Endoscope

Abstract

The invention relates to the technical field of medical instruments, and provides an endoscope which comprises a head end portion, an insertion portion and a handle portion, one end of the insertion portion is connected with the head end portion, the other end of the insertion portion is connected with the handle portion, the head end portion comprises a lateral opening, and the endoscope further comprises a containing groove, a fixing assembly and an imaging illumination assembly. The containing groove is formed in the side face, parallel to the long axis direction of the insertion part, of the head end part, and the containing groove and the lateral opening are arranged in an intersecting and penetrating mode; the fixing assembly is located in the containing groove, provided with a rotating axis and capable of rotating relative to the rotating axis. The imaging illumination assembly comprises an imaging part and an illumination part, the illumination part and the imaging part are both arranged on the fixing assembly, and the output side of the illumination part and the collection side of the imaging part both face the lateral opening. According to the endoscope provided by the invention, the consistency between the illumination angle of the illumination component and the viewing angle of the imaging component can be ensured, and the illumination uniformity, the stability and the overall visual effect of an image acquired by the imaging component can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an endoscope. Background Art

[0002] The environment of the human duodenal cavity is relatively complex. The head end of existing duodenoscopes is large in size, and the field of view cannot be adjusted by bending the head end in the duodenal cavity. This limits the flexibility and accuracy of surgical operations, especially in complex therapeutic operations, which often require the use of mirrors and various consumables. Frequent adjustment of the mirror not only increases the difficulty of the operation, but may also cause unnecessary harm to the patient.

[0003] The prior art provides an endoscope, in which the opening on the side of the observation probe of the side-viewing duodenoscope is inserted into the duodenal papilla, and then inserted into the bile duct and pancreatic duct. In the side-viewing duodenoscope, it is difficult to rotate the camera module to achieve the purpose of adjusting the field of view. However, even in other endoscopes, the rotation of the camera module is achieved, but there are obvious defects in the coordinated operation between the lighting device and the camera module. The lighting component cannot meet the lighting requirements of the camera module's field of view change, resulting in that in actual use, the lighting uniformity, stability and overall visual effect of the image captured by the camera module are seriously adversely affected, greatly reducing the image quality. Summary of the invention

[0004] The present invention provides an endoscope to solve the defects of endoscopes in the prior art. An imaging component and a lighting component are integrated on a fixed component and rotated synchronously with the fixed component. In this way, the lighting angle of the lighting component can change with the change of the viewing angle of the imaging component, thereby ensuring the consistency of the coordinated operation between the two, thereby ensuring the illumination uniformity, stability and overall visual effect of the image collected by the imaging component, and effectively improving the final imaging quality.

[0005] The endoscope provided by the present invention comprises a head end, an insertion portion and a handle portion, one end of the insertion portion is connected to the head end, and the other end is connected to the handle portion, the head end comprises a lateral opening, and is characterized in that it also comprises: An accommodating groove is formed on a side surface of the head end portion parallel to the long axis direction of the insertion portion, and the accommodating groove is intersected and connected with the lateral opening; A fixing assembly is located in the receiving groove, has a rotation axis, and can rotate relative to the rotation axis; The imaging lighting assembly comprises an imaging component and a lighting component, wherein the lighting component and the imaging component are both arranged on the fixing assembly, and the output side of the lighting component and the collection side of the imaging component are both oriented toward the lateral opening.

[0006] The endoscope provided according to the present invention further includes a first driving component, at least a portion of which is disposed in the accommodating groove, the fixing component is connected to the first driving component, and the first driving component is used to drive the imaging lighting component to rotate relative to the rotation axis.

[0007] The endoscope provided by the present invention further comprises a first drive assembly and a second drive assembly, wherein the second drive assembly and at least a part of the first drive assembly are both arranged in the accommodating groove, the fixing assembly is respectively connected to the first drive assembly and the second drive assembly, and the first drive assembly is used to drive the imaging illumination assembly to rotate relative to the rotation axis; The second driving assembly is used to drive the imaging lighting assembly to rotate in the opposite direction relative to the rotation axis.

[0008] According to the endoscope provided by the present invention, the first driving component includes a flexible transmission member, the flexible transmission member is connected to the fixed component, the end of the flexible transmission member away from the fixed component is used to connect with the control driving component, and the flexible transmission member is used to drive the imaging lighting component to rotate relative to the rotation axis.

[0009] According to the endoscope provided by the present invention, the second driving component includes a torsion spring, one end of the torsion spring is connected to the groove wall of the accommodating groove, and the other end is connected to the fixing component, and the axis of the torsion spring coincides with the rotation axis.

[0010] The endoscope provided according to the present invention further includes two functional limiters, which are arranged on the groove wall of the accommodating groove, and the two functional limiters are relatively arranged on both sides of the fixing component, and the functional limiters are used to limit the rotation range of the imaging lighting component.

[0011] According to the endoscope provided by the present invention, the tip end portion further comprises a curved transparent member, the curved transparent member covers the lateral opening, and the center of the curved transparent member coincides with the rotation axis.

[0012] According to the endoscope provided by the present invention, the lighting component is sleeved on the periphery of the imaging component and is coaxially arranged with the imaging component.

[0013] The endoscope provided according to the present invention further comprises a sealing cover, wherein the sealing cover is covered at the opening of the containing groove.

[0014] According to the endoscope provided by the present invention, the handle portion comprises: The handle shell has a hollow structure inside to form an installation space; A control drive assembly is located in the installation space, the control drive assembly is connected to the flexible transmission member, and the control drive assembly is used to drive the flexible transmission member to move so as to drive the imaging lighting assembly to rotate relative to the rotation axis.

[0015] In the endoscope provided by the present invention, since the lighting component and the imaging component are both arranged on the fixed component, and the fixed component can rotate relative to the rotation axis of the rotating fixed component, this structure can realize the adjustable function of the viewing angle; secondly, since the imaging component and the lighting component both rotate with the fixed component as followers, and the output side of the lighting component and the collection side of the imaging component are both facing the lateral opening, the synchronization of the movement of the imaging component and the lighting component can be ensured, and the lighting angle and the viewing angle can maintain a high degree of consistency. This arrangement can effectively improve the stability and clarity of the image acquired by the imaging component.

[0016] Compared with the prior art, in the endoscope provided by the present invention, since the imaging component and the lighting component are integrated on the fixed component and rotate synchronously with the fixed component, during the use of the lighting component and the imaging component, the lighting angle of the lighting component can change with the change of the viewing angle of the imaging component. In this way, the consistency of the coordinated operation between the two can be ensured, thereby ensuring the illumination uniformity, stability and overall visual effect of the image collected by the imaging component, which can effectively improve the final imaging quality.

[0017] Secondly, in the prior art, an opening is generally opened on the side of the head end away from the lateral opening for installing the imaging lighting assembly. However, this side will cause the space of the accommodating groove to be greatly restricted, which will in turn cause the viewing angle of the imaging lighting assembly to be small and cannot meet the actual use requirements; in the present invention, the accommodating groove is opened on a side of the end seat parallel to the long axis direction of the insertion, so that the accommodating groove can provide a larger radial space, thereby ensuring smooth and interference-free movement of the imaging component and the lighting component. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of an endoscope provided in an embodiment of the present invention.

[0020] Figure 2 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention at a first viewing angle.

[0021] Figure 3 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention under a second viewing angle.

[0022] Figure 4 It is a schematic diagram of the exploded structure of the imaging lighting assembly and the fixing assembly provided in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the structure of the head end provided by an embodiment of the present invention at a third viewing angle.

[0024] Figure 6 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention at a fourth viewing angle.

[0025] Figure 7 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention under the fifth viewing angle.

[0026] Figure 8 It is a schematic diagram of the assembly structure of the curved transparent part provided in an embodiment of the present invention.

[0027] Fig. 9 It is a schematic diagram of the structure of the imaging lighting component provided by an embodiment of the present invention.

[0028] Fig.10 It is a schematic diagram of the structure of the handle portion provided by an embodiment of the present invention.

[0029] Fig.11 It is a schematic cross-sectional structure diagram of a control drive assembly and a control limit assembly provided in an embodiment of the present invention.

[0030] Fig.12 It is a detailed structural diagram of the connection between the threaded rod and the flexible transmission member provided in an embodiment of the present invention.

[0031] Fig.13 It is a corresponding diagram of the relationship between the displacement of the flexible transmission member provided by an embodiment of the present invention and the viewing angle.

[0032] Fig.14 It is a detailed structural schematic diagram of the threaded rod provided in an embodiment of the present invention.

[0033] Reference numerals: 10: head end; 110: end seat; 111: receiving groove; 112: lateral opening; 113: second opening; 114: torsion spring groove; 120: fixing assembly; 121: rotating shaft; 122: first fixing part; 123: second fixing part; 130: imaging lighting assembly; 131: imaging component; 132: lighting component; 133: flexible protective tube; 134: hard protective tube; 140: first driving assembly; 141: driving member; 142: flexible transmission member; 150: second driving assembly; 151: fixing member ; 152: elastic member; 153: torsion spring; 160: functional limit member; 170: arc-surface transparent member; 171: arc-surface portion; 172: plane portion; 180: sealing cover; 20: insertion portion; 30: handle portion; 310: handle housing; 311: installation space; 320: control drive assembly; 321: handwheel; 322: threaded rod; 323: guide wheel; 324: connecting terminal; 325: positioning member; 330: control limit assembly; 331: limit plate; 332: first limit rod; 333: second limit rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0036] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] Figure 1 It is a schematic diagram of the structure of an endoscope provided in an embodiment of the present invention.

[0039] See also Figure 1 The present invention provides an endoscope, which includes a head portion 10, an insertion portion 20 and a handle portion 30. The insertion portion 20 extends distally from the handle portion 30, and the head portion 10 is connected to the end of the insertion portion 20 away from the handle portion 30. The insertion portion 20 and the head portion 10 are controllable. For example, by turning a control knob on the handle portion 30, the insertion portion 20 and the head portion 10 are manipulated to pass through a tortuous passage inside a patient, such as the stomach, duodenum, etc.

[0040] The insertion portion 20 may also include one or more working channels (e.g., internal lumens), which may extend between the handle portion 30 and the head portion 10. The insertion portion 20 may also provide additional functions, such as fluid pathways, guide wires, and pull wires. The handle module may include the aforementioned control knob and a number of ports, the control knob may be connected to a pull wire (e.g., the flexible transmission member 142 described later) extending through the insertion portion 20, thereby controlling the insertion portion 20 or the head portion 10, and a number of ports may be connected to other platforms to realize data processing and analysis. The detailed structures of the head portion 10, the insertion portion 20, and the handle portion 30 may refer to the prior art, which will not be described in detail herein.

[0041] Figure 2 is a schematic structural diagram of a head end portion provided by an embodiment of the present invention at a first viewing angle; Figure 3 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention under a second viewing angle.

[0042] See also Figure 2 and Figure 3In the embodiment of the present invention, the head end portion 10 includes an end seat 110, and the endoscope also includes a fixing component 120 and an imaging lighting component 130. The end seat 110 is provided with a receiving groove 111; the fixing component 120 is located in the receiving groove 111 and rotatably cooperates with the groove wall of the receiving groove 111. In other words, the receiving groove 111 is a movable space for the fixing component 120, and the fixing component 120 can rotate relative to the rotation axis.

[0043] The imaging lighting assembly 130 includes an imaging component 131 and a lighting component 132. Both the imaging component 131 and the lighting component 132 are arranged on the fixed assembly 120, and the output side of the lighting component 132 is arranged in the same direction as the collection side of the imaging component 131. In other words, the lighting component 132 and the imaging component 131 are arranged in parallel and at intervals. Taking a lighting lamp and a camera as an example, the projection direction of the lighting lamp is parallel to and in the same direction as the lens direction of the camera.

[0044] See also Figure 2 and Figure 3 It can be understood that, in the endoscope provided by the embodiment of the present invention, since the lighting component 132 and the imaging component 131 are both arranged on the fixed component 120, and the fixed component 120 can rotate relative to the rotation axis, this structure can realize the adjustable function of the viewing angle; secondly, since the imaging component 131 and the lighting component 132 are both rotated with the fixed component 120 as followers, and the output side of the lighting component 132 and the collection side of the imaging component 131 are arranged in the same direction, the synchronization of the movement of the imaging component 131 and the lighting component 132 can be ensured, and then the lighting angle and the viewing angle can maintain a high degree of consistency. This arrangement can effectively improve the stability and clarity of the image acquired by the imaging component 131.

[0045] Compared with the prior art, in the endoscope provided by the embodiment of the present invention, since the imaging component 131 and the lighting component 132 are integrated on the fixed component 120 and rotate synchronously with the fixed component 120, during the use of the lighting component 132 and the imaging component 131, the lighting angle of the lighting component 132 can change with the change of the viewing angle of the imaging component 131. In this way, the consistency of the coordinated operation between the two can be ensured, thereby ensuring the illumination uniformity, stability and overall visual effect of the image collected by the imaging component 131, which can effectively improve the final imaging quality.

[0046] Figure 4 It is a schematic diagram of the exploded structure of the imaging lighting assembly and the fixing assembly provided in an embodiment of the present invention.

[0047] See also Figure 4In an optional embodiment of the present invention, the fixing component 120 includes a first fixing portion 122 and a second fixing portion 123, and the first fixing portion 122 and the second fixing portion 123 can be formed into a whole by means of threaded connection, clamping or bonding; wherein the first fixing portion 122 and the second fixing portion 123 are both provided with grooves for placing the imaging component 131 and the lighting component 132, and the first fixing portion 122 and the second fixing portion 123 can cooperate with each other to achieve the fixation of the lighting component 132 and the imaging component 131; in addition, the rotation axis O of the fixing component 120 is perpendicular to the bottom of the accommodating groove 111.

[0048] Specifically, the rotating shaft 121 arranged on the rotating axis O of the fixing assembly 120 can be formed by a protruding block on the outer surface of the first fixing portion 122 or the second fixing portion 123, or can be a separately arranged component, and specifically, can be adaptively arranged according to actual conditions. It can be understood that such a detachable structure can facilitate the fixed assembly of the lighting component 132 and the imaging component 131 on the one hand, and can facilitate the design and production of the fixing assembly 120, as well as the subsequent maintenance of the fixing assembly 120, the lighting component 132 and the imaging component 131 on the other hand.

[0049] Figure 5 is a schematic structural diagram of a head end portion provided by an embodiment of the present invention at a third viewing angle; Figure 6 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention at a fourth viewing angle.

[0050] See also Figure 4 , Figure 5 and Figure 6 In an optional embodiment of the present invention, the endoscope also includes a first driving component 140, at least part of the first driving component 140 is disposed in the accommodating groove 111, the fixing component 120 is connected to the first driving component 140, and the first driving component 140 is used to drive the imaging lighting component 130 to rotate relative to the rotation axis.

[0051] In some other optional embodiments of the present invention, different from the aforementioned embodiments, the endoscope includes a second drive assembly 150 in addition to the first drive assembly 140, and the second drive assembly 150 and at least part of the first drive assembly 140 are both arranged in the accommodating groove 111, and the fixing assembly 120 is respectively connected to the first drive assembly 140 and the second drive assembly 150, and the first drive assembly 140 is used to drive the fixing assembly 120 to rotate relative to the end seat 110; when the fixing assembly 120 deviates from the initial position, the second drive assembly 150 is used to drive the fixing assembly 120 to rotate in the opposite direction.

[0052] The specific form of the first drive component 140 can be direct drive, for example, the fixed component 120 is driven to rotate by a motor; the specific form of the first drive component 140 can also be indirect drive, for example, the fixed component 120 is driven to rotate by a connecting rod mechanism and other components; wherein, the second drive component 150 can be independently arranged with the first drive component 140, for example, the reverse rotation of the fixed component 120 is achieved by storing potential energy through a spring; the second drive component 150 can also be arranged in combination with the first drive component 140, for example, a motor with forward and reverse steering functions is arranged as the power source of the fixed component 120, when the fixed component 120 and the imaging lighting component 130 need to be rotated, the drive motor rotates forward, and when the fixed component 120 and the imaging lighting component 130 need to be rotated in the reverse direction, the drive motor rotates reversely.

[0053] It can be understood that in the endoscope provided by the embodiment of the present invention, the first drive component 140 and the second drive component 150 can work together in the head end 10 to jointly realize the rotation and reverse rotation of the fixed component 120, thereby enabling the imaging lighting component 130 on the fixed component 120 to have the function of reciprocating rotation, which can improve the degree of freedom of the viewing angle of the imaging lighting component 130.

[0054] Continue reading Figure 4 and Figure 6 In an optional embodiment of the present invention, the first driving component 140 includes a driving member 141 and a flexible transmission member 142, one end of the driving member 141 is connected to the fixed component 120, and the other end of the driving member 141 extends in a direction away from the imaging lighting component 130; one end of the flexible transmission member 142 is connected to one end of the driving member 141 away from the imaging lighting component 130, and the other end is used to connect with the control driving component 320, and the flexible transmission member 142 is used to pull the driving member 141 to drive the fixed component 120 to rotate relative to the end seat 110.

[0055] The driving member 141 can be set as a driving rod or a driving plate; the flexible transmission member 142 can be set as a steel wire rope or a flexible cable; specifically, a rotating hole is set on the bottom of the accommodating groove 111, and the rotating shaft 121 set on the fixed component 120 is passed through the rotating hole. The driving member 141 and the fixed component 120 and the rotating shaft 121 set on the fixed component 120 will form a seesaw structure. When the flexible transmission member 142 pulls the driving member 141, the imaging lighting component 130 provided on the fixed component 120 can rotate with the rotation of the fixed component 120, and the displacement change of the flexible transmission member 142 can be converted into a change in the viewing angle of the imaging lighting component 130.

[0056] It should be noted that two optional rotation methods are provided in the embodiment of the present invention, one of which is the rotational cooperation between the rotation shaft 121 and the rotation hole set on the inner wall of the accommodating groove 111, and the other is the rotational cooperation between the aforementioned first fixing part 122 and the second fixing part 123 and the rotation shaft 121. The above two methods can realize the rotation of the imaging lighting assembly 130 relative to the end seat 110, and specifically, it can be adaptively selected according to actual conditions.

[0057] It is understandable that in the endoscope provided by the embodiment of the present invention, the flexible transmission member 142 pulls the driving member 141 and then drives the fixed assembly 120 and the imaging lighting assembly 130 to rotate, which can achieve high-precision reduction ratio transmission; secondly, the flexible transmission member 142 can synchronize the change of the viewing angle of the imaging lighting assembly 130 with its own displacement change, which can provide a basis for the subsequent process of establishing a mathematical model of the viewing angle, thereby reducing the difficulty of adjusting the viewing angle of the imaging lighting assembly 130. In an optional embodiment of the present invention, the connection point between the flexible transmission member 142 and the driving member 141 can be made as far away from the position of the rotating shaft 121 of the fixed assembly 120 as possible, which can effectively improve the reduction ratio.

[0058] In addition, the flexible transmission member 142 itself has high flexibility, which brings a high degree of flexibility to the setting of the first drive component 140. Compared with the traditional rigid transmission structure, the flexible transmission member 142 can bend and stretch freely in a complex environment and is not restricted by the spatial layout. This is very necessary for a complex environment such as the duodenal cavity. In actual situations, when the head end 10 and the insertion part 20 enter the duodenal cavity, they will inevitably pass through some curved or narrow passages, and the flexible transmission member 142 can easily pass through these areas with the insertion part 20, and transmit the power of the control drive component 320 on the handle part 30 to the drive member 141; at the same time, the flexible transmission member 142 can naturally deform with the bending of the insertion part 20. This deformation not only does not affect the transmission of power, but also ensures that the drive member 141 can stably drive the fixed component 120 to rotate, thereby realizing the adjustment of the viewing angle of the imaging lighting component 130.

[0059] In addition, compared with the mechanical structure of the transmission, the combination of the flexible transmission member 142 and the driving member 141 can effectively reduce the volume of the first driving component 140. This compact structural design allows the head end 10 of the endoscope to integrate more functional components within a limited space, thereby improving the adaptability, functionality and practicality of the endoscope.

[0060] Continue reading Figure 6In an optional embodiment of the present invention, the second driving assembly 150 includes a fixing member 151 and an elastic member 152. The fixing member 151 can be matched with the side wall of the receiving groove 111 by welding to form a welding point, or by directly setting a fixing rod, and is connected to one end of the elastic member 152. A receiving hole is provided on the side wall of the receiving groove 111, and the fixing member 151 is installed in the receiving hole. The fixing member 151 extends in a direction toward the fixing assembly 120 and is located on a side of the driving member 141 away from the flexible transmission member 142. Preferably, the fixing member 151 and the flexible transmission member 142 are relatively arranged on both sides of the driving member 141; one end of the elastic member 152 is connected to the fixing member 151, and the other end is connected to the driving member 141. Preferably, the elastic member 152 is a spring, which is welded to the side wall of the receiving groove 111.

[0061] During use, when the flexible transmission member 142 pulls the driving member 141 to rotate, the driving member 141 will rotate relative to the end seat 110, thereby deviating from its initial position. During this process, the elastic member 152 will be stretched accordingly and a certain amount of elastic potential energy will be stored at the same time; when the flexible transmission member 142 releases the pulling on the driving member 141, the elastic potential energy of the elastic member 152 will prompt the elastic member 152 to move in a direction away from the flexible transmission member 142, and then drive the driving member 141 to move in a direction away from the flexible transmission member 142. When the driving member 141 moves to the initial position, the elastic potential energy inside the elastic member 152 will be exhausted, and the driving member 141 will stop at the initial position, thus achieving reset.

[0062] In an optional embodiment of the present invention, different from the aforementioned embodiment, when the fixing assembly 120 is located at the initial position, the elastic member 152 may also be in a stretched state, so that when the first driving assembly 140 releases the pulling force on the fixing assembly 120, the elastic member 152 may drive the fixing assembly 120 to rotate in the opposite direction and pass the initial position.

[0063] In an optional embodiment of the present invention, Figure 6 The reverse direction is up and the forward direction is down (for reference only and not as a specific limitation of the embodiments of the present invention), the flexible transmission member 142 can also be arranged above the driving member 141, and the elastic member 152 can be arranged below the driving member 141. In this case, a fixed pulley can be provided to change the direction of the flexible transmission member 142; in some other optional embodiments of the present invention, the flexible transmission member 142 and the elastic member 152 can also be arranged on the same side of the driving member 141. In this case, the elastic member 152 can store elastic potential energy by compressing itself. Specifically, it can be adaptively arranged according to actual conditions.

[0064] Figure 7 It is a schematic structural diagram of the head end portion provided by an embodiment of the present invention under the fifth viewing angle.

[0065] See also Figure 7 In the optional embodiment of the present invention, different from the above-mentioned embodiment, the reset driving member 141 includes a torsion spring 153. Correspondingly, a torsion spring groove 114 is provided on the groove wall of the accommodating groove 111. The torsion spring groove 114 is sleeved on the outer side of the rotating hole. The torsion spring 153 is located in the torsion spring groove 114. One end of the torsion spring 153 is connected to the groove wall of the torsion spring groove 114, and the other end is connected to the rotating shaft 121 on the fixed component 120. The axis of the torsion spring 153 coincides with the axis of the rotating shaft 121. In some optional examples, the torsion spring 153 can also be connected to any position of the fixed component 120 or the driving member 141. In the optional embodiment of the present invention, the torsion spring 153 can also be replaced by a clockwork spring. Specifically, it can be adaptively selected according to actual conditions.

[0066] It is understandable that the torsion spring 153 as the second driving component 150 has a compact structure. The torsion spring 153 can be installed in the torsion spring slot 114 without the need for an additional mounting bracket or complex connecting components. Compared with other reset methods (such as using springs or complex mechanical structures), it occupies less space. Secondly, the torsion spring 153 can provide a stable torque during operation, which enables the fixing component 120 to accurately return to the initial position during reset, reducing the reset error. Whether it is reset after repeated adjustment of the imaging angle or after long-term use, the torsion spring 153 can maintain stable performance, thereby ensuring the accuracy of the viewing angle of the imaging component 131.

[0067] In an optional embodiment of the present invention, unlike the aforementioned embodiment, when the fixing component 120 is located in the initial position, the torsion spring 153 may also be in a rotated state. In this way, when the first driving component 140 releases the pulling force on the fixing component 120, the torsion spring 153 may drive the fixing component 120 to rotate in the opposite direction and pass the initial position. Specifically, it can be adaptively selected according to actual conditions.

[0068] In an optional embodiment of the present invention, the second drive component 150 can also be configured to have a structure similar to the first drive component 140. In this case, the two flexible transmission members 142 can pull the drive member 141 from the positive and negative directions respectively. Specifically, it can be adaptively configured according to actual conditions.

[0069] Continue reading Figure 6 and Figure 7 In an optional embodiment of the present invention, the head end portion 10 further includes a functional limiter 160, which is disposed on the groove wall of the accommodating groove 111, and the two functional limiters 160 are disposed on both sides of the driving member 141 opposite to each other, and the functional limiters 160 are used to limit the rotation range of the driving member 141.

[0070] Specifically, the functional limiter 160 can be a protrusion protruding from the wall of the accommodating groove 111, or it can be a rod, a tube or a plate separately arranged on the wall of the accommodating groove 111; when in use, when the functional limiter 160 rotates with the flexible transmission member 142, the functional limiter 160 can limit a section on the rotation trajectory of the driving member 141, thereby limiting the rotation range of the driving member 141 by physical blocking.

[0071] It is understandable that in a complex medical operating environment, various unexpected situations may occur, such as an operator mistakenly operating the control drive assembly 320 under a nervous state, causing the drive rod to rotate excessively. In the endoscope provided in the embodiment of the present invention, the presence of the functional limit member 160 can promptly prevent such excessive rotation and prevent the fixing assembly 120 from colliding with or being damaged by the end seat 110 or other internal components. In other words, the functional limit member 160 can effectively prevent the fixing assembly 120 from excessive rotation due to operator misoperation or failure of the control drive assembly 320; in addition, it can also prevent the fixing assembly 120 from rotating at will when the flexible transmission member 142 fails unexpectedly, thereby reducing the risk of accidental scratches and bumps on the imaging component 131 and the lighting component 132.

[0072] Figure 8 It is a schematic diagram of the assembly structure of the curved transparent part provided in an embodiment of the present invention.

[0073] See also Figure 2 and Figure 8 In an optional embodiment of the present invention, the end seat 110 is provided with a lateral opening 112, which is in communication with the receiving groove 111. The collection side of the imaging component 131 and the output side of the lighting component 132 are both facing the lateral opening 112, and the lateral opening 112 can allow light to enter and exit. Correspondingly, the head end portion 10 also includes a curved transparent member 170, which includes a curved surface portion 171 and a flat surface portion 172. The flat surface portion 172 is provided at two locations, which are respectively provided at the two ends of the curved surface portion 171. The curved surface portion 171 and the flat surface portion 172 are jointly covered at the lateral opening 112 of the end seat 110. The flat surface portion 172 is used for fixed connection with the end seat 110, and the center of the curved surface portion 171 coincides with the rotation axis 121 of the fixing component 120.

[0074] It is understandable that, since the center of the arc surface 171 coincides with the rotation axis 121 of the fixed component 120, it is also possible to ensure that the center of the arc surface 171 coincides with the rotation center of the imaging lighting component 130. In this way, when the imaging lighting component 130 rotates, the arc transparent component 170 can better adapt to the light entering and exiting at different angles, so that the distance between the mirror surface of the arc surface 171 and the imaging component 131 is always equal and not affected by the rotation of the viewing angle. At the same time, it is also possible to ensure that the distance between the light source of the lighting component 132 and the mirror surface is always equal and not affected by the rotation of the viewing angle. Such a structure can make the image obtained by the imaging component 131 always maintain good clarity and stability. Compared with the existing plane mirror, this setting can avoid the interference of the mirror surface on the imaging quality due to the change of the viewing angle, and can effectively improve the quality of the image finally obtained by the imaging component 131.

[0075] Fig. 9 It is a schematic diagram of the structure of the imaging lighting component provided by an embodiment of the present invention.

[0076] See also Fig. 9 In an optional embodiment of the present invention, the lighting component 132 is sleeved on the imaging component 131 and is coaxially arranged with the imaging component 131. The lighting component 132 can adopt an optical fiber or an LED light source array. Specifically, it can be adaptively selected according to actual conditions. It can be understood that the imaging component 131 and the lighting component 132 are coaxially placed in the axial direction, which can optimize the spatial arrangement on the one hand; on the other hand, since the lighting component 132 and the imaging component 131 are on the same axis, after the light is emitted from the lighting component 132, it can be evenly diffused to the collection area of ​​the imaging component 131 along the axial direction. This uniform light distribution can avoid the problem of local over-brightness or over-darkness of the image caused by uneven light, and can make the imaging more realistic and accurate.

[0077] Continue reading Fig. 9 In an optional embodiment of the present invention, the imaging lighting assembly 130 also includes a flexible protective tube 133 and a rigid protective tube 134, and the flexible protective tube 133 and the rigid protective tube 134 are in direct contact with the lighting component 132; it can be understood that the imaging component 131 and the lighting component 132 are bent in the accommodating groove 111, and the flexible protective tube 133 and the rigid protective tube 134 in the embodiment of the present invention can well protect the imaging component 131 and the lighting component 132, thereby improving the durability of the two and reducing maintenance costs.

[0078] Continue reading Figure 2 and Figure 3In an optional embodiment of the present invention, the head end portion 10 further includes a sealing cover 180, and correspondingly, a second opening 113 is provided on the end seat 110, and the second opening 113 is the opening of the receiving groove 111, and the opening direction intersects with the longitudinal axis direction of the insertion portion 20. The second opening 113 is located on the side of the end seat 110 parallel to the longitudinal axis direction of the insertion portion 20, and the sealing cover 180 is provided at the second opening 113. The sealing cover 180 can be set as a special-shaped sealing member and matched with a special-shaped sealing ring. Among them, the inner side of the sealing cover 180 is consistent in shape with the contact part of the outer side of the receiving groove 111, and is fastened by threading to ensure that the contact surface fits, and no gluing treatment is required, which can facilitate later maintenance.

[0079] It is understandable that in order to ensure that the imaging lighting assembly 130 has a larger adjustable viewing angle, it is necessary to provide a larger rotation space for the fixing assembly 120. In the prior art, an opening is generally opened on the side of the end seat 110 away from the lateral opening 112 for installing the imaging lighting assembly 130. However, this surface will cause the space of the accommodating groove 111 to be greatly restricted, which will in turn cause the imaging lighting assembly 130 to have a smaller viewing angle and cannot meet actual use requirements. In an embodiment of the present invention, the second opening 113 is opened on the side of the end seat 110 parallel to the long axis direction of the insertion portion 20. This can provide a larger radial space for the accommodating groove 111, thereby ensuring smooth and interference-free movement of the imaging component 131 and the lighting component 132.

[0080] Fig.10 is a schematic structural diagram of a handle portion provided by an embodiment of the present invention; Fig.11 It is a schematic cross-sectional structure diagram of a control drive assembly and a control limit assembly provided in an embodiment of the present invention.

[0081] See also Fig.10 and Fig.11 In an optional embodiment of the present invention, the handle portion 30 includes a handle housing 310, a control drive assembly 320 and a control limit assembly 330. The handle housing 310 is a hollow structure to limit an installation space 311; the control drive assembly 320 is located in the installation space 311, and the control drive assembly 320 is connected to an end of the flexible transmission member 142 away from the driving member 141. The control drive assembly 320 is used to drive the flexible transmission member 142 to move. For example, the flexible transmission member 142 can be retracted and extended by a motor, and the flexible transmission member 142 can drive the fixed assembly 120 to rotate relative to the end seat 110 under the drive of the control drive assembly 320.

[0082] The control limit assembly 330 is located in the installation space 311. The control limit assembly 330 is used to limit the moving range of the flexible transmission member 142. For example, a limit device can be set in the motor to limit the steering angle of the motor. By limiting the length range of the motor to retract and extend the flexible transmission member 142, the moving range of the flexible transmission member 142 can be limited.

[0083] It is understandable that the control drive assembly 320 is connected to the flexible transmission member 142, which can effectively convert the operator's operating actions into precise control of the endoscope head end 10, thereby meeting the operating habits of different operators and the operating requirements of different medical scenarios. The control limit assembly 330 can limit the movement range of the flexible drive member 141, thereby indirectly controlling the rotation angle of the fixed assembly 120, ensuring the safety of the operation, and preventing the operator from causing damage to the equipment or harm to the patient due to misoperation or excessive operation. From another perspective, the control limit assembly 330 can form a redundant design with the functional limit member 160, and indirectly limit the fixed assembly 120 from the input and output ends of the flexible transmission member 142, respectively, which can effectively ensure the safety and reliability of the fixed assembly 120.

[0084] Fig.12 It is a detailed structural diagram of the connection between the threaded rod and the flexible transmission member provided in an embodiment of the present invention.

[0085] Continue reading Fig.10 , Fig.11 and Fig.12 In an optional embodiment of the present invention, the control drive assembly 320 includes a hand wheel 321 and a threaded rod 322. The threaded rod 322 is inserted into the installation space 311 and is threadedly matched with the bottom wall of the installation space 311. The hand wheel 321 is arranged outside the bottom wall of the installation space 311 and is connected to the threaded rod 322. A section of the threaded rod 322 away from the hand wheel 321 is rotationally connected to the flexible transmission member 142. The hand wheel 321 is used to drive the threaded rod 322 to perform linear reciprocating movement relative to the handle housing 310. The hand wheel 321 can be driven electrically or directly manually.

[0086] Specifically, the control drive assembly 320 also includes a connecting terminal 324 and a positioning member 325. The connecting terminal 324 is arranged at one end of the threaded rod 322 away from the handwheel 321. The threaded rod 322 is rotatably connected to the flexible transmission member 142 through the connecting terminal 324. The positioning member 325 is used to limit the axial movement of the connecting terminal 324 along the threaded rod 322.

[0087] It can be understood that when the operator turns the handwheel 321, the circular motion of the handwheel 321 is connected with the threaded rod 322, so that the threaded rod 322 moves back and forth in a straight line along the axial direction in the installation space 311 of the handle housing 310. This motion conversion method is based on the spiral transmission principle of the thread and has high precision. Each small angle rotation of the handwheel 321 can correspond to the precise linear displacement of the threaded rod 322. This allows the operator to achieve fine adjustment of the displacement of the flexible drive member 141 by precisely controlling the rotation angle of the handwheel 321, thereby precisely controlling the rotation angle of the fixed component 120.

[0088] In addition, the thread mechanism cooperates with the thread of the bottom wall of the handle housing 310 to have a self-locking function. Specifically, when the operator stops turning the hand wheel 321, the thread mechanism can rely on its own friction and the characteristics of the thread structure to stably maintain the current position, and will not move accidentally due to external factors (such as vibration, slight collision, etc.). Specifically, during the operation, the equipment around the operating table may vibrate, or the doctor may accidentally touch the endoscope handle when operating other instruments. The endoscope provided by the embodiment of the present invention has a self-locking function of the thread mechanism, so the imaging angle of the imaging lighting assembly 130 will not change. This can ensure that the doctor can continue to obtain a stable image during the operation, thereby improving the safety and accuracy of the operation.

[0089] In some complex surgeries, endoscopic observation may be required for several hours or even longer. The self-locking function of the threaded mechanism can ensure that the imaging angle always remains at the desired position during the entire process, without the need for operators to frequently adjust and confirm, thus reducing the burden on operators and improving the reliability of the equipment during long-term use.

[0090] In an optional embodiment of the present invention, the control drive assembly 320 and the control limit assembly 330 are installed at the jaw opening of the handle portion 30, which is more ergonomically designed and is conducive to improving the convenience during operation. In an optional embodiment of the present invention, the control drive assembly 320 also includes a guide wheel 323, which is a fixed pulley installed on the handle base plate and located on the side of the threaded rod 322 away from the hand wheel 321, and the extension line of the axis of the threaded rod 322 is tangent to the guide wheel 323; the flexible transmission member 142 enters the installation space 311 from the insertion portion 20, bypasses the guide wheel 323 and is connected to the threaded rod 322.

[0091] It can be understood that the guide wheel 323 is used to change the moving direction of the flexible transmission member 142, so that the direction of the flexible transmission member 142 after passing the guide wheel 323 coincides with the axis of the threaded rod 322. This arrangement can facilitate the control of the installation layout of the drive assembly 320, improve the overall compactness of the endoscope, and also facilitate the smooth movement of the flexible transmission member 142 in the handle portion 30 and the insertion portion 20.

[0092] Continue reading Fig.11 In an optional embodiment of the present invention, the control limit assembly 330 includes a limit plate 331, a first limit rod 332 and a second limit rod 333. The limit plate 331 is sleeved on the threaded rod 322 and is suitable for linear reciprocating movement with the threaded rod 322. A bearing is provided on the inner ring of the limit plate 331 to facilitate rotational cooperation with the threaded rod 322. Retaining springs are provided on the front and rear sides of the bearing to ensure the synchronization of the limit plate 331 and the threaded rod 322 during the linear reciprocating movement.

[0093] The first limiting rod 332 is passed through the installation space 311 and is threadedly engaged with the bottom wall of the installation space 311 (the side away from the handle part 30 body). This engagement can facilitate the adjustment of the depth of the first limiting rod 332 screwed into the installation space 311; the abutment portion of the first limiting rod 332 is located on the side of the limiting plate 331 facing the hand wheel 321, and the abutment portion of the first limiting rod 332 is used to limit the movement of the limiting plate 331 toward the first direction.

[0094] The second limiting rod 333 is passed through the installation space 311 and is threadedly matched with the handle housing 310. This matching can facilitate the adjustment of the effective distance between the second limiting rod 333 and the first limiting rod 332 (i.e., the moving range of the limiting plate 331); the abutment portion of the second limiting rod 333 is located on the side of the limiting plate 331 away from the hand wheel 321. In other words, the abutment portion of the first limiting rod 332 and the abutment portion of the second limiting rod 333 are respectively located on both sides of the limiting plate 331, and the second limiting rod 333 is used to limit the movement of the limiting plate 331 toward the second direction.

[0095] It should be noted that the first direction refers to the direction of the limit plate 331 toward the hand wheel 321, and the second direction refers to the direction of the limit plate 331 away from the hand wheel 321. It should also be noted that in order to better meet the needs of clinical small angle range adjustment, the limiting distance formed between the abutment portion of the first limit rod 332 and the abutment portion of the second limit rod 333 needs to be smaller than the limiting distance between the two functional limit members 160 in the aforementioned embodiment to avoid functional duplication; in other words, the range of the rotation angle of the fixed component 120 limited by the control limit assembly 330 is narrower than the range of the rotation angle of the fixed component 120 limited by the functional limit member 160. For example, the angle range of the viewing angle of the control limit assembly 330 is ±5°, and the angle range of the viewing angle of the functional limit member 160 is ±7° or ±10°, etc. Secondly, the two can be distinguished in terms of function. The first limit rod 332 and the second limit rod 333 can be mainly used to limit the operating range, and the functional limit member 160 can serve as a "safety valve" for the entire transmission system, that is, to control the upper limit of movement of the transmission system.

[0096] It is understandable that when the limiting plate 331 moves toward the hand wheel 321 driven by the threaded rod 322, once the limiting plate 331 contacts the abutment portion of the first limiting rod 332, it cannot move forward any further, thus limiting the maximum displacement of the flexible driving member 141 in one direction. When the limiting plate 331 moves away from the hand wheel 321, it cannot move backward any further after contacting the abutment portion of the second limiting rod 333, thus limiting the maximum displacement of the flexible driving member 141 in another direction.

[0097] Furthermore, since there is a certain corresponding relationship between the viewing angle of the imaging component 131 and the displacement of the flexible driving member 141, by limiting the moving range of the flexible driving member 141, the imaging angle can be accurately controlled within the required range; in addition, since the first limit rod 332 and the second limit rod 333 are threadedly matched with the handle housing 310, the distance between the two is steplessly adjustable, which can effectively improve the flexibility of the aforementioned effective distance adjustment, thereby improving the versatility and practicality of the endoscope.

[0098] Continue reading Fig.11 In an optional embodiment of the present invention, the limit plate 331 is rotatably matched with the threaded rod 322, the second limit rod 333 is passed through the limit plate 331, and the second limit rod 333 is threadedly matched with the bottom wall of the installation space 311; it can be understood that since the bottom wall of the installation space 311 is located on the outer surface of the handle housing 310, such a setting can facilitate the adjustment of the depth of the second limit rod 333 screwed into the installation space 311, thereby improving the convenience of installation and adjustment.

[0099] In an optional embodiment of the present invention, the second limiting rod 333 may include a main body and an abutment portion. The abutment portion may be made of bolts or screws, and the abutment portion and the main body may be detachably connected, which can facilitate the assembly between the second limiting rod 333 and the limiting plate 331; of course, the specific form of the abutment portion is not limited to screws or bolts, but may also be a protrusion or a boss. In this case, the abutment portion and the main body may be connected by fasteners, or by snap-on or bonding.

[0100] In an optional embodiment of the present invention, different from the aforementioned embodiment, the second limiting rod 333 can be arranged on the upper and lower sides of the limiting plate 331 opposite to the first limiting rod 332. In this case, the second limiting rod 333 can be installed on the skeleton inside the handle part 30. Specifically, it can be adaptively arranged according to actual conditions.

[0101] Fig.13 is a corresponding diagram of the relationship between the displacement of the flexible transmission member and the viewing angle provided by an embodiment of the present invention; Fig.14 It is a detailed structural schematic diagram of the threaded rod provided in an embodiment of the present invention.

[0102] See also Figure 8 , Fig.13 and Fig.14 It can be understood that when the flexible transmission member 142 is displaced, it will drive the driving member 141 connected thereto to rotate, and there is a direct proportional relationship between the rotation angle of the driving member 141 and the displacement of the flexible transmission member 142. This relationship is determined by factors such as the length of the driving member 141, the position of the connection point between the flexible transmission member 142 and the driving member 141, and the position of the rotating shaft 121 of the fixed component 120.

[0103] Specifically, when the imaging component 131 rotates around the rotation axis 121 by an angle of When , the corresponding displacement of the flexible transmission member 142 is , the relationship between the two is ,in, It represents the distance between the connection point between the flexible transmission member 142 and the driving member 141 and the rotation axis 121 of the fixing component 120 .

[0104] Furthermore, since the flexible transmission is connected to the threaded rod 322, the displacement of the flexible transmission member 142 is ,in, is the rotation angle of hand wheel 321, is the pitch of the threaded rod 322. Therefore, Get the rotation angle of hand wheel 321 and the imaging assembly rotation angle around the rotation axis 121 (viewing angle) The mathematical model of The mathematical model is helpful for the design and selection of parts for different viewing angle adjustment requirements. Based on this, in an optional embodiment of the present invention, the reduction ratio can be increased by changing the pitch of the thread on the threaded rod 322 to improve the control accuracy.

[0105] In an optional embodiment of the present invention, a corresponding angle mark can be set on the handwheel 321 of the control drive component 320 based on this mathematical model. It can be understood that the angle mark can facilitate the operator to directly observe the adjustment status of the viewing angle, thereby reducing the difficulty of adjusting the viewing angle.

[0106] It should be noted that the technical solutions in various embodiments of the present invention can be combined with each other, but the basis for the mutual combination is that it can be implemented by ordinary technicians in the field; when the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist, that is, it does not belong to the protection scope of the present invention.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscope, comprising a head portion (10), an insertion portion (20) and a handle portion (30), wherein one end of the insertion portion (20) is connected to the head portion (10), and the other end is connected to the handle portion (30), and the head portion (10) comprises a lateral opening (112), characterized in that: Also includes: A receiving groove (111) is formed on a side surface of the head end portion (10) parallel to the long axis direction of the insertion portion (20), the receiving groove (111) and the lateral opening (112) being arranged to intersect and penetrate each other; A fixing assembly (120), located in the containing groove (111), having a rotation axis, and capable of rotating relative to the rotation axis; An imaging lighting assembly (130) comprises an imaging component (131) and a lighting component (132), wherein the lighting component (132) and the imaging component (131) are both arranged on the fixing assembly (120), and the output side of the lighting component (132) and the collection side of the imaging component (131) are both oriented toward the lateral opening (112).

2. The endoscope according to claim 1, characterized in that It also includes a first driving assembly (140), at least a portion of the first driving assembly (140) is disposed in the accommodating groove (111), the fixing assembly (120) is connected to the first driving assembly (140), and the first driving assembly (140) is used to drive the imaging lighting assembly (130) to rotate relative to the rotation axis.

3. The endoscope according to claim 1, characterized in that The device further comprises a first driving assembly (140) and a second driving assembly (150), wherein the second driving assembly (150) and at least a portion of the first driving assembly (140) are both arranged in the accommodating groove (111), the fixing assembly (120) is respectively connected to the first driving assembly (140) and the second driving assembly (150), and the first driving assembly (140) is used to drive the imaging lighting assembly (130) to rotate relative to the rotation axis; The second driving assembly (150) is used to drive the imaging lighting assembly (130) to rotate in the opposite direction relative to the rotation axis.

4. The endoscope according to claim 3, characterized in that The first driving component (140) comprises a flexible transmission member (142), wherein the flexible transmission member (142) is connected to the fixed component (120), and an end of the flexible transmission member (142) away from the fixed component (120) is used for connecting to the control driving component (320), and the flexible transmission member (142) is used for driving the imaging lighting component (130) to rotate relative to the rotation axis.

5. The endoscope according to claim 3, characterized in that The second driving assembly (150) comprises a torsion spring (153), one end of the torsion spring (153) is connected to the groove wall of the accommodating groove (111), the other end is connected to the fixing assembly (120), and the axis of the torsion spring (153) coincides with the rotation axis.

6. The endoscope according to claim 1, characterized in that It also comprises two functional limit members (160), the functional limit members (160) being arranged on the groove wall of the accommodating groove (111), the two functional limit members (160) being arranged on two sides of the fixing assembly (120) opposite to each other, the functional limit members (160) being used to limit the rotation range of the imaging lighting assembly (130).

7. The endoscope according to any one of claims 1 to 6, characterized in that: The head end portion (10) further comprises a curved transparent member (170), wherein the curved transparent member (170) covers the lateral opening (112), and the center of the circle of the curved transparent member (170) coincides with the rotation axis.

8. The endoscope according to any one of claims 1 to 6, characterized in that: The lighting component (132) is sleeved on the outer circumference of the imaging component (131), and is coaxially arranged with the imaging component (131).

9. The endoscope according to any one of claims 1 to 6, characterized in that: It also includes a sealing cover (180), wherein the sealing cover (180) is covered at the opening of the containing groove (111).

10. The endoscope according to claim 4, characterized in that The handle portion (30) comprises: A handle housing (310) having a hollow structure inside to form an installation space (311); A control drive assembly (320) is located in the installation space (311), the control drive assembly (320) is connected to the flexible transmission member (142), and the control drive assembly (320) is used to drive the flexible transmission member (142) to move, so as to drive the imaging lighting assembly (130) to rotate relative to the rotation axis.

Images