one side of the clamp 4 relative to the first arm 53. A fixing part 56 is provided below the second arm 54, and a recessed part 51 is provided on the fixing part 56. Of course, the recessed part 51 can also be provided directly on the second arm 54.

[0055] That is, relative to the first arm 53, the second arm 54 is set on the radially inner side of the endoscope end, which can extend the length of the second arm 54. Without increasing the size of the endoscope end, the length of the rotating arm 5 can be increased, the torque can be increased, the force required to operate the traction part 7 can be reduced, and the operability of the lifting clamp mechanism of the ultrasonic endoscope can be improved.

[0056] like Figure 5 As shown, a protrusion 52 is also provided on the outer side of the rotating arm 5. The top of the protrusion 52 is located on the straight line of the rotation axis of the rotating shaft part 3. Therefore, in the event of an accident such as the rotating arm 5 coming into contact with the side cover 22 fixed on the end seat 2, only the top of the protrusion 52 makes point contact with the side cover 22, which can reduce the friction between the rotating arm 5 and the side cover 22 and prevent the rotating arm 5 from getting stuck.

[0057] In addition, to improve the sealing between the space where the clamping device 4 is located and the space where the rotating arm 5 is located, in this invention, as follows: Figure 1 , Figure 6 As shown, a boss 21 can also be provided on the end seat 2. Specifically, the boss 21 is provided on the partition wall 6, which separates the space where the lifting clamp 4 is located from the space where the rotating arm 5 is located. Although in Figure 6 In the middle, the boss 21 is set on one side of the rotating arm 5, but it can also be set on one side of the lifting clamp 4, or the boss 21 can be set on both sides of the partition wall 6.

[0058] like Figure 6 As shown, the rotating shaft 3 passes through the through hole of the through boss 21 and the partition wall 6 and is fixedly connected to the lifting clamp 4. A first sealing member 23 is provided in the through hole.

[0059] By setting the boss 21, the sealing length between the space where the clamp 4 is located and the space where the rotating arm 5 is located can be extended, and larger and more first sealing components can be set for sealing, thereby improving the sealing effect and preventing the space where the clamp 4 is located from entering the space where the rotating arm 5 is located, and then entering the traction channel where the traction unit 7 is located.

[0060] Reference Figure 7 Another example of the endoscope tip in this invention will be described.

[0061] In the endoscope tip of this example, as Figure 7 As shown, the lifting clamp 4 is provided with a notch, the boss 21 extends into the interior of the notch, and a second sealing member 24 is also provided inside the notch.

[0062] This allows for a further increase in the thickness of the boss 21, thereby further increasing the sealing area between the rotating arm 5 and the clamping device 4 in the end seat 2, enabling the provision of more sealing components (e.g., a second sealing component 24), and further reducing the risk of seal failure.

[0063] Continue reading 6 and Figure 7 The end cap 2 has a cross-section that includes a lifting mechanism for connecting the ultrasonic transducer 11 to the lifting clamp 4, arranged side-by-side along the plane containing the length axis of the insertion portion. This arrangement makes more efficient use of the space in the end cap 2, allowing more components to be compactly placed at the end of the endoscope, reducing the interference of the lifting clamp 4 operation on the ultrasonic imaging, thereby improving the imaging quality.

[0064] Next, refer to Figure 8 , Figure 9 Another example of the lifting clamp mechanism of the ultrasonic endoscope of the present invention will be described.

[0065] In the lifting clamp mechanism of the ultrasonic endoscope in this example, a push rod 71 is also fixedly connected to the top of the traction unit 7. The push rod 71 is fixedly connected to the traction unit 7 by welding or other means, and is also fixedly connected to the fixing rod 8. Thus, by pushing the rotating arm 5 to rotate by the push rod 71, the movement of the traction unit 7 can be restricted to the axial direction of the endoscope tip, and the rotation of the rotating arm 5 can be reliably restricted when it rotates to a preset upper or lower limit position.

[0066] Specifically, such as Figure 9 As shown, the push rod 71 is provided with two claw portions 72 protruding from the top of the push rod 71, and the two claw portions 72 are positioned opposite each other with a gap between them. The recessed portion 51 provided on the fixing portion 56 of the rotating arm 5 is inserted into the gap between the two claw portions 72, and the fixing rod 8 passes through the recessed portion 51, and its two ends are respectively fixedly connected to the two claw portions 72 by means of threads, welding or other methods.

[0067] This improves the reliability of the connection between the traction unit 7 and the rotating arm 5, preventing connection failure. Furthermore, the fixing part 56 of the rotating arm 5 is located between the two claw parts 72 of the push rod 71, so the push rod 71 will not be eccentric when pushing the rotating arm 5, and the traction unit 7 can push the rotating arm 5 more stably, that is, the clamp lifter 4 can rotate more stably.

[0068] like Figure 10 As shown, the lifting clamp 4 has an abutment surface 41 that abuts against the treatment instrument; the central plane penetrating the geometric center of the ultrasonic transducer 1 coincides with the projection of the central plane of the abutment surface 41 along its length direction onto the length axis of the insertion portion. This arrangement allows the path of the treatment instrument extending through the guide surface 41 of the lifting clamp 4 to be perpendicular or nearly perpendicular to the scanning surface of the ultrasonic transducer, thus enabling the treatment instrument to be almost aligned with the centerline of the fan-shaped scanning surface of the ultrasonic transducer 1. This ensures that the treatment instrument can accurately reach the target area within the fan-shaped scanning surface generated by the ultrasonic transducer 1, and that the distance of the treatment instrument (such as a biopsy needle) to the target area is consistent with the distance to the target area measured by ultrasound, avoiding distance measurement errors caused by treatment instrument path deviation.

[0069] Another embodiment of the present invention provides an ultrasonic endoscope having an endoscope lens tip as described in any of the foregoing embodiments, and having the same beneficial technical effects as the aforementioned endoscope lens tips.

[0070] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0071] It is further understood that although the operations are described in a specific order in the accompanying drawings in the embodiments of the present invention, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all the operations shown to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features, or different combinations of the above technical features can be made. These modifications, substitutions and combinations do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultrasonic endoscope, comprising a head end portion disposed at the front end of the insertion portion, characterized in that, include: An ultrasonic transducer is disposed on the front end side of the head end; A rotating shaft portion, which is disposed at the head end, is capable of rotating about the rotating shaft as a center; A lifting clamp is disposed at the head end and closer to the base end of the head end relative to the ultrasonic transducer, and is rotatably connected to one end of the rotating shaft. A rotating arm is integrally rotatably connected to the other end of the rotating shaft, and a recess is provided on the side away from the rotating shaft. The traction unit is fixedly connected to a fixed rod, which is inserted into the recess and connected to the rotating arm. When the traction unit reciprocates, it pulls the rotating arm to rotate. The fixed rod can move within the recess. The length direction of the recess is perpendicular to the movement direction of the traction unit. When the rotating arm rotates to a preset upper or lower limit position, the fixing rod abuts against the end of the recess, restricting further rotation of the rotating arm.

2. The ultrasonic endoscope according to claim 1, characterized in that, The recessed portion is parallel to the plane defined by the axis of the fixed rod and the rotation axis.

3. The ultrasonic endoscope according to claim 1, characterized in that, The rotating arm has a first arm section, a second arm section, and a third arm section. The first arm is fixedly connected to the rotating shaft. The second arm is located on one side of the lifting clamp relative to the first arm. The third arm connects the first arm and the second arm.

4. The ultrasonic endoscope according to claim 1, characterized in that, The traction unit is equipped with a push rod, and the top end of the push rod is fixedly connected to the fixing rod.

5. The ultrasonic endoscope according to claim 4, characterized in that, The push rod is provided with two claws protruding from the top of the push rod, and the two claws are positioned opposite each other with a gap between them. The rotating arm is provided with a fixing part, and the fixing part is provided with the recessed part. The fixing rod passes through the recessed portion inserted into the gap, and its two ends are respectively fixedly connected to the two claw portions.

6. The ultrasonic endoscope according to claim 1, characterized in that, The outer side of the rotating arm is provided with a protrusion. The top of the protrusion is located on the axis of the rotation shaft.

7. The ultrasonic endoscope according to claim 1, characterized in that, The lifting clamp has a contact surface that abuts against the treatment instrument; The projection of the central plane passing through the geometric center of the ultrasonic transducer and the projection of the central plane of the abutment surface along its length direction onto the length axis of the insertion portion coincide.

8. The ultrasonic endoscope according to claim 1, characterized in that, The head end also has a partition wall that separates the space where the lifting clamp is located from the space where the rotating arm is located. The partition wall is provided with a boss, and the rotating shaft passes through a through hole in the partition wall and is fixedly connected to the lifting clamp. A first sealing component is provided inside the through hole.

9. The ultrasonic endoscope according to claim 8, characterized in that, The lifting clamp has a notch, and the boss extends into the interior of the notch. A second sealing component is provided within the notch.

10. The ultrasonic endoscope according to claim 1, characterized in that, When the rotating arm rotates to the preset upper limit position, its rotation angle relative to the axis of the head end is not less than 15°, and when the rotating arm rotates to the preset lower limit position, its rotation angle relative to the axis of the head end is not greater than 85°.

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