Endoscope control line tensioning method

Abstract

A method for tensioning stay wires of an endoscope includes providing a semi-assembled endoscope including a handle and an insertion cord extending in a distal direction from the handle, the insertion cord having a distal curved section connected to a first stay wire and a second stay wire, a plurality of pull wires, each having a first wire end connected to the bending section at a distal end of the bending section and disposed in a respective wire tube extending from a proximal end of the bending section to the handle, each pull wire having a proximal end further extending out of the wire tube; providing a wire tensioner comprising a first wire holder and a second wire holder; providing a wire fastener; stabilizing the semi-assembled endoscope relative to the wire tensioner and the wire fastener; arranging each wire gripper to grip a respective one of the pull wires; activating a wire tensioner to tension the pull wires; and activating the wire fasteners to secure the pull wires in a tensioned state. Furthermore, an endoscope manufactured by the method and a wire tensioning machine are disclosed.

Description

Technical Field

[0001] The present invention relates to the manufacture of an endoscope, and in particular to an endoscope manipulation wire tensioning method and a wire tensioning machine. Background Art

[0002] Endoscopes are known and are used for visual navigation into and inspection and diagnosis of hollow organs and body cavities, and optionally for assisting surgical procedures, such as for sampling target tissues. Endoscopes include endoscopes for operations such as gastroscopes and bronchoscopes. The endoscope may include a handle grasped by an operator at the proximal end, and a flexible, elongated insertion cord extending distally from the handle. Alternatively, the endoscope may include an interface at the proximal end for cooperation with a drive device, such as for implementing a robotic endoscope. The insertion cord may include an insertion tube that terminates at a distal end head at the end of a highly flexible (e.g., hinged) curved section that can be controlled by an operator. The end head may include an observation optical system extending distally from the curved section.

[0003] The bending section can be controllable by steering wires, which are connected to the bending section at the distal end and extend to the handle at the proximal end. An actuator or control mechanism (such as a wheel or a lever) at the handle allows the operator to tighten or relax the steering wires, thereby bending the bending section. The steering wires can be Bowden cables, which include pull wires arranged in a wire tube or a sheath. When the ends of the wire tube remain stationary, the movement of the proximal end of the pull wire relative to the wire tube is transmitted to the distal end as the corresponding movement of the distal end of the pull wire relative to the wire tube. A plurality of steering wires can be provided to bend the bending section in a specific direction, such as in two opposite directions or in four directions (for example, in two opposite directions in a first plane and in two opposite directions in a second plane at right angles to the first plane).

[0004] Thus, using the actuator allows the operator to advance the distal tip of the endoscope to a desired position by means of a series of actions including, among others, bending the bending section in a desired direction, advancing the elongated insertion wire, and twisting the elongated insertion wire.

[0005] Proper bending performance and feel of the endoscope are important quality parameters of the endoscope for the operator. Preferably, the bending should be performed without play to transfer the force directly from the actuator to the bending section. Therefore, the pull wire should be pre-tensioned to a certain extent to avoid slack, but on the other hand not over-pre-tensioned, otherwise it will deform the structure, increase friction, and deteriorate the bending performance and feel. Summary of the invention

[0006] In this context, the object is to provide a method suitable for automating at least some aspects of wire tensioning in order to address issues such as cost, operator safety and quality of control wire tensioning during the manufacturing process of endoscopes, particularly disposable endoscopes and even more particularly bi-plane endoscopes (also known as 4-way bending endoscopes).

[0007] Endoscopes produced by this method should meet high standards of general performance of endoscopes.It is also desirable to reduce production costs, especially production costs of disposable endoscopes, to increase their value.

[0008] Another object is to provide a machine and a system suitable for implementing said method and thus manufacturing said endoscope.

[0009] Advantages of the method, machine and system include a faster manufacturing process, separation of endoscope stabilization from steering wire tensioning (allowing the operator to stabilize one endoscope while the machine tensions the steering wires of another endoscope), and reduced differences in steering wire tensioning (which improves endoscope quality).

[0010] A first aspect of the present disclosure relates to a method for tensioning a steering wire of an endoscope. In one embodiment, the method includes securing a subassembly of an endoscope to an endoscope tray, mounting the endoscope tray to a wire tensioning machine, and causing the wire tensioning machine to perform a process including tensioning a steering wire of the subassembly, sensing tension in the steering wire, and in response to the tension exceeding a tension threshold, crimping an end of the steering wire.

[0011] The subassembly may include a handle and an insertion cord having a curved section. The steering wire may include a first pull wire and a second pull wire extending from a distal end of the insertion cord to the handle and secured to the distal end such that tensioning of the first pull wire and / or the second pull wire causes the curved section to bend.

[0012] The wire tensioning machine may include a wire engaging clamp and a wire fastener. The clamp tensions the control wire, and the wire engaging clamp crimps the ends of the control wire to each other.

[0013] In a variation of the first embodiment, a method for tensioning a steering wire of an endoscope includes:

[0014] A semi-assembled endoscope is provided, the semi-assembled endoscope comprising a handle and an insertion soft wire extending from the handle in a distal direction, the insertion soft wire having a distal curved section connected to a first pull wire and a second pull wire, each pull wire having a first wire end connected to the curved section at a distal end of the curved section and arranged in a corresponding wire tube extending from a proximal end of the curved section to the handle, each pull wire having a proximal end further extending out of the wire tube,

[0015] providing a wire tensioner comprising a first wire clamp and a second wire clamp,

[0016] Provide wire fasteners,

[0017] To stabilize the semi-assembled endoscope with respect to the wire tensioner and wire fastener,

[0018] each wire clamp being arranged to clamp a respective one of the pull wires,

[0019] Activate the wire tensioner to tension the wires, and

[0020] The wire fasteners are activated to secure these tension wires in a taut state.

[0021] Although these wires are referred to as first and second wires, these wires may be formed from a single wire that is fixed at the distal end of the endoscope at or near the middle of its length and then forms two wire ends extending in the direction of the proximal end of the endoscope. When assembling the endoscope, care should be taken that the pull wire has the correct length and the correct tension from the bending actuator to the bending section without slack. That is, the length of the pull wire should preferably ensure that the middle neutral position of the bending actuator corresponds to the straightened, unbent state of the bending section.

[0022] The tensioning of the wires may be performed sequentially, but in embodiments according to the first aspect, at least some of the tensioning of one wire occurs simultaneously with at least some of the tensioning performed on the other wire. This may be advantageous in reducing the potential risk of the two wires having different tensions, which could result in the insertion cord having a non-straight configuration in the neutral position or having different bending properties in two directions. It is presently preferred that the tensioning of the two wires is performed within + / - 10 seconds of each other.

[0023] The fixing of the pull wire can be carried out by any suitable method, such as hot riveting, gluing, welding, by means of fixing screws, etc. However, in an embodiment according to the first aspect, the fixing of the pull wire is performed by crimping, which is considered to be a very fast and stable type of fixing. Crimping should be understood as arranging the crimping housing on the wire and permanently deforming the crimping housing to fixedly squeeze the wire. In this way, two overlapping wire parts can be fixed to each other, thereby excluding any translation between the wire parts. In addition, if it is considered advantageous, an adhesive can be added to the wire inside the crimping housing. The pull wire can be made of any suitable material, such as metal (e.g., steel) or a polymer. As an example, the diameter of the pull wire can be 0.25 mm.

[0024] The semi-assembled endoscope can be directly installed in the in-line tensioning machine. To further facilitate automation, it is suggested that the aforementioned embodiment of the method further comprises:

[0025] Provide a separate endoscope fixing device,

[0026] Secure the semi-assembled endoscope to the fixture.

[0027] Match the semi-assembled endoscope on the fixture with the wire tensioner and wire fastener.

[0028] Providing a separate fixture may increase production speed since stabilizing the semi-assembled endoscope would be independent of the wire tensioner and wire fastener, and the potentially manual process of stabilizing the semi-assembled endoscope would not require stopping the machine but could be performed off-line, and the stabilization step could potentially be performed on two or more endoscopes in parallel and fed into separate fixtures of the machine.

[0029] According to a variation of the aforementioned embodiment of the first aspect, the method comprises:

[0030] Secure the insertion cord in a straight configuration before activating the cord tensioner.

[0031] Firm the bend actuator position before activating the wire tensioner.

[0032] This can further reduce the potential risk of product variations, such as differences in line tensioning leading to different bending properties or non-straight configurations of the insertion cord.

[0033] Wire tensioners can include linear actuators, rotary motors, and other options.Linear actuators are currently considered a relatively simple and effective solution.

[0034] Linear actuators can include force sensors that can enable feedback and reduce variance.

[0035] The pulling force may be in the interval of 1 N to 5 N, such as 2.5 N to 3.5 N, which is currently considered to provide good results. For example, a pulling force in this interval causes a moderate pre-tensioning of the tension wire, significantly reducing the risk of relaxation even after a prolonged storage period, which may cause some relaxation and creep of the component.

[0036] To further reduce any potential risk of discrepancies, the two force sensors and actuators may be coupled and configured to follow each other in a matching motion.

[0037] During line tensioning, the maximum tension difference between the two sensors can be 1 N, which is considered to provide good results. This can be achieved by continuously monitoring the tension to ensure that the tension does not exceed 1 N. If the tension of one actuator exceeds the tension of the other actuator by 1 N, the actuator with the highest tension should be slowed down or stopped until the other actuator catches up.

[0038] A second aspect of the present disclosure relates to an endoscope manufactured using the method according to the first aspect.

[0039] According to an embodiment of the second aspect, the endoscope includes a wire direction guide arranged at the interior of the handle. The wire direction guide can change the pulling direction of the wire to a specified direction, thereby facilitating proper tensioning of the wire.

[0040] A third aspect of the present disclosure relates to an endoscope wire tensioning machine. In one embodiment, the endoscope wire tensioning machine comprises: a wire tensioner and a wire fastener, wherein the wire tensioner comprises a first wire clamp and a second wire clamp, and the wire tensioner is adapted for matching movement of the first wire clamp and the second wire clamp.

[0041] This wire tensioning machine can automate the production of endoscopes, thereby achieving efficient production and low variation of endoscopes. Matched motion means that the motion of the first wire gripper and the second wire gripper are related to each other, but not necessarily synchronized.

[0042] According to a variation of the foregoing embodiment, each wire tensioner includes an actuator and a force sensor, and the force sensors are coupled to provide feedback to the controller for the matching movement of the first wire clamp and the second wire clamp.

[0043] According to variations of the aforementioned embodiment and variations thereof, the endoscope wire tensioning machine further comprises: a machine bed that holds the wire tensioner and the wire fastener; and a separate endoscope fixture that is adapted to hold a semi-assembled endoscope.

[0044] For the sake of simplicity, throughout the specification, a "pull wire" may be referred to as a "wire". BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The disclosure will now be made in more detail based on non-limiting exemplary embodiments and with reference to the accompanying drawings, in which:

[0046] Figure 1 shows a side view of an endoscope that can be connected to a monitor to form a visualization system,

[0047] Figure 2 shows the interior of the endoscope handle,

[0048] Figure 3 yes Figure 2 A simple outline of the lines in the handle,

[0049] Figure 4 The interior of a modified endoscope handle is shown, schematically illustrating the tensioning and tightening of the wires,

[0050] Figure 5 is a perspective view of a wire tensioning machine according to the present disclosure,

[0051] Figure 6 yes Figure 5Side view of the wire tensioning machine,

[0052] Figure 7 Yes Figure 6 A close-up perspective view of the wire tensioning machine depicted,

[0053] Figure 8 It is installed in the online tensioning machine and Figure 7 A cross-sectional view of an endoscope handle depicted in FIG.

[0054] Fig. 9 is a perspective view showing details of the wire routing in a wire tensioning machine,

[0055] Fig.10 is a plan view schematically illustrating a wire clamping step in a wire tensioning method,

[0056] Fig.11 is a plan view schematically illustrating a wire tensioning step in a wire tensioning method,

[0057] Fig.12 is a diagram showing an alternative routing of the wires during tensioning according to a first variant,

[0058] Fig.13 is a diagram showing an alternative routing of the wires during tensioning according to a second variant, and Fig.14 is a simplified diagram showing an alternative routing of the wires during tensioning according to a third variant.

[0059] Reference numerals list:

[0060] 1 Endoscope

[0061] 1a Endoscope assembly

[0062] 2 Display unit

[0063] 3 Umbilical cord

[0064] 4 Electrical connectors

[0065] 5. Handle

[0066] 6 Insert the cord

[0067] 7 Curved section

[0068] 8 Bending Actuator

[0069] 9-terminal head

[0070] 10 Suction valve button

[0071] 11 Vacuum hose connection

[0072] 12 Biopsy connector

[0073] 12a Biopsy cover

[0074] 13 Electrical switches

[0075] 14 Suction tube

[0076] 16 Suction valve

[0077] 18 Roller

[0078] 18a Connection point

[0079] 19 Axis

[0080] 20 Wire tube

[0081] 22 Pull Wire

[0082] 22a First cable section

[0083] 22b Second cable section

[0084] 22c Third cable section

[0085] twenty two 下 Pull line, down

[0086] twenty two 上 Pull line, upper

[0087] 24 Anchor Block

[0088] 26 Crimp

[0089] 28 Machine Tools

[0090] 29 Line tensioner

[0091] 30 Fixtures

[0092] 31a Insert the cord retainer

[0093] 31b Insert cord retainer

[0094] 32 Wire Holder

[0095] 33 Wire Fasteners

[0096] 34 Actuator

[0097] 34a Linkage

[0098] 36 Slide

[0099] 37 tracks

[0100] 38-wire crimper

[0101] 39a Alignment pin

[0102] 39b Alignment pin

[0103] 40 Crimper jaws

[0104] 41 Gripper jaws

[0105] 42 Line submission

[0106] 43 Wire retainer

[0107] 44 Actuator fixing

[0108] 46 Line Anchor

[0109] 48-wire direction guide DETAILED DESCRIPTION

[0110] Figure 1 A system including an endoscope 1 and a monitor 2 is illustrated. The endoscope 1 includes an umbilical cord 3 and an electrical connector 4 for connecting to the monitor 2. The endoscope 1 is preferably disposable, i.e., intended to be discarded after use by one patient, while the monitor 2 can be used multiple times with different disposable endoscopes. The endoscope 1 further includes a handle 5 at the proximal end of the endoscope and an insertion cord 6 extending distally from the handle 5. A bending section 7 is provided at the distal end of the insertion cord 6. The bending section 7 can be controlled by a bending actuator 8 to deflect the distal end of the insertion cord 6. A tip 9 with an optical system is provided at the distal end of the bending section 7. The optical system typically includes a camera and lighting, such as LED lighting. As an alternative to arranging a light source (such as an LED light source) in the tip, an optical fiber can be provided for transmitting light from a light source at the handle or outside the endoscope through the endoscope to its distal end to illuminate the area of ​​interest in front of the distal tip 9 of the endoscope. The insertion cord 6 may include one or more channels, such as a working channel for advancing a tool through the endoscope and exiting through an opening at the distal end of the endoscope, and a fluid passage such as a suction channel. The suction channel may be used to transport a fluid away from a position at the distal end of the endoscope, through an opening at the distal end of the endoscope. The same channel may be used as a working channel and a suction channel. The handle 5 typically also includes a suction valve button 10, which includes an outer valve cover forming a button, which is used to start suction through the suction channel via a vacuum hose connector 11 to an external vacuum source (not shown). As shown, the handle 5 may also include a biopsy port 12 with a biopsy cover 12a, which is used for an external tool to be inserted through the handle and the working channel to exit at the opening at the distal end of the endoscope. Further, the handle 5 may be provided with a button for starting an electrical switch 13 that controls an image capture function (such as taking a still image).

[0111] Figure 2The interior of the handle 5 is illustrated, showing the endoscope assembly 1a. The handle 5 includes two half shells, one of which can be used to assemble all the handle components during assembly, while the other half shell serves only as a cover to close and form the handle. The illustrated suction valve button 10 activates the suction valve 16, thereby providing suction through a suction tube 14 connected to a suction channel extending to the distal end of the endoscope 1 to remove fluid from a site in the patient's body. The bending actuator 8 is connected to a roller 18 rotatably mounted on an axis 19, and a pair of pull wires 22 are connected to the roller 18. Each wire 22 is part of a Bowden cable, which also includes a wire tube 20 covering most of each wire. The wire tube 20 can extend between the anchor block 24 and the proximal end of the bending section and is fixedly attached to the anchor block and the proximal end of the bending section, for example by means of an adhesive or hot melt. Pushing the bending actuator 8 in one direction or the other as indicated by the arrows pulls one of the two wires 22, the other end of which is connected to the bending section of the insertion cord, so that the bending section will deflect. The wire tube 20 terminates in the direction of the roller 18 shortly after the anchor block 24, thereby exposing the pull wire 22 toward the roller 18. In the example shown, each pull wire 22 includes a first pull wire portion 22a extending from the bending section 7 to the roller 18, forming a U-shaped turn and continuing back as a second pull wire portion 22b to a crimping piece 26, which fixedly connects the first pull wire portion 22a and the second pull wire portion 22b, wherein the pull wire is connected to the roller at the connection point 18a (e.g., a hook). The crimping piece 26 can be formed by a crimping shell, which is, for example, an F-75-10-M sleeve distributed by Panduit. Figure 3 The wire layout is schematically illustrated, with only one wire being shown for simplicity. The wire tube 20 is fixedly connected to the anchor block 24, and the pull wire 22 extends within the wire tube 20 and extends out in the direction of the roller. The pull wire includes a first pull wire portion 22a, which is connected to the roller 18 at a connection point 18a (such as a hook or hole) through which the wire can pass. The pull wire forms a U-turn and continues back as a second pull wire portion 22b, and the first pull wire portion and the second pull wire portion are fixedly connected by a crimping piece 26.

[0112] Figure 4 Schematic diagram showing details of wire layout and tensioning. Some details of the interior of the handle and Figure 2 For example, the design of the anchor block 24 is slightly different, but the functions are basically the same, and the wire tube 20 is also fixed to the anchor block. Figure 2 The wire tube 20 shown forms a large curve in the handle, and the pull wire 22 crosses in the direction of the roller 18 behind the anchor block, while Figure 4In the embodiment shown in FIG. 1 , the wire tube 20 is straight and the pull wires 22 do not cross. These different designs may be influenced by space considerations and illustrate that the method can be applied to different endoscopes with handles of different sizes and shapes without requiring or only requiring minor modifications to the wire layout within the handle. Figure 4 The illustrated endoscope assembly 1a includes a pull wire extending out of the wire tube 20, exposing the pull wire 22 toward the roller 18. The pull wire 22 includes a first pull wire portion 22a extending to the roller 18, forming a U-shaped turn, and continuing back through the crimp housing as a second pull wire portion 22b and extending further as a third pull wire portion 22c, where the pull wire is connected to the roller. As illustrated by the arrow, the third pull wire portion 22c can be clamped and pulled to tension the pull wire 22 to a desired pre-tension and maintain tension, and as indicated by the arrow, the crimp housing can then be pressed against the first pull wire portion 22a and the second pull wire portion 22b extending within the crimp housing to permanently deform the crimp housing and form a crimp 26 that fixedly connects the first pull wire portion 22a and the second pull wire portion 22b. The third pull wire portion 22c, which is now redundant after crimping, can be cut at any suitable location (e.g., near the crimp 26).

[0113] Reference below Figures 5 to 9 Discussion of a wire tensioning machine. The machine includes a machine bed 28, which forms a base structure or foundation for a wire tensioner 29 and a wire fastener 33. An endoscope assembly 1a having a handle 5 can be secured directly to the machine bed, or as shown to a separate fixture 30, which can include insertion wire retainers 31a and 31b that maintain the insertion wire in a straight configuration. In the illustrated embodiment, the wire tensioner 29 includes a set of wire clamps 32 to clamp the pull wire in the endoscope assembly. The wire clamps 32 are mounted on a slide 36 so that they can be moved along a track 37 by means of an actuator (e.g., a pneumatic cylinder 34) to tension the pull wire 22. As an example, the wire clamp can be a parallel clamp DHPS from Festo. The machine further comprises a wire fastener 33 which, in the illustrated embodiment, comprises a set of crimpers 38 having crimper jaws 40 for deforming a crimp housing to form a crimp and thereby fasten the wire. Preferably, when the crimper jaws 40 are closed, the crimper jaws move linearly towards each other. The movement and thus the function of the machine is determined by Figure 5 The arrows in FIG. 1 and FIG. 3 will be illustrated and explained in more detail with reference to the previous figures. Figure 6 As illustrated in the side view of , the fixture 30 with the endoscope assembly 1a can be introduced into a position below the machine bed 28 from one side (e.g., on one side of the conveyor) and lifted into a suitable position in the in-line tensioning machine. Figure 7 yes Figure 6, showing alignment pins 39a and 39b which may be provided to ensure proper positioning of the endoscope handle 5 relative to the machine tool 28, thereby facilitating automation and reducing variation in the endoscopes produced. Figure 8 As shown, the alignment pins 39a and 39b can engage corresponding openings in the endoscope handle, such as holes in the shaft 19 and the roller 18. For simplicity, only one third pull wire portion 22c is shown. Fig. 9 As shown, in the next step, the clamp jaw 41 of the wire clamp 32 clamps the third wire portion 22c of the wire 22. The fixing device includes a wire presenting member 42 and a wire retaining member 43. The wire presenting member 42 and the wire retaining member 43 releasably present the third wire portion 22c and hold it in the position where the clamp jaw 41 of the wire clamp 32 clamps the wire. This is also Fig.10 , which shows a fixture having an endoscope assembly at a moment when the third pull wire portion 22c is clamped. Fig. 9 Schematically illustrated and also referred to Fig.11 , the wire gripper 32 will be activated by pneumatic cylinders 34 to travel along the track 37 to pull and thereby tension the pull wire, these pneumatic cylinders are connected to the slide 36 by linkages 34a.

[0114] As in Fig.10 As can be seen in the figure, the fixing device 30 may include an actuator fixing 44 to keep the actuator 8 in a neutral position. Further, the fixing device includes an insertion cord holder 31, which keeps the insertion cord 6 in a straight configuration.

[0115] The clamp jaws 41 clamp the cable at right angles to the direction of travel, which reduces the risk of slippage.

[0116] Figure 12 to Figure 14 Different variants with alternative wire routing and fixing are schematically illustrated, which will be explained in more detail below. For the sake of clarity, Fig.12 Only one wire is shown, illustrating the provision of a wire direction guide 48. Likewise, the wire tube 20 is fixedly attached to the anchor block 24. The first wire pull portion 22a extends out of the wire tube 20, is attached to the connection point 18a of the roller 18, loops back around the crimp 26 as the second wire pull portion 22b (shown as a dotted line), and continues as the third wire pull portion 22c. The third wire pull portion 22c engages the wire direction guide 48 and changes direction around the wire direction guide. This ensures that the pulling directions of the first wire pull portion 22a and the second wire pull portion 22b are substantially parallel, which reduces the risk of incorrect tensioning of the wire.

[0117] Fig.13 and Fig.14 Alternative wire routing and securing are shown. Fig.13 In the embodiment, the wire tube 20 is fixedly connected to the anchor block 24. The upper pull wire 22 for the upward direction shown in solid line 上 Extending from the wire tube 20 to the roller 18, following the roller 18 and returning as shown, and having a pulling direction as shown by the arrow. Similarly, the lower pull wire 22 shown in dashed lines for the downward direction 下 Extending from the wire tube to the roller 18, following the roller 18 and returning as shown, with the pulling direction indicated by the arrow. Instead of the pull wire forming a loop and fixing to itself as described above, the pull wire can alternatively be directly fixedly connected to the roller 18 at the wire anchor 46, for example by screws, rivets, glue or by hot melting, thereby avoiding the aforementioned crimping. The tension of the pull wire is maintained until the wire is fixedly connected to the roller 18. The pull wire can be moved relative to the roller so as to be positioned on the roller to achieve the desired shape and roller position of the inserted soft wire before the pull wire is fixed, which can be advantageous. Each wire can be fixedly connected to the roller 18 separately, but in the simplest variant, the wire anchor 46 simultaneously fixes the pull wires in both directions to the roller, so that this solution uses a minimum number of parts, making the method and the resulting endoscope particularly simple.

[0118] exist Fig.14 In the variation of Fig.13 The two wires are wired as explained above, but the two wires are connected to each other, for example, by a crimping piece 26, thereby forming a wire loop around the roller 18. The wire loop can slide on the roller 18, thereby allowing the position of the bending actuator to be adjusted. Subsequently, this combined wire set can be fixed to the roller 18 at the wire anchor 46.

[0119] Although a two-way endoscope that is bendable in two directions is illustrated, the principles of the present invention may also be advantageous with respect to a four-way endoscope that is bendable in four directions.

Claims

1. A method for tensioning a pull wire of an endoscope, comprising: A semi-assembled endoscope is provided, the semi-assembled endoscope comprising a handle and an insertion soft wire extending from the handle in a distal direction, the insertion soft wire having a distal curved section connected to a first pull wire and a second pull wire, each pull wire having a first wire end connected to the curved section at a distal end of the curved section and arranged in a corresponding wire tube extending from a proximal end of the curved section to the handle, each pull wire having a proximal end further extending out of the wire tube, providing a wire tensioner comprising a first wire clamp and a second wire clamp, Provide wire fasteners, securing the semi-assembled endoscope relative to the wire tensioner and the wire fastener, each wire clamp being arranged to clamp a respective one of the pull wires, activating the wire tensioner to tension the pull wire, and The wire fastener is activated to secure the pull wire in a tensioned state.

2. The method according to claim 1, wherein: Some tensioning of one wire occurs simultaneously with at least some tensioning being performed on the other wire.

3. The method according to claim 1 or 2, wherein: The fixing of the pull wire is performed by crimping.

4. The method according to any one of claims 1 to 3, comprising the following intermediate steps: Provide a separate endoscope fixing device, securing the semi-assembled endoscope to the fixture, The semi-assembled endoscope on the fixture is matched with the wire tensioner and the wire fastener.

5. The method according to any one of the preceding claims, comprising the following intermediate steps: securing the insertion cord in a straight configuration before activating the cord tensioner, The bending actuator position is stabilized before activating the wire tensioner.

6. A method according to any one of the preceding claims, wherein: Each wire tensioner includes a linear actuator.

7. The method according to claim 6, wherein: The linear actuator includes a force sensor.

8. The method according to claim 6 or 7, wherein: The pulling force is in the range of 1N to 5N, such as 2.5N to 3.5N.

9. The method according to claim 7 or 8, wherein: The two force sensors and the actuator are coupled and configured to follow each other.

10. The method according to claim 9, wherein: During the tensioning of the line, the maximum tension difference between the two sensors is 1N.

11. An endoscope manufactured using the method according to any one of the preceding claims.

12. The endoscope according to claim 11, wherein: The endoscope includes a wire direction guide disposed at an interior of the handle.

13. An endoscope wire tensioning machine, comprising: Wire tensioners and wire fasteners, The wire tensioner comprises a first wire clamp and a second wire clamp, And the wire tensioner is adapted for matching movement of the first wire clamp and the second wire clamp.

14. The endoscope wire tensioning machine according to claim 13, wherein: Each wire tensioner includes an actuator and a force sensor, and the force sensor is coupled to provide feedback to a controller for the matching movement of the first wire clamp and the second wire clamp.

15. The endoscope wire tensioning machine according to claim 13 or 14, further comprising: a machine tool that holds the wire tensioner and the wire fastener; and a separate endoscope fixture that is adapted to hold a semi-assembled endoscope.

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