Elevator assembly for use at the tip of an endoscope

Abstract

This specification discloses a lifting platform assembly for use at the tip of an endoscope, an endoscope tip comprising a lifting platform assembly, and an endoscope comprising a lifting platform assembly. The lifting platform assembly for use at the tip of an endoscope comprises a lifting platform for raising an endoscope instrument. The lifting platform is configured to pivot about a lifting platform pivot axis from a retracted position to an raised position in order to raise an endoscope instrument. The lifting platform assembly further comprises a link configured to receive an operating member for operating the lifting platform. The link is configured to mechanically connect the operating member to the lifting platform so that the lifting platform can be pivoted about a lifting platform pivot axis by moving the operating member linearly along the operating direction. The link is pivotably connected to the lifting platform about a link pivot axis different from the lifting platform pivot axis. The angular displacement of the lifting platform for a linear displacement of a unit length of the operating member is smaller when the lifting platform is in the raised position than when the lifting platform is in the retracted position.

Description

[Technical Field]

[0001] This disclosure relates to medical technology, particularly in the field of endoscopy. This disclosure relates to a lifting platform assembly for use at the tip of an endoscope, an endoscope tip including a lifting platform assembly, and an endoscope including a lifting platform assembly. [Background technology]

[0002] An endoscope is a surgical device that can be used to access (e.g., observe or remove) or treat tissues within a patient's body by inserting one or more endoscopic instruments (instruments) into the body through an incision or opening in the body. An endoscope may include an interface / control unit, an insertion tube connected to the interface / control unit, and a (distal) tip (head or distal head) connected to the interface / control unit via the insertion tube. The insertion tube is configured to be inserted into the patient's body and may include one or more conduits to provide access to the tip of the endoscope, and therefore access to tissues within the body. One or more conduits may be configured, for example, to receive endoscopic instruments and / or fluids and to guide the endoscopic instruments and fluids to the tip of the endoscope, respectively.

[0003] Some endoscopes, particularly those with a laterally-facing imaging system (e.g., a camera), may include a device for raising (and / or lowering) the endoscopic instrument from the tip of the endoscope; such a device is commonly called a "raising platform." The raising platform can be operated via a control mechanism, such as a control knob or control lever (located, for example, in the interface / control section of the endoscope), to position and / or move the endoscopic instrument, for example, within the field of view of the imaging system, and via an operating member, such as an operating wire or rod, connecting the control mechanism to the raising platform. Conventionally, the operating member is fixedly attached to the raising platform itself or to a small lever connected to the raising platform and rotating around the same axis. U.S. Patent Application Publication 2018 / 078121 relates to an endoscope equipped with a standing platform provided at the tip of the insertion section to change the direction of exit of the treatment instrument. U.S. Patent Application Publication 2018 / 0035869 discloses an insertion device in which a lifting platform for changing the direction of movement of the treatment instrument is located at the tip, and relates to an endoscope equipped with this insertion device. Japanese Patent Application Publication 2000-116598 relates to the structure of an endoscope device having a forceps channel into which a treatment instrument for performing a procedure in a body cavity is inserted. German Patent Application Publication 102019108078 discloses an endoscope having a distal end portion in which a force transmission element is located between a force transmission shaft and a lifting platform lever.

[0004] However, such lifting platform assemblies may have drawbacks with respect to the force or torque transmitted to the lifting platform, the smoothness of the lifting platform's movement, and / or the durability of the lifting platform system, which can be important for the basic function of the endoscope. This is especially true for smaller endoscopes, such as duodenal endoscopes and endoscopes used in pediatrics. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] U.S. Patent Application Publication No. 2018 / 078121 [Patent Document 2] U.S. Patent Application Publication No. 2018 / 0035869 [Patent Document 3] Japanese Patent Publication No. 2000-116598 [Patent Document 4] German Patent Application Publication No. 102019108078 [Overview of the project]

[0006] Accordingly, a feature of the present disclosure is to provide a lifting platform assembly for use at the tip of an endoscope, which provides improved force / torque transmission, smoothness of movement, and / or durability, particularly in smaller endoscopes.

[0007] This disclosure relates to a lifting platform assembly according to claim 1 for use in the tip of an endoscope, an endoscope tip according to claim 21 including the lifting platform assembly, and an endoscope according to claim 25 including the lifting platform assembly. Examples thereof are described in detail in the dependent claims.

[0008] The relative terms and directions used herein may be defined with respect to the endoscope or endoscope tip (for example, when used in normal operation). For example, the term “proximal” may refer to an element, feature, or location along the length of the endoscope or endoscope tip that is closer to the physician or other healthcare professional when the endoscope or endoscope tip is in use (for example, closer to the interface / control section of the endoscope), while the term “distal” may refer to an element, feature, or location along the length of the endoscope or endoscope tip that is closer to the location of the tissue being examined or treated in the patient's body when the endoscope or endoscope tip is in use (for example, further away from the interface / control section of the endoscope). The direction along the endoscope (for example, its insertion tube) or endoscope tip, from the proximal end to the distal end of the endoscope or endoscope tip (typically corresponding to the direction of insertion of the endoscope or endoscope tip into the body and / or the direction of insertion of endoscopic instruments into the endoscope or endoscope tip), may hereafter be referred to as the longitudinal direction or insertion direction.

[0009] The lifting platform assembly according to this disclosure is used at the tip of an endoscope. The lifting platform assembly includes a lifting platform for raising an endoscope instrument, which is configured to pivot about a lifting platform pivot axis from a retracted position to an raised position in order to raise the endoscope instrument. The lifting platform assembly further includes a link configured to receive an operating member for operating the lifting platform. The link is configured to mechanically connect the operating member to the lifting platform so that the lifting platform can be pivoted about the lifting platform pivot axis by moving the operating member linearly along the operating direction. The link is pivotably connected to the lifting platform about a link pivot axis different from the lifting platform pivot axis. The angular displacement of the lifting platform for a linear displacement of a unit length of the operating member is smaller when the lifting platform is in the raised position than when the lifting platform is in the retracted position.

[0010] A lifting platform is a device or instrument (for example, configured to lift and / or lower) an endoscopic instrument, for example, from the tip of the endoscope and / or towards the tip of the endoscope. In particular, the lifting platform can lift and / or lower the endoscopic instrument laterally, i.e., in a plane perpendicular to the insertion direction and / or parallel to the insertion direction, for example, to move the endoscopic instrument into the field of view of a laterally oriented imaging system. Endoscopic instruments (which may also be called endoscopic instruments, accessories, or instruments) may include, for example, treatment instruments (e.g., high-frequency (HF) instruments), diagnostic instruments (e.g., surgical diagnostic instruments such as biopsy forceps and / or diagnostic measuring instruments such as optical and / or ultrasound measuring instruments), guide instruments (e.g., guide wires and / or catheters), and / or auxiliary instruments (e.g., suction tubes and / or light sources). The endoscopic instrument may be inserted into the tip of the endoscope, for example, through a conduit in the insertion tube of the endoscope, particularly a working conduit. The lifting platform can raise an endoscopic instrument by, for example, bending it away from the axis of entry of the endoscopic instrument into the endoscope tip, and / or lower it by bending it toward the axis of entry of the endoscopic instrument into the endoscope tip. The lifting platform may include an instrument receiving structure, such as an instrument receiving surface, on which the endoscopic instrument is placed. This receiving structure may be, for example, a shovel-shaped structure or surface. The lifting platform may be embodied as a single component (e.g., a single integrally formed element) or as an assembly of multiple components.

[0011] To raise and / or lower an endoscopic instrument, the lifting platform is configured to pivot (e.g., rotate) about a lifting platform pivot axis. As used herein, the term “axis” refers to a mathematical axis (e.g., a rotation axis or an operating axis along which a force is applied) which does not necessarily require the presence of a mechanical axis (e.g., a shaft), although, of course, in some examples, there may be one or more such mechanical axes that coincide with the mathematical axis so that the lifting platform can pivot about a lifting platform pivot axis. The lifting platform assembly may include one or more mechanical stoppers that limit the pivot range of the lifting platform (e.g., maximum rotation angle) to prevent the lifting platform from completing a 360° rotation, for example. The maximum rotation angle of the lifting platform (e.g., between the stowed and raised states, as described below) may be, for example, 10° to 180°, 20° to 150° in some examples, and 45° to 120° in some examples.

[0012] The lifting platform is configured to pivot about its pivot axis from a retracted state to an elevated state. As used herein, the “retracted state” of the lifting platform (sometimes referred to as the “retracted position,” “downward state / position,” or “home state / position”) can refer to the state or configuration of the lifting platform (e.g., the position and / or orientation of the lifting platform) when, for example, the endoscope tip is inserted into the body and / or (e.g., to position the endoscopic instrument on the lifting platform) the endoscopic instrument is inserted into the endoscope tip. The retracted state can refer to, for example, the state in which the lifting platform (e.g., its instrument receiving structure) is at the smallest possible angle with respect to the insertion direction, parallel in some examples, and / or perpendicular to the insertion direction, and the extent of the lifting platform assembly in a plane perpendicular to the insertion direction (e.g., physical dimensions or footprint) is minimized. In the retracted state, the endoscopic instrument does not need to protrude from the endoscope tip.

[0013] As used herein, the "raised state" of the lifting table (which may also be referred to as the "raised position", "upper state / position", or "locked state / position") refers to the state or configuration of the lifting table (e.g., position and / or orientation) that has been raised compared to the stored state, e.g., a state in which the instrument receiving structure is at a greater angle with respect to the insertion direction than in the stored state. In the raised state, the endoscope instrument can protrude from the endoscope tip. The raised state can particularly refer to the state of the lifting table associated with the usage configuration of the endoscope instrument (i.e., the configuration in which the endoscope instrument is normally used and / or can be used, e.g., the configuration in which the endoscope instrument is positioned within the field of view of the imaging system). The raised state can be, for example, a state in which the lifting table (e.g., the instrument receiving structure) is at the maximum possible angle with respect to the insertion direction and / or the stored state (in some examples, greater than 90°) (also referred to herein as the fully raised state), and / or a state in which the range of the lifting table assembly in a plane perpendicular to the insertion direction (e.g., 90° with respect to the insertion direction) is maximum. In some examples, one or both of the stored state and the raised state of the lifting table may be defined by corresponding mechanical stoppers that prevent the lifting table from moving beyond each state.

[0014] In some examples, there may be multiple raised states (e.g., two or more raised states such as a first raised state and a second raised state) that can move / pivot the lifting platform, all of which satisfy the conditions specified herein for the “raised state” as described in the claims (e.g., being raised compared to the retracted state and exhibiting a smaller operating ratio δω / δz as described below). The “raised state” as used herein, in particular the “raised state” as described in the claims, may refer to any one of these states and should therefore be understood as at least one of these states (e.g., one of these states, a subset of these states, or all of these states, e.g., one or both of the first and second raised states) that include or exhibit each of the respective features and / or satisfy each of the respective conditions. For example, there may be a first raised state related to the use configuration of an endoscopic instrument (e.g., which may correspond to a fully raised state of the lifting platform) and a second raised state which may be an intermediate state between the retracted state and the first raised state. In the same example, the first or second raised state may correspond to a state in which the lifting platform is at a 90° angle to the insertion direction and / or a state in which the extent of the lifting platform assembly in a plane perpendicular to the insertion direction is maximized.

[0015] The lifting table is operated (e.g., actuated) by an operating member such as an operating wire (sometimes called an operating cable) or an operating rod (sometimes called an operating shaft). The operating member may be provided as part of the lifting table assembly (i.e., included in the lifting table assembly), or may be separated from the lifting table assembly and provided, for example, as part of the end portion of an endoscope or as part of an endoscope. The operating member can be connected to the lifting table to, for example, enable a user to control the movement of the lifting table, such as to a control mechanism like a control knob, a control pulley, or a control lever (e.g., on an interface / control unit of the endoscope). The operating member may extend along the insertion direction, for example, from the end portion of the endoscope into the insertion tube of the endoscope, and optionally further extend along the insertion tube to the interface / control unit. The operating member may be a single component or an assembly of multiple components (e.g., a cable and a cable stopper).

[0016] Instead of directly connecting (e.g., mounting) the operating member to the lifting base, a link is provided that is configured to mechanically connect the operating member to the lifting base. As used herein, the term “mechanically connected” can mean, for example, a connection between two features or elements that enables the transmission of a force applied to one feature or element to the other. In other words, the link is configured to transmit a force applied to the operating member to the lifting base. The link is configured to mechanically connect the operating member to the lifting base such that the linear motion (i.e., movement or translation along a straight line) of the operating member along the operating direction (e.g., by pushing or pulling the operating member along the operating direction) is converted into pivotal motion (e.g., angular displacement) of the lifting base around the lifting base pivot axis. In other words, the (linear) force applied to the operating member is converted into a torque to the lifting base by, for example, applying a force to the lifting base at the link pivot axis. Preferably, the operating members are configured to move back and forth along the operating direction by, for example, pushing or releasing the operating member (e.g., to lower the lifting platform) and pulling the operating member (e.g., to raise the lifting platform). The operating direction may coincide with the insertion direction (e.g., it may be parallel or substantially parallel to the insertion direction) and may hereafter be referred to as the Z direction. As used herein, two directions or axes can be considered substantially parallel if, for example, the angle between the axes / directions is less than 10°, preferably less than 5°, in one example less than 2°, in another example less than 1°. The link may be embodied as a single part (e.g., a single integrally formed element) or as an assembly of multiple parts.

[0017] The link is configured to receive an operating member (e.g., its distal portion or distal end) in particular so that the operating member is mechanically connected to the link. The operating member may be mechanically connected to the link, for example, at a connection point. As used herein, the connection between the operating member and the link may refer, for example, to a point where a force applied to the operating member acts (i.e., is transmitted) to the link. In some examples, the operating member may be mechanically connected to the link (e.g., in contact with or attached) at multiple points and / or over one or more extended areas (e.g., formed by contact surfaces). In such examples, the connection point may refer, for example, to an "effective connection point" (e.g., the centroid of the multiple points and / or areas) where the total force acting on the link (via the operating member), i.e., the sum of the forces at these multiple points and / or areas, acts on the link. The mechanical connection between the operating member and the link can be achieved, for example, by corresponding features (e.g., structures) on the operating member and the link that engage (e.g., interlock or mat) with each other, such as a widened end of the operating member (e.g., a cable stopper located at the distal end of the operating wire) that is held or secured to a corresponding mating part (e.g., a notch or hole) on the link. In one example, the operating member is mechanically connected to the link by one or more snap-fits and / or press-fits. Preferably, the link is configured to hold the operating member (e.g., its distal end) in a fixed position such that the operating member (e.g., its distal end) cannot rotate relative to the link in a plane perpendicular to the link pivot axis. In some examples, the operating member (e.g., its distal end) may be fixedly attached to the link, for example, by screwing it into the link, bonding it, soldering it, brazing it, and / or welding it.

[0018] The links are pivotally connected to the lifting base so that the links can pivot relative to the lifting base about a link pivot axis. Unlike the lifting base pivot axis, the link pivot axis may be displaced from the lifting base pivot axis, for example, radially / in a plane perpendicular to the lifting base pivot axis, or through such a plane. The link pivot axis and the lifting base pivot axis may be located, for example, at or near both ends of the lifting base (at both ends of the lifting base). Preferably, the link pivot axis is parallel or substantially parallel to the lifting base pivot axis so, for example, the links and the lifting base pivot / rotate in the same plane or a parallel plane. In other examples, the link pivot axis may be at an angle with respect to the lifting base pivot axis, for example, between 10° and 45°.

[0019] The link is connected to the hoist (and the operating member received by the link) such that the angular displacement of the hoist (denoted herein as δω) (i.e., the ratio of angular displacement to linear displacement, δω / δz, hereafter referred to as the operating ratio) of the operating member per unit length is smaller when the hoist is in the raised position than when the hoist is in the retracted position. As a result, the effective torque acting on the hoist when the operating member is moved linearly with a given force can be made greater in the raised position than in the retracted position. Thus, the link can provide a nonlinear torque / motion profile in which the force or torque transmitted to the hoist, as well as the angular displacement per unit length of linear displacement, depends on the state of the hoist. This makes it possible to specifically adjust the torque / motion profile to suit the desired application in order to optimally utilize, for example, the (typically limited) range or stroke of a control mechanism for controlling the movement of the hoist. For example, when the lifting platform is in the retracted position (e.g., when the endoscopic instrument is lowered), the force required to move the endoscopic instrument may be small, and it may be desirable for the angular displacement to be large for a linear displacement of a unit length (although the torque on the lifting platform will be small, it may still be sufficient to move the instrument). On the other hand, when the lifting platform is in the raised position (e.g., when the endoscopic instrument is lifted), the force required to move the endoscopic instrument may be large, and it may be desirable for the angular displacement to be small for a linear displacement of a unit length (in order to achieve a larger torque on the lifting platform).

[0020] The operating ratio δω / δz (i.e., the angular displacement of the lifting platform for a linear displacement of a unit length of the operating member) may be at least 1 / 1.2, in some cases 1 / 1.5, preferably 1 / 2.0, most preferably 1 / 3.0, in one example 1 / 5.0, and in another example 1 / 10 when the lifting platform is in the retracted position. The operating ratio may be, for example, 1 / 1.2 to 1 / 20, in some cases 1 / 1.5 to 1 / 10, in the raised position compared to the retracted position. In some examples, the operating ratio δω / δz may decrease monotonically as the lifting platform moves (i.e., pivots) from the retracted position to the raised position. In some examples, the operating ratio δω / δz may exhibit a local minimum, e.g., an overall minimum, in the raised position. In addition to or instead of this, the operating ratio may exhibit a plateau (e.g., a region where the operating ratio is constant or substantially constant) near one or both of the raised and retracted positions.

[0021] As described above, the link may be configured to receive an operating member such that the operating member is mechanically connected to the link at the connection point. In some embodiments, the connection point to which the operating member is mechanically connected (or to be connected) to the link can be displaced radially with respect to the link pivot axis (i.e., radially with respect to / radially extending from the link pivot axis) to achieve a variable operating ratio, for example, as described above. Thus, when the link pivots about the link pivot axis, the connection point of the operating member can be moved with respect to the lifting base pivot axis, in particular, such that the angle (expressed herein as α) between the connection line from the link pivot axis to the lifting base pivot axis and the connection line from the link pivot axis to the connection point changes in a projection parallel to the lifting base pivot axis (e.g., along the lifting base pivot axis) (i.e., viewed in a plane along / perpendicular to the lifting base pivot axis). In the projection along the pivot axis of the support base, the displacement / distance between the connection point and the link pivot axis may be, for example, 5% to 95% of the displacement / distance between the link pivot axis and the support base pivot axis, 10% to 50% in some cases, and 15% to 30% in one case.

[0022] The link may be configured to receive the operating member such that the operating member extends from the link along the link operating axis. The operating member may extend along the link operating axis from, for example, the last point on the link (viewed from the distal end of the operating member / towards the proximal end of the endoscope tip) (referred to herein as the exit point of the operating member), from a connecting point, from a guide structure or part thereof, such as those detailed below, and / or from the outer circumference of the link when viewed along the link pivot axis. The link operating axis may be defined, for example, by the tangents of the operating member at each point or structure. The link operating axis may be the axis or direction in which the force applied to the link via the operating member acts effectively on the link (e.g., the axis or direction in which the operating member pushes or pulls the link). Thus, the link operating axis may also be referred to herein as the effective link operating axis. The link operating axis may be perpendicular or substantially perpendicular to one or both of the lifting platform pivot axis and the link pivot axis. When used herein, two directions or axes can be considered substantially perpendicular if, for example, the angle between the axes / directions is 80° to 110°, preferably 85° to 95°, in one example 88° to 92°, in another example 89° to 91°.

[0023] In some embodiments, the link operating axis may be displaced radially with respect to the link pivot axis (for example, in either or both the raised and retracted states), i.e., so that the link operating axis does not intersect the link pivot axis. The displacement / distance between the link operating axis and the link pivot axis (i.e., the minimum distance between the link operating axis and the link pivot axis in a projection parallel to the link pivot axis (corresponding to the length of the normal perpendicular to the link operating axis and extending through the link pivot axis when viewed along the link pivot axis)) is expressed herein as the offset distance D off It is sometimes called offset distance D. offFor example, the offset distance D may be at least 1%, preferably at least 2%, more preferably at least 4%, most preferably at least 6%, in one example at least 10%, in one example at least 20%, or in one example at least 50% of the displacement / distance between the link pivot axis and the lifting base pivot axis (referred to herein as D1). off This could be, for example, 1% to 95% of the distance D1, 2% to 50% in some cases, and 4% to 10% in one case.

[0024] While we do not wish to be bound by any particular theory, changes in the operating ratio δω / δz may result from one or more of the following four mechanisms, for example: (1) When a link, and therefore the operating member (e.g., its distal end), pivots relative to the lifting base, the direction of the force transmitted to the lifting base (e.g., the angle with respect to the connection line between the lifting base and the link pivot axis, e.g., the angle between this connection line and the link operating axis) may change. This can change the azimuthal component of this force, i.e., the component that acts on the lifting base and thus carries the torque that drives the pivoting motion. For example, the azimuthal component (e.g., as part of the force as a whole) may be smaller in the stowed state (small torque but large angular displacement) than in the raised state (small angular displacement but large torque); (2) When the lifting base pivots around the lifting base pivot axis, the effective lever arm length d eff(3) In addition to or instead, the radial distance from the lifting base pivot to the link operating shaft (referred to herein as D3) can change when the lifting base pivots (for example, it can be smaller in the stowed position than in the raised position), where the effective lever arm length may correspond to the radial distance from the lifting base pivot to the connecting line extending radially from the link pivot to the (fixed) entry point (at which point the operating member enters the lifting base assembly); (3) In addition to or instead, the radial distance from the lifting base pivot to the link operating shaft (referred to herein as D3) can change when the lifting base pivots about the lifting base pivot (for example, it can be smaller in the stowed position than in the raised position). (4) As a result of (voluntary) displacement between the link pivot shaft and the connection point and / or (voluntary) displacement between the link pivot shaft and the link operating shaft, the linear displacement of the operating member can pivot the link relative to the raking platform (i.e., change the angle between the link and the raking platform) such that, for example, only a portion of the linear displacement of the operating member is converted into the displacement of the link pivot shaft, and therefore the angular displacement of the raking platform (in other words, to achieve a given displacement of the link pivot shaft, and therefore a given angular displacement of the raking platform, the operating member must be moved by a larger distance). As a result, the torque applied to the raking platform can be increased (for example, a torque in the opposite direction can be applied to the link, which can "amplify" the torque generated by the operating member as a result of the conservation of angular momentum).

[0025] This disclosure enables flexible adjustment of the torque / motion profile by adjusting the pivotal motion of the link around the link pivot axis (for example, by adjusting the stiffness and / or guidance of the operating member and / or providing a suitable guiding structure for the link, as detailed below), adjusting the (voluntary) displacement between the link pivot axis and the connection point (for example, by increasing or decreasing the displacement), adjusting the (voluntary) displacement between the link pivot axis and the link operating axis, and / or adjusting the displacement between the link pivot axis and the lifting base pivot axis (furthermore, it is possible to enable additional flexibility in input variables such as the lateral displacement / height (referred to herein as d) of the operating member entering the lifting base assembly). For example, in some cases where flexibility is not particularly required and / or the pivot of the link around the link pivot axis is sufficient to achieve the desired torque / motion profile, the connection point may be on the link pivot axis and / or the link operating axis may intersect the link pivot axis, i.e., in some embodiments, one or both of the connection point and the link operating axis may not be radially displaced with respect to the link pivot axis.

[0026] By providing a link between the operating member and the lifting base, it may be possible to further reduce the bending of the operating member and / or the lateral force or mechanical stress on the operating member. The link may be configured such that, for example, when the lifting base is operated, the link operating axis (and therefore the direction in which the distal portion of the operating member extends) remains within a specific angular range with respect to the operating direction (along this direction the operating member can enter the lifting base assembly, and along this direction the operating member (e.g., its proximal portion) is pushed or pulled). This allows the link to suppress the bending angle and / or bending radius of the operating member. The link may be configured such that, for example, the link operating axis remains within an angular range of less than ±60°, preferably less than ±45°, less than ±30° in some cases, most preferably less than ±20°, less than ±10° in one case, and less than ±5° in one case, from the operating direction throughout the entire pivot range of the lifting base (e.g., when moving from a stowed state to an raised state and / or when moving between mechanical stoppers that limit the pivot range). In addition to or instead of this, the angle between the link operating axis and the operating direction may vary by less than 120°, preferably less than 90°, less than 60° in some cases, most preferably less than 40°, less than 30° in one case, less than 20° in another, and less than 15° in another, over the entire pivot range of the lifting platform. By moving one or both of the link operating axis and the connection point above or below the link pivot axis (for example, further away from or closer to the lifting platform pivot axis than the link pivot axis), the operating member can be kept as straight as possible over the entire range of motion to improve the efficiency and / or durability of the push / pull mechanism. For example, if the angle between the operating direction and the link operating axis is too large, the operating member may not be able to push and may buckle when pushed.

[0027] In a projection parallel to the pivot axis of the lifting base, the connection line from the link pivot axis to the pivot axis of the lifting base and the connection line from the link pivot axis to the connection point of the operating member (or distance D) βThe angle α between the connection line from the link pivot axis to the exit point of the operating member (as presented below) may be smaller when the lifting platform is in the raised position than when the lifting platform is in the retracted position. For example, the angle α may be at least 5°, preferably at least 10°, at least 20° in some cases, more preferably at least 25°, at least 30° in some cases, at least 40° in some cases, most preferably at least 50°, and at least 60° in one case smaller in the raised position than in the retracted position. For example, the angle α may be 5° to 180°, 10° to 90° in some cases, 25° to 80° in some cases, and 50° to 70° in one case smaller in the raised position than in the retracted position. In some examples, by using a link (i.e., compared to a configuration in which there is no link and the operating member can be fixedly connected to the lifting platform at a position corresponding to, for example, the link pivot axis), the bending angle of the operating member can be reduced by the same or the same angle.

[0028] The radial distance from the link pivot shaft to the exit point of the operating member on the link (in this specification, D β The (referred to as) may be at least 10%, at least 25%, preferably at least 50%, most preferably at least 75%, and in one example at least 100% of the radial distance D1 from the lifting base pivot axis to the link pivot axis. This can help improve the mechanical stability of the lifting base assembly and, in addition or alternatively, can enable the achievement of the variable operating ratio described above. βis, for example, at least 2 mm, in some examples at least 3 mm, preferably at least 4 mm, more preferably at least 5 mm, most preferably at least 6 mm, and in one example may be at least 8 mm. As used herein, the exit point is where the operating member is fixed (e.g., attached) to the link (e.g., its guiding structure as detailed below), and / or guided (e.g., restricted in the lateral direction) by the link (e.g., its guiding structure as detailed below), and is the last point on the link from where the operating member extends along the link operating axis. Here, the "last point" should be understood as viewed from the distal end of the operating member and / or as viewed towards the proximal end of the endoscope tip, i.e., the exit point can refer to the most proximal point along the length of the operating member where the operating member is fixed to the link and / or guided by the link. Various features, particularly geometric relationships, are specified herein for the connection point of the operating member. In some examples, one or more or all of these features and geometric relationships may each, although for the sake of brevity only the connection point may be referred to herein, apply to the exit point of the operating member instead of, or in addition to, the application to the connection point. In some examples, the exit point may coincide with the connection point (the operating member may, for example, be attached only at the connection point), but preferably the exit point is displaced from the connection point. Distance D β is, for example, 25% to 200% of distance D1, and in some examples may be 50% to 100%. In addition to, or instead of, this β is, for example, 2 mm to 15 mm, in some examples 4 mm to 10 mm, and in one example may be 5 mm to 7 mm.

[0029] The link can provide additional leverage (e.g., acting as a lever) in either the raised or retracted position. The radial distance (hereinafter referred to as D1) from the lifting base pivot to the link pivot (i.e., measured radially from the lifting base pivot, i.e., in a plane perpendicular to the lifting base pivot) is projected onto the connecting line extending radially from the lifting base pivot to the link pivot, and the offset distance D is calculated as follows: Radial distance D1 from lifting base pivot to link pivot and offset distance D off The (first) lever ratio D1 / D2 can be defined by dividing the projected length of the vector sum of the two vectors (i.e., the projected length of the vector from the pivot axis of the lifting platform to the point on the link operating axis closest to the link pivot axis) (referred to as D2 in this specification).

[0030] The lever ratio D1 / D2 may be greater when the lifting platform is in the raised position than when it is in the retracted position, for example, at least 5% greater, preferably at least 10% greater, most preferably at least 25% greater, and in one example at least 50% greater. This is especially true in cases where the motion of the link is determined at least in part by features in the distal head (rather than solely by its relationship to the operating member, for example). The lever ratio D1 / D2 may be, for example, 5% to 200% greater in the raised position than in the retracted position, and in some examples 10% to 100% greater. In some examples, the lever ratio D1 / D2 may increase monotonically as the lifting platform moves from the retracted position to the raised position.

[0031] In addition to or instead of the above, the lever ratio D1 / D2 may be greater than 1, in some cases greater than 1.01, preferably greater than 1.02, most preferably greater than 1.05, in one case greater than 1.10, and in another case greater than 1.20, in either the raised or retracted state or both. Each lever ratio may be, for example, between 1.01 and 2.0, in some cases between 1.02 and 1.5, and in another case between 1.05 and 1.10.

[0032] In some cases, one or more of the link operating axis, connection point, and exit point may be shifted above the link pivot axis (for example, further away from the lifting platform pivot axis than from the link pivot axis). For example, the lever ratio D1 / D2 may be less than 1 in either the raised or retracted state, less than 0.99 in some cases, less than 0.98 in some cases, less than 0.95 in one case, and less than 0.8 in one case. This can be done for a variety of reasons, such as to keep the link operating axis as horizontal as possible. Just one example of when this may be useful is when the total amount of stroke of the operating member (from the control body) is fundamentally limited. In this case, the distance between the link pivot axis and the lifting platform pivot axis can be reduced so that the full range of motion can be achieved with a smaller stroke. This requires a greater user input force, but may still be better than having insufficient total range of motion of the lifting platform.

[0033] The radial distance from the lifting base pivot axis to the link operating axis (i.e., the length of the normal perpendicular to the link operating axis (and lifting base pivot axis) extending from the link operating axis to the lifting base pivot axis) (referred to as D3) is greater when the lifting base is in the raised position than when the lifting base is in the retracted position, for example, by at least 5% greater, by at least 10% greater in some cases, preferably by at least 25% greater, more preferably by at least 50% greater, most preferably by at least 75% greater, and in one case by at least 100% greater. In addition to or instead of this, the effective lever arm length (d in this specification) as defined below may be eff The same can be said for (called) the radial distance D3 from the pivot axis of the lifting base to the link operating axis and / or the effective lever arm length d. eff For example, in the upward position, this can be 5% to 250% greater than in the retracted position, 25% to 200% greater in some cases, and 50% to 150% greater in others. This can, for example, make it possible to generate greater torque in the upward position.

[0034] The lifting platform assembly may include an operating member, which may already be accepted by being mechanically coupled to a link, particularly (e.g., at a coupling point), or may be provided as a separate unit that is mechanically coupled to a link by the user, for example. The operating member (e.g., at least its proximal portion) is configured to move linearly along an operating direction which may be parallel or substantially parallel to the insertion direction (i.e., translation along a straight line). The operating member can enter the lifting platform assembly at an entry point which may be defined, for example, by the lifting platform assembly and / or the endoscope tip or structural features of the endoscope (e.g., the insertion structure), such as a conduit (e.g., in the insertion tube) and / or entrance opening that guides the operating member. In some examples, the entry point may be the point where the operating member enters the endoscope tip. In other examples, the entry point may be, for example, the point closest to the lifting platform where the (lateral) position of the operating member does not change regardless of the state of the lifting platform (e.g., as a result of guidance and / or restriction by the structural features), or the point closest to the lifting platform where the operating member does not (substantially) bend regardless of the state of the lifting platform. The operating member may extend along the operating direction, for example, at least at the entry point (i.e., it may enter the lifting platform assembly and / or the endoscope tip along the operating direction). Between the entry point and the link, the operating member may extend freely, i.e., it may not come into contact with any other elements or structural features between the entry point and the link (in particular, it may not be guided). For example, the path of the operating member's extension from the entry point to the link may be defined solely by the link (e.g., its position and / or orientation) and structural features at the entry point. The operating member may be, for example, an operating wire or rod extending along the operating direction.

[0035] The lateral displacement (hereinafter referred to as d) between the lifting base pivot shaft and the entry point where the operating member enters the lifting base assembly may be less than the radial distance from the lifting base pivot shaft to the link pivot shaft (in some examples less than 95%, preferably less than 90%, more preferably less than 75%, most preferably at least 65%, and in one example less than 50%). The lateral displacement may be, for example, 30% to 95% of the radial distance from the lifting base pivot shaft to the link pivot shaft, and in some examples 50% to 90%. The lateral displacement between the lifting base pivot shaft and the entry point may be measured perpendicular to the operating direction (i.e., direction of linear motion) of the lifting base pivot shaft and the operating member, for example (e.g., in the raised position, or preferably in the lifting base state where the magnitude of bending of the operating member is minimal (e.g., no bending)). In other words, the lateral displacement may correspond to the distance between the pivot axis of the lifting platform and the operating axis on which the operating member (or its proximal portion) moves (i.e., the axis defined by the operating direction, for example, a line parallel to the operating direction extending along the operating member, and / or the line of extension of the operating member when exhibiting a minimum amount of bending).

[0036] In addition to this, or alternatively, the lateral displacement d is the effective lever arm length in the raised state (d in this specification). eff The effective lever arm length d is smaller than (called), preferably less than 95%, more preferably less than 90%, less than 80% in some cases, most preferably less than 70%, and may be less than 60% in one case. eff This may be the radial distance from the pivot axis of the lifting base to the connecting line extending radially from the link pivot axis to the entry point of the operating member. The lateral displacement may be, for example, the effective lever arm length d. eff 30% to 95%, or in some cases 50% to 90%, may be appropriate.

[0037] In addition to or instead of the above, the lateral displacement d may be less than 150%, in some cases less than 125%, preferably less than the longitudinal displacement, more preferably less than 90%, most preferably less than 75%, in some cases less than 65%, in one case less than 60%, and in one case less than 50% of the longitudinal displacement e between the pivot axis of the lifting platform and the entry point of the operating member. The longitudinal displacement e may be measured, for example, parallel to the operating direction z of the operating member. Choosing a longitudinal displacement greater than the lateral displacement may be advantageous in order to avoid performance problems in the raised state.

[0038] Once accepted by the link, the operating member may extend from the link at an angle β (e.g., along the link operating axis and / or from the connection point and / or exit point). The angle β may be defined, for example, with respect to the outer circumference of the link when viewed along the link pivot axis (e.g., the angle between the link operating axis (i.e., the line defined by the operating member as it enters the link) and the outer circumference). Alternatively, the angle β may be defined with respect to the connection line from the exit point (where the operating member "enters" the link / leaves the link) to the link pivot axis in a projection parallel to the link pivot axis (e.g., along the link pivot axis) (e.g., the distance D between the link operating axis and the connection point). β(The angle between this connecting line and the link pivot axis is measured). In addition to this, or alternatively, angle β may be defined with respect to the connecting line from the link pivot axis to the link pivot axis in a projection parallel to (e.g., along) the link pivot axis. (e.g., the angle between the link operating axis and this connecting line). Angle β is generally not zero, but may be zero in some examples (e.g., at least in certain states of the lifting platform). Angle β may be the same or substantially the same (e.g., the difference is less than 10°, preferably less than 5°, less than 2° in one example, less than 1° in another example) when the lifting platform is in the retracted state and when the lifting platform is in the raised state, and may be the same or substantially the same in some examples in all accessible states of the lifting platform (i.e., angle β may be fixed or substantially fixed). This can be achieved, for example, by fixing the operating member to the link (i.e., so that it cannot rotate), by selecting appropriate stiffness for the operating member, especially its distal end or distal portion (e.g., by the material and / or physical dimensions of the operating member, e.g., diameter), and / or by providing a guide structure on the link as described below. The angle β can affect (e.g., determine) the transmission of force and / or torque from the operating member to the link and / or the state of the link (e.g., position and / or orientation), related to a given state of the operating member and / or the lifting platform (e.g., a given position or displacement along the operating direction), for example, due to the non-zero stiffness and / or bending radius of the operating member. β The length of the link can have an additional positive effect on the stability of the link, for example, when pushing or pulling the lifting platform. As detailed above, length D β It may be larger than 4 mm, preferably larger than 5 mm, and most preferably larger than 6 mm.

[0039] The link may include a guide structure for guiding the operating member in a plane perpendicular to the link pivot axis when it is received by the link. The guide structure may be configured to guide the operating member so that it extends from the link along the link operating axis, for example, as described above. The guide structure may be configured to confine the operating member in a plane perpendicular to the link pivot axis (i.e., in the lateral direction) (i.e., restrict the movement of the operating member) by, for example, one or more mechanical stoppers. The guide structure may, in particular, be configured to restrict the pivotal / rotational movement (i.e., range) of the operating member relative to the link. The guide structure can, for example, restrict the accessible range of angle β over which the operating member can move or pivot. In some examples, the guide structure may be configured to prevent the operating member from pivoting relative to the link in a plane perpendicular to the link pivot axis (i.e., about a pivot axis parallel to the link pivot axis). In other words, the guide structure may be configured to hold the operating member at a fixed (or substantially fixed) angle β, regardless of the state of the link and / or lifting base, to ensure that the operating member extends in a predetermined direction fixed from the connection point relative to the link. The guide structure can define an exit point for the operating member. The guide structure may include, for example, an insertion structure (e.g., an insertion opening or notch) through which the operating member is inserted into the link (e.g., through the insertion structure). The insertion structure can define an exit point.

[0040] In some embodiments, the guide structure or a part thereof is positioned in one or both the retracted and raised states on or near the normal (perpendicular to the link operating axis) from the link operating axis to the lifting base pivot axis (along which the operating member extends from the link). In addition, or alternatively, the exit point of the operating member may be positioned on or near the said normal. This may be advantageous, for example, for mechanically stabilizing the lifting base assembly. The said part of the guide structure may be, for example, the most proximal part of the guide structure (e.g., a guide element or a fixed element) and / or an insertion structure (e.g., an insertion opening or notch) through which the operating member is inserted into the link (e.g., through which the operating member inserted into the link passes). The said normal may correspond to the line on which the distance D3 is measured. The distance between the guide structure or any part thereof and the normal (and / or the distance between the exit point and the normal) may be less than 60%, preferably less than 45%, less than 25% in some cases, less than 10% in some cases, and less than 5% in one case, of the distance D1 between the lifting base pivot axis and the link pivot axis.

[0041] The link may be configured to pivot relative to the lifting platform (i.e., in the reference coordinate system of the lifting platform / viewed from the lifting platform) in the opposite direction to the lifting platform's pivotal movement when the lifting platform pivots from the stowed position to the raised position around the lifting platform pivot axis. This reduces mechanical stress on the operating member, as the rotation of the link can at least partially compensate for the rotation of the lifting platform (in the reference coordinate system of the endoscope tip / external observer), thereby reducing bending of the operating member (e.g., the bending angle between the operating direction and the direction of extension from the connection point of the operating member). In addition, or alternatively, this may also allow for greater torque to be generated in the lifting platform.

[0042] The lifting platform assembly may include one or more mechanical stoppers to limit the pivot range of the link about the link pivot axis. One or more mechanical stoppers may be configured, for example, to prevent the link from rotating beyond the pivot angle relative to the lifting platform (and / or the endoscope tip) by contacting the link at each pivot angle relative to the lifting platform (and / or the endoscope tip). Apart from (optional) mechanical stoppers, the link may be freely connected to the lifting platform, i.e., in some examples, the pivotal motion of the link about the link pivot axis may not be limited, guided, and / or influenced by any element or structural feature (other than the lifting platform and the operating member itself). One or both of the raised and retracted states may be associated with one of these mechanical stoppers, for example, such that the link contacts the corresponding mechanical stopper when the lifting platform reaches each state. In addition to or instead of this, one or more mechanical stoppers may be associated with intermediate states between the raised and retracted states (reaching such mechanical stoppers in the intermediate states) to prevent further rotation of the links as, for example, the lifting platform moves beyond the intermediate state to the raised and retracted states, respectively. The mechanical stoppers may be, for example, positioned (e.g., formed) on the lifting platform and / or provided as part of the endoscope tip, for example, positioned on the housing of the endoscope tip.

[0043] The lifting platform may include a front surface on which endoscopic instruments are placed. The front surface may include an instrument receiving structure, e.g., an instrument receiving surface, on which endoscopic instruments are placed. The instrument receiving structure may include a recess or depression on which endoscopic instruments are placed and optionally held or maintained. The instrument receiving surface may be curved, for example, to form a recess on which endoscopic instruments are placed, and may be particularly shovel-shaped. When the lifting platform is in the raised position, the front surface of the lifting platform may face, at least partially (e.g., below a certain angle) in the proximal direction (e.g., opposite to the insertion direction), e.g., towards the lifting platform assembly or the proximal end of the endoscope tip, e.g., the insertion tube and / or working conduit of the endoscope. When the lifting platform is in the retracted position, the front surface and / or instrument receiving structure may be parallel to the insertion direction or at a small angle (e.g., coplanar with the working conduit) to the insertion direction, e.g., to allow for easy placement of endoscopic instruments therein.

[0044] The link can engage with (e.g., mechanically connect) the riser on the rear side of the riser opposite to the front side (e.g., facing away from the instrument receiving structure), for example, the side facing (at least partially) in the distal / insertion direction when the riser is raised. Preferably, the link engages with the riser symmetrically around the center of the rear side in a direction parallel to the riser pivot axis (e.g., the center or near the center). This can reduce or prevent twisting of the riser, for example. In some examples, the link does not have to engage with (e.g., not mechanically connect and / or contact with, and especially not attached to) the lateral side of the riser facing parallel to the riser pivot axis (e.g., the side).

[0045] The force transmission contact surface between the link and the lifting base may be configured (e.g., positioned and / or molded) such that the force transmission contact surface is included in the central portion of the lifting base's overall width parallel to the lifting base pivot axis. The overall width of the lifting base may be, for example, the maximum range or physical dimension of the lifting base when viewed perpendicular to the lifting base pivot axis. The central portion of the overall width may be, for example, the central 75% of the overall width (e.g., ±37.5% of the overall width around the center of the lifting base, e.g., the geometric center or central axis), 60% in some examples, preferably 50%, 40% in one example, or 33% in another example. The force transmission contact surface may be, for example, the surfaces of the lifting base and the link that come into contact with each other when the operating member is moved along the operating direction to transmit force from the link to the lifting base (e.g., apply force to the lifting base).

[0046] The stabilizing platform may include a pair of pin-like projections on both sides of the platform (e.g., the lateral surfaces). When used herein, the lateral surfaces of the stabilizing platform may be, for example, the lateral surfaces viewed along the insertion direction, and in particular the surfaces of the stabilizing platform facing in a direction parallel to the stabilizing platform pivot axis. The pin-like projections may be rotatably positioned in corresponding receiving structures (e.g., holes and / or recesses) of the endoscope tip to allow pivoting of the stabilizing platform about the stabilizing platform pivot axis. The pin-like projections may be formed integrally with the lateral surfaces of the stabilizing platform. The pin-like projections allow the stabilizing platform to be pivotably positioned without requiring a through-hole in the stabilizing platform for a mechanical shaft (e.g., a shaft) extending through the stabilizing platform (i.e., the pin-like projections are not portions of a mechanical shaft extending through the stabilizing platform that protrude from the lateral surface). This allows for less stringent tolerance requirements and / or provides greater freedom in the design of the stabilizing platform, particularly the instrument receiving structure. For example, the lifting platform can be designed so that its pivot axis extends through the endoscopic instrument, which is positioned on and / or inside the lifting platform (for example, in the position where a shaft would normally be located).

[0047] The link may be configured such that, when the lifting platform is in the raised position, the longitudinal range of the link parallel to the operating direction of the operating member is greater than the longitudinal range of the lifting platform, preferably at least twice as large, at least three times as large in some examples, and at least five times as large in one example. The longitudinal ranges of the link and the lifting platform may be measured, for example, at the link pivot axis. In other examples, the longitudinal ranges of the link and the lifting platform may refer, for example, to the maximum longitudinal ranges of the link and the lifting platform at any given position. In addition, or alternatively, the longitudinal ranges of the link and the lifting platform may refer, for example, to the longitudinal range, in particular the maximum longitudinal range, of the portion of each of the link and the lifting platform that protrudes from the tip of the endoscope and / or is visible when the tip of the endoscope is viewed along the lifting platform pivot axis. The lifting platform may have an "aggressive shape" (e.g., a small longitudinal range, a large aspect ratio, and / or sharp corners and / or edges) to enable or facilitate the insertion of endoscopic instruments into and / or the raising of endoscopic instruments from the endoscope tip (e.g., from the work conduit). This aggressive shape may cause tissue trauma or perforation if it is inadvertently left in the raised position during insertion or withdrawal of the endoscope tip. When viewed along the pivot axis of the lifting platform, a larger link may at least partially cover (or wrap around) the lifting platform, and thus reduce the risk of tissue trauma or perforation by reducing the possibility of pinching tissue when moving the lifting platform and / or the endoscope tip.

[0048] The link (e.g., its outer circumference) may include one or more chamfered and / or rounded corners, and / or chamfered and / or rounded edges, to give the link a "smoother" shape by avoiding, for example, sharp corners or features, when viewed along the pivot axis of the lifting platform (e.g., in the raised position). In addition to this, or alternatively, the same may apply to the lifting platform. This, too, may help reduce the risk of tissue trauma or perforation by reducing the possibility of pinching tissue when moving the lifting platform and / or the endoscope tip. One or both ends of the link (e.g., the proximal and / or distal ends of the link in the raised position) when viewed along the pivot axis of the lifting platform may be tapered (e.g., on one or both sides, particularly on the side facing away from the pivot axis of the lifting platform and / or exposed from the endoscope tip), such that the height of the link (e.g., perpendicular to the operating direction and the pivot axis of the lifting platform) increases toward its central portion. In addition to or instead of this, the distal end and / or side of the lifting base (facing away from the lifting base pivot axis) may have chamfered and / or rounded corners and / or chamfered and / or rounded edges.

[0049] A lifting platform assembly according to any one of the examples described herein may be included in the endoscope tip (which may also be called the “endoscope head” or “distal head”). In other examples, the lifting platform assembly may be provided as a separate unit for use with the endoscope tip, for example, to be assembled by the user. The lifting platform assembly may be permanently or detachably included in the endoscope tip (e.g., attached, mounted, and / or integrated). In one example, the lifting platform assembly is detachably attached to the endoscope tip via one or more snap fittings. In some examples, the lifting platform assembly or a part thereof may be formed integrally with the endoscope tip.

[0050] The endoscope tip may include a housing (e.g., a cover or frame) for accommodating, for example, a lifting platform assembly or a part thereof, and / or other components. The endoscope tip may include an imaging system, particularly one oriented laterally (e.g., away from the insertion and / or operating direction, e.g., perpendicular to the insertion and / or operating direction). The imaging system may include, for example, a photosensitive detector such as a camera and an optional light source. The endoscope tip may be configured to be located (e.g., mounted and / or attached) at the distal end of the endoscope, for example, at the distal end of the insertion tube of the endoscope. The endoscope tip may be permanently or detachably located at the distal end of the endoscope. In some examples, the endoscope tip may be formed integrally with the endoscope or a part thereof, e.g., the insertion tube.

[0051] When the lifting platform is in the raised position (e.g., the lifting platform is at a 90° angle to the insertion direction, and / or the lifting platform is fully raised, and / or in the configuration for use), the lifting platform may protrude from the endoscope tip (e.g., its housing) in particular when viewed along the lifting platform pivot axis (i.e., it may protrude in a plane perpendicular to the lifting platform pivot axis). The lifting platform may protrude from the endoscope tip, for example, such that a portion of the lifting platform extends beyond the outer circumference (or footprint) of the endoscope tip (and is therefore visible, for example, when viewed along the lifting platform pivot axis). For example, at least 10%, at least 20%, at least 30%, and at least 50% of the length of the lifting platform (measured radially from the lifting platform pivot axis to, for example, the distal tip of the lifting platform) may be outside the outer circumference of the endoscope tip in the raised position. Especially with small endoscopes, extending the lifting platform beyond the endoscope tip can provide additional space for the lifting platform assembly, which can, for example, enable the generation of greater force or torque on the endoscopic instrument.

[0052] In some cases, the link pivot axis may be located outside the outer circumference of the endoscope tip (e.g., its housing) when the lifting platform is in the raised position, when viewed along the lifting platform pivot axis. For example, at least 5%, at least 10%, at least 20%, at least 50% of the connecting line between the lifting platform pivot axis and the link pivot axis, for example, 5% to 75%, at least 10% to 50% of the connecting line, may be located outside the outer circumference of the endoscope tip when the endoscope is in the raised position. Particularly in the case of small endoscopes, positioning the link pivot axis outside the endoscope tip may make it possible to generate greater torque on the lifting platform when the endoscope is in the raised position.

[0053] When the lifting platform is in the raised position (where the lifting platform can define the highest point of the endoscope tip), for example, when the lifting platform is in the raised position at a 90° angle with respect to the insertion direction and / or when the lifting platform is in the fully raised position and / or in the use configuration, the total height of the endoscope tip (i.e., including the lifting platform assembly with the lifting platform) in a direction perpendicular to the lifting platform pivot axis (e.g., a direction perpendicular to the operating direction) may be at least 10%, at least 20% in some cases, preferably at least 30%, most preferably at least 50%, at least 75% in some cases, and at least 100% in some cases, greater than when the lifting platform is in the retracted position (where the lifting platform does not necessarily protrude from the endoscope tip, and therefore another part of the endoscope tip, e.g., the housing or imaging system, can constitute the highest point that defines the height of the endoscope, which may also be called the nominal height of the endoscope). The total height of the endoscope in the raised position may be, for example, 110% to 300%, and in some cases 120% to 200%, of the total height in the retracted position.

[0054] The endoscope tip may include a housing in which the lifting platform assembly is housed. The housing may include lateral side walls (e.g., as part of a pair of opposing lateral side walls) oriented parallel to the lifting platform pivot axis (e.g., extending perpendicular to the lifting platform pivot axis). In some examples, the lateral side walls may include openings (e.g., holes or notches) such that the lateral side walls do not cover or enclose at least a portion of the lifting platform assembly. Links may be positioned in the openings, for example, when the lifting platform is in the stowed and / or raised position. The sides of the links (e.g., extending perpendicular to the lifting platform pivot axis) may at least partially cover the openings so as to cover or enclose other parts of the lifting platform assembly when viewed along the lifting platform pivot axis. In other words, the sides of the links may replace a portion of the lateral side walls of the housing (e.g., form or function as a movable side wall portion). The links may be positioned in the same plane as the lateral sidewalls perpendicular to the pivot axis of the lifting platform. The sides of the links may be coplanar with the lateral sidewalls, i.e., positioned at the same location along the pivot axis of the lifting platform. The sides of the links may have dimensions such that, when the lifting platform is in the retracted position, they cover at least 25%, preferably at least 50%, and in one example at least 75%, of the cross-sectional area of ​​the opening as viewed along the pivot axis of the lifting platform. In one example, the sides may cover all or essentially all (e.g., more than 90%, and in one example more than 95%) of the cross-sectional area of ​​the opening when the lifting platform is in the retracted position.

[0055] A lifting platform assembly and / or an endoscope tip according to any one of the examples described herein may be included in the endoscope (e.g., permanently or detachably). The lifting platform assembly and / or endoscope tip may be located (e.g., attached, mounted, and / or integrated) at the distal end of the endoscope, for example, at the distal end of the insertion tube of the endoscope. In other examples, the lifting platform assembly and / or endoscope tip may be provided as a separate unit for use with the endoscope, for example, to be assembled by the user.

[0056] The endoscope may be, in particular, a duodenal endoscope and / or an endoscope used in pediatrics (i.e., on children). However, the disclosure is not limited to any particular type of endoscope, and may be used in, for example, but not limited to, bronchoscopes, sinusoscopes, nasopharyngoscopes, laryngoscopes, laparoscopes, gastroscopy, colonoscopes, ultrasound endoscopes, hysteroscopes, cystoscopes, uroscopes, urethroscopes, cardioscopes, arthroscopes, ultrasound endoscopes, and undeveloped endoscopes in which the accessory lifting platform is clinically useful or the endoscope itself may include an integrated mechanism in which it functions similarly to an accessory. The endoscope (e.g., its insertion tube) may have a diameter (e.g., outer diameter) of 1 mm to 30 mm, and in some cases 2 mm to 20 mm. The endoscope may be a particularly small endoscope, and may have a diameter of, for example, less than 12 mm, in some cases less than 10 mm, in some cases less than 8 mm, and in one case less than 6 mm. The endoscope may be a reusable endoscope, but preferably a single-use ("disposable") endoscope, for example, an endoscope configured for single use and intended to be discarded after use (e.g., not configured or unsuitable for a second use, e.g., disinfection or sterilization).

[0057] The endoscope may include an operating member for operating a lifting platform, which may be embodied as an operating wire or rod. The endoscope may include an insertion tube. The insertion tube may include one or more conduits for receiving (e.g., positioning and / or guiding) elements or devices such as endoscopic instruments (e.g., into a working conduit) and / or operating members (e.g., into an operating conduit, which may be separate from the working conduit). In some examples, the endoscope may include endoscopic instruments. The operating member may be located inside the insertion tube (e.g., in a conduit provided therein). The operating member may extend along the entire length of the insertion tube (i.e., from the proximal end to the distal end) or a portion of it (e.g., at least the distal portion). The endoscope may further include an interface / control unit, which may be connected to, for example, the proximal end of the insertion tube. The interface / control unit may include a control mechanism, such as a control knob or lever, for operating the operating member. The operating member may be connected (directly or indirectly) to the control mechanism, which in some examples may extend from the lifting platform assembly to the control mechanism.

[0058] When the lifting platform is in the raised position, it may be highly visible within the field of view of an endoscopic imaging system (e.g., a camera) for purposes such as providing the operator with visual information regarding the position of the lifting platform. The lifting platform may protrude, for example, 10%, preferably 20%, and in some cases up to 30%, into the field of view when measured across the range of the field of view (i.e., the lifting platform may extend, for example, 10%, preferably 20%, and in some cases up to 30%, of the width of the image captured by the imaging system).

[0059] The present disclosure and its examples are described in detail below with reference to the drawings. Each drawing shows the following schematic diagram. [Brief explanation of the drawing]

[0060] [Figure 1] This diagram shows a schematic representation of an endoscope as an example of the disclosure. [Figure 2a]A schematic diagram of the endoscope tip having a lifting platform assembly according to an example of this disclosure is shown in a side view. [Figure 2b] A schematic side view of the lifting platform assembly at the tip of the endoscope in Figure 2a, in the raised position, according to an example of this disclosure, is shown. [Figure 2c] Figure 2a shows a schematic side view of the lifting platform assembly at the tip of the endoscope, in which the lifting platform is in the retracted position, according to an example of this disclosure. [Figure 3a] A schematic diagram of the endoscope tip having a lifting platform assembly according to another example of this disclosure is shown in a side view. [Figure 3b] A schematic diagram of the endoscope tip having a lifting platform assembly according to another example of this disclosure is shown in a side view. [Figure 3c] A schematic diagram of the endoscope tip having a lifting platform assembly according to another example of this disclosure is shown in a side view. [Figure 4a] Figures 3a to 3c show schematic side views of the endoscope tip lifting platform assembly. [Figure 4b] Figures 3a to 3c show schematic diagrams of the endoscope tip lifting platform assembly in perspective views. [Figure 4c] Figures 3a to 3c show schematic diagrams of the endoscope tip lifting platform assembly in perspective views. [Figure 5a] A schematic side view shows an endoscope tip having a small endoscope lifting platform assembly according to another example of the present disclosure. [Figure 5b] A schematic side view shows an endoscope tip having a small endoscope lifting platform assembly according to another example of the present disclosure. [Figure 5c] Figures 5a and 5b show schematic diagrams of the endoscope tip in perspective. [Figure 6a] A schematic diagram of the endoscope tip having a lifting platform assembly according to another example of this disclosure is shown in a perspective view. [Figure 6b] Figure 6a shows a schematic diagram of the lifting platform at the tip of the endoscope. [Modes for carrying out the invention]

[0061] Figure 1 shows a schematic diagram (not to scale) of an endoscope 10 according to an example of the present disclosure. The endoscope 10 includes an endoscope tip (or distal head) 12, an insertion tube 14 attached to the endoscope tip 12, and an interface / control unit 16 having a connector 18 to which the insertion tube 14 is connected. The endoscope tip 12 may be an endoscope tip according to any one of the examples described herein, for example, any one of the endoscope tips described below with reference to Figures 2 to 5. The insertion tube 14 extends from the proximal end of the endoscope 10 where the interface / control unit 16 is located to the distal end of the endoscope 10 where the endoscope tip 12 is located. The insertion tube 14 defines the longitudinal direction or insertion direction of the endoscope 10, along which the endoscope 10 (i.e., at least a portion of the endoscope tip 12 and insertion tube 14) is inserted into the body of a patient (not shown).

[0062] The endoscope 10 further includes an operating member 20 for operating the lifting platform of a lifting platform assembly (not shown) within the endoscope tip 12, for example, as detailed below with reference to Figures 2 to 5. The operating member 20 may correspond to, for example, one of the operating members 108 in Figures 2 to 5. The lifting platform assembly within the endoscope tip 12 may be a lifting platform assembly according to any one of the examples described herein, for example, one of the lifting platform assemblies 100, 200, and 300 described below with reference to Figures 2 to 5. The operating member 20 is located within the insertion tube 14 (e.g., an internal operating conduit) and extends from the interface / control unit 16 to the endoscope tip 12. The interface / control unit 16 includes a control mechanism 22 connected to the operating member 20 for operating the operating member 20. The control mechanism 22 may be embodied, for example, as a control knob or a control lever. By operating the control mechanism 22 (for example, by rotating it), the operating member can be moved linearly along the operating direction (Z direction in Figure 1). The operating direction may coincide with the insertion direction of the endoscope 10, that is, it may be parallel or substantially parallel to the insertion direction.

[0063] The interface / control unit 16 includes a port 24A through which an endoscopic instrument (not shown), such as the endoscopic instrument 24 shown in Figures 2a-2c, can be inserted into the insertion tube 14, for example, into the working conduit of the insertion tube 14. The endoscopic instrument can pass through the insertion tube 14 to the endoscope tip 12, where the endoscopic instrument (i.e., its distal tip or distal portion) can be raised from the endoscope tip 12, for example, laterally, by a lifting platform, as described below with reference to Figures 2a-2c, for example, to perform surgical and / or diagnostic procedures.

[0064] Figure 2a shows a schematic (not to scale) side view of an endoscope tip 12 according to an example of the present disclosure (for example, along the pivot axis 104). The endoscope tip 12 may be located at (or configured to be located at) the distal end of the insertion tube (not shown) of an endoscope such as the endoscope 10 in Figure 1. The endoscope tip 12 includes a housing 12A in which the lifting assembly 100 according to an example of the present disclosure is located.

[0065] The lifting platform assembly 100 is configured to receive the endoscopic instrument 24 (e.g., its distal portion or tip) through the proximal opening 26 of the housing 12A, for example, from the insertion tube (e.g., its working conduit). The lifting platform assembly 100 includes a lifting platform 102 configured to raise the endoscopic instrument 24 through the lateral opening 28 in order to move or lift the distal portion or tip of the endoscopic instrument 24 out of the lateral opening 28 of the housing 12A. The lifting platform 102 may also be used, for example, to position the endoscopic instrument 24 (e.g., its distal portion or tip) within the field of view of an imaging system 30 facing laterally to the endoscope tip 12, the imaging system 30 may include, for example, a camera (not shown) and an optional light source (not shown). Figures 2b and 2c show the lifting platform assembly 100 with the lifting platform 102 in the raised and retracted positions, respectively.

[0066] To raise the endoscopic instrument 24, the lifting platform 102 is pivotably positioned within the endoscope tip 12 so as to pivot (rotate) around a lifting platform pivot axis 104, which may be aligned, for example, with the field of view in Figure 2a. By pivoting the lifting platform 102 around the lifting platform pivot axis 104, the lifting platform 102 can be moved from a retracted state, for example, as shown in Figure 2c, to a raised state, for example, as shown in Figures 2a and 2b. The retracted state may be, for example, a state used for inserting the endoscope tip 12 into the patient's body and / or positioning the endoscopic instrument 24 on the lifting platform 102. In the retracted state, the lifting platform 102 may be positioned such that, for example, the lifting platform 102 and the endoscopic instrument 24 do not protrude from the housing 12A (for example, they extend at a small angle with respect to the insertion direction). On the other hand, in the raised position, the lifting platform 102 may be positioned such that the endoscopic instrument 24 rises (e.g., protrudes) (e.g., extends at a large angle with respect to the insertion direction) from the housing 12A, as shown in Figure 2a. The raised position may be, for example, a state used to enable the endoscopic instrument 24 to function, for example, a state in which the endoscopic instrument 24 is positioned within the field of view of the imaging system 30.

[0067] The lifting platform assembly 100 further includes a link 106 configured to receive an operating member 108 (e.g., a cable, operating wire, or rod) for operating the lifting platform 102. Similar to the endoscopic instrument 24, the operating member 108 enters the endoscope tip 12, for example, from an insertion tube (e.g., its operating conduit), through a proximal opening 26. An insertion structure 26A (as part of the lifting platform assembly 100 or the endoscope tip 12) is provided at or near the proximal opening 26 for inserting the operating member 108 into the lifting platform assembly 100. The insertion structure 26A defines an entry point 109 into which the operating member 108 enters the lifting platform assembly 100. The insertion structure 26A may be configured, for example, to restrict or prevent lateral movement (perpendicular to the operating direction z) of the operating member 108 so that the entry point 109 is fixed. The insertion structure 26A may be embodied, for example, as an entrance hole or notch through which the operating member 108 can pass.

[0068] The operating member 108 is mechanically connected to the link 106 at the connection point 110, where the operating member 108 may be attached to the link 106 by, for example, hooking, gluing, soldering, or otherwise (in a manner that allows for assembly and non-destructive disassembly). The link 106 is configured to receive the operating member 108 such that the operating member 108 extends from the link 106 along the link operating shaft 111 (for example, from its outer circumference as shown in Figures 2a-2c, from an exit point 110A as defined below, and / or from the connection point 110), and the link operating shaft 111 may be perpendicular or substantially perpendicular to the lifting base pivot shaft 104. Link 106 can define an exit point 110A for the operating member 108, which is the last point on Link 106 (when viewed in a proximal direction toward the proximal opening 26 / proximal end of the endoscope tip 12) to which the operating member is fixed and / or guided by Link 106, from which the operating member 108 extends along the link operating axis 111 (for example toward the insertion structure 26A / entrance point 109). The exit point 110A may be defined, for example, by a link guiding structure, in particular an insertion structure of the link, such as the insertion structure 202 described below with reference to Figures 4a-4c.

[0069] To operate the lifting platform 102, the operating member 108 is configured to move linearly along an operating direction corresponding to the Z direction in Figures 2a to 2c, which can coincide with the insertion direction of the endoscope. Link 106 mechanically connects the operating member 108 to the lifting platform 102. As a result, the linear motion of the operating member 108 along the operating direction is converted into the pivotal motion of the lifting platform 102 around the lifting platform pivot shaft 104, and therefore the linear displacement δz of the operating member along the operating direction produces the angular displacement δω of the lifting platform 102 around the lifting platform pivot shaft 104.

[0070] Link 106 is connected to the lifting base 102 so that link 106 can pivot relative to the lifting base 102 about the link pivot shaft 112. The link pivot shaft 112 may extend parallel to the lifting base pivot shaft 104, for example, along the direction of the field of view in Figure 2a. Link pivot shaft 112 is radially displaced relative to the lifting base pivot shaft 104 so that the lifting base pivot shaft 104 and the link pivot shaft 112 extend through both ends of the lifting base 102, for example as shown in Figure 2a. In the example in Figures 2a to 2c, the connection point 110 to which the operating member 108 is mechanically connected to link 106, and the link operating shaft 111 (and the exit point 110A) are also radially displaced relative to the link pivot shaft 112. Alternatively, in other examples, one or both of the connection point 110 and the link operating shaft 111 may be located on / intersect with the link pivot shaft 112. The connection point 110 may be displaced / shifted from both the link operating shaft 111 and the link pivot shaft 112 (as in the examples in Figures 5a-5c) to make the assembly more compact.

[0071] Link 106 is configured such that the angular displacement δω of the lifting platform 102 per unit length of the linear displacement δz of the operating member 108 (operating ratio δω / δz) depends on the state of the lifting platform 102 (i.e., its orientation or direction around the lifting platform pivot axis 104). In particular, link 106 is configured such that the operating ratio δω / δz decreases as the lifting platform 102 moves from the stowed state to the raised state. Therefore, a given linear displacement δz results in a smaller angular displacement δω in the raised state compared to the stowed state, as indicated by the lengths of the arrows corresponding to Figures 2b and 2c. In this way, the lifting platform 102, and therefore the endoscopic instrument 24, can be raised quickly from the stowed state (although the torque on the lifting platform 102 is smaller), and at the same time, a large torque can be generated on the lifting platform 102, and therefore the endoscopic instrument 24, in the raised state (although the operating member 108 needs to be moved or displaced more). This makes it possible to optimally utilize the operating range of the control mechanism that controls the operating member 108, such as the control mechanism 22 in Figure 1.

[0072] As a result of the pivotable arrangement of link 106, the (voluntary) displacement between the link pivot shaft 112 and the connection point 110, and the (voluntary) displacement between the link pivot shaft 112 and the link operating shaft 111, the lifting platform assembly 100 provides several degrees of freedom or adjustment parameters that allow for flexible adjustment of the torque / motion profile of the lifting platform 102 (e.g., the transition of the operating ratio δω / δz as a function of the state or orientation of the lifting platform 102), so that the lifting platform assembly 100 can be specifically adapted to a particular application.

[0073] One such adjustment parameter is, for example, as shown in Figures 2b and 2c, the lever ratio D1 / D2 between the radial distance D1 from the pivot shaft 104 to the link pivot shaft 112 and the projected length D2 obtained by projecting the connection line / vector from the pivot shaft 104 to the point closest to the link pivot shaft 112 along the link operating axis 111 onto the connection line extending radially from the pivot shaft 104 to the link pivot shaft 112 (in other words, the projected length D2 is the connection line / vector from the pivot shaft 104 to the link pivot shaft 112 (i.e., the line on which distance D1 is measured) and the connection line / vector from the link pivot shaft 112 to the point closest to the link pivot shaft 112 on the link operating axis 111 (i.e., the offset distance D off The vector sum of the line on which the measurement is taken is the projected length obtained by projecting the vector sum with the line on which the measurement is taken onto the connection line from the lifting base pivot shaft 104 to the link pivot shaft 112. Link 106 may be configured such that, for example, the lever ratio D1 / D2 is greater in the raised state (see Figure 2b) than in the stowed state (see Figure 2c). A larger lever ratio may contribute, for example, to an increase in the torque transmitted to the lifting base 102. Link 106 may further be configured such that the lever ratio D1 / D2 is greater than 1 in either or both of the raised and stowed states (as shown in Figures 2b and 2c). In other examples, the lever ratio D1 / D2 may be less than 1 in either or both of the raised and stowed states.

[0074] Other such adjustment parameters are the offset distance D between the link pivot shaft 112 and the link operating shaft 111, as shown in Figures 2b and 2c. off (i.e., the minimum distance between the link pivot axis 112 and the link operating axis 111 when viewed along the link pivot axis 112) and / or the radial distance D from the link pivot axis 112 to the exit point 110A β The offset distance D is... off The distance D (which may remain constant or substantially constant during the operation of the lifting platform 104) may be, for example, 2% to 50% of the radial distance D1 from the lifting platform pivot shaft 104 to the link pivot shaft 112, and in some cases, 4% to 10%. β (which may remain constant or substantially constant during the operation of the lifting platform 104) may be, for example, at least 25%, preferably at least 50%, of the distance D1 from the lifting platform pivot shaft 104 to the link pivot shaft 112.

[0075] Furthermore, the lifting platform assembly 100 is configured such that the radial distance D1 from the lifting platform pivot shaft 104 to the link pivot shaft 112 is greater than the lateral displacement d between the lifting platform pivot shaft 104 and the entrance point 109 into which the operating member 108 (extending along the operating direction Z) enters the lifting platform assembly 100, and this lateral displacement is measured perpendicular to the operating direction in a plane perpendicular to the lifting platform pivot shaft, as shown in Figures 2b and 2c. The lateral displacement d may be limited by the size of the endoscope tip 12 and / or insertion tube 14, in particular its diameter. Nevertheless, a larger radial distance D1 allows for a considerable lever action to be achieved, and thus a large torque can be generated in the lifting platform 102 when it is in the raised position. Preferably, the longitudinal displacement e (measured parallel to the operating direction z) between the lifting base pivot shaft 104 and the entrance point 111 is similar to or greater than the lateral displacement d, for example, 67% to 200% of the lateral displacement d.

[0076] The radial distance from the pivot shaft 104 of the lifting base to the connecting line extending radially from the link pivot shaft 112 to the entry point 111 of the operating member 108 (i.e., the length of the normal to the connecting line extending through the pivot shaft 104 in a plane perpendicular to the pivot shaft 104) is the effective lever arm length d eff The effective lever arm length d can be determined. eff This can influence the torque generated in the lifting platform 102 with a given force applied to the operating member 102 along the operating direction z (and therefore applied to the link 106 along the link operating shaft 111), for example, by increasing the effective lever arm length d eff This provides greater torque to the lifting platform 102. The lifting platform assembly 100 has a greater effective lever arm length d in the raised position than in the retracted position, as shown in Figures 2b and 2c. eff It is configured to increase the effective lever arm length d in the raised state. eff This is greater than the lateral displacement d.

[0077] When the operating member 108 moves along the operating direction (for example, by pulling the operating member 108 proximal / towards the proximal opening 26 (i.e., to the left in Figures 2a-2c) to raise the lifting platform 102 from the retracted state to the raised state, or by releasing the operating member 108 or pushing the operating member 108 distally / away from the proximal opening 26 (i.e., to the right in Figures 2a-2c) to lower the lifting platform 102 from the raised state to the retracted state), the link 106, which is mechanically connected to the operating member 108 at the connection point 110, can move in a plane perpendicular to the lifting platform pivot shaft 104 (i.e., in the plane of Figures 2a-2c). The link 106 can be pulled proximal or pushed distally by the operating member 108, for example. This allows the lifting platform 102, which is mechanically connected to the link 106 at the link pivot shaft 112, to be moved between the retracted state and the raised state by, for example, pulling the lifting platform 102 proximal or pushing it distally at the link pivot shaft 112 using the link 106.

[0078] Simultaneously, since link 106 is pivotably connected to the lifting base 102, link 106 can pivot relative to the lifting base 102 about the link pivot axis 112 (i.e., in the reference coordinate system of the lifting base 102). In other words, link 106 can perform both translational motion (at least partially, which may be along the direction of operation) and pivotal / rotational motion in a plane perpendicular to the lifting base pivot axis 104. In this case, link 106 can pivot around the link pivot axis 112 (relative to the lifting platform 102) in the opposite direction to the pivot movement of the lifting platform 102, for example, as shown in Figures 2b and 2c, such that link 106 rotates by a smaller angle than the lifting platform 102 in the reference coordinate system of the endoscope tip 12 (in other words, the rotation of link 106 relative to the lifting platform 102 around the link pivot axis 112 can at least partially compensate for the rotation of the lifting platform 102 around the lifting platform pivot axis 104). Therefore, as shown in Figures 2b and 2c, the angle α between the connection line from the link pivot 112 to the lifting base pivot 104 and the connection line from the link pivot 112 to the connection point 110 (or the connection line from the link pivot 112 to the exit point 110A) in a plane perpendicular to the lifting base pivot axis may decrease as the lifting base 102 moves from the stowed state to the raised state. Since the link 106 rotates less than the lifting base 102 (for example, mainly performs translational motion in a plane perpendicular to the lifting base pivot 104, preferably along or substantially along the operating direction), the bending angle and / or bending radius of the operating member 108 can be reduced.

[0079] In some examples, the operating member 108 may be held or attached to the link 106 (for example, at the connection point 110) so that the operating member 108 (i.e., its distal end) cannot rotate relative to the link 106. In addition to this, or alternatively, the link 106 may be provided with a guide structure (not shown in Figures 2a-2c) to guide the operating member 108 in a plane perpendicular to the link pivot shaft 104, for example, to define the link operating shaft 111 (and / or the angle β described below). The operating member 106 (and therefore the link operating shaft 111) may extend, for example, from the link 106 (for example, from its outer circumference and / or from the exit point 110A) at an angle β. The angle β is, for example, the connection line D from the exit point 110A of the operating member 108 to the link pivot shaft 112, as shown in Figures 2a-2c. βIt can be defined as the angle from the link operating axis 111 to the link. The angle β may remain constant or substantially constant as the lifting platform moves between the stowed and raised states. In other examples, the operating member 108 may be pivotably connected at the connection point 110 (i.e., so as to be able to rotate relative to the link 106), and further / or the angle β may be changed by bending of the operating member 108. However, the angle β may be limited to a certain range, for example by a mechanical stopper of the link's guide structure. Since the operating member 108 generally has finite (non-zero) rigidity (e.g., exhibits a specific bending angle and / or bending radius when subjected to a given force), the angle β (e.g., which may be determined by the guide structure of the link 106) can determine the orientation of the link 106, for example, such that the link 106 always takes the same orientation for any given state of the operating member 108 and / or the lifting platform 102 (e.g., rather than pivoting completely freely around the link pivot axis 112, there may always be a predetermined relationship between the orientation of the link 106 and the state / orientation of the lifting platform 102). In addition to or alternatively, the endoscope tip 102 may include a guide structure (not shown) for guiding the link 106, for example, to determine the relationship between the orientation of the link 106 and the state / orientation of the lifting platform 102. However, preferably, the endoscope tip 102 does not include such a guide structure, and rather the link 106 is freely connected to the lifting platform 102 such that, for example, the pivotal movement of the link 106 around the link pivot axis 112 is not restricted, guided, and / or affected by any elements or structural features other than the link 106 and the operating member 108. β The length of the link 106 for pushing and pulling the lifting platform 102 may have a further positive effect on its stability. β It may be larger than 4 mm, preferably larger than 5 mm, and most preferably larger than 6 mm.

[0080] The lifting platform assembly 100, in particular the link 106 (e.g., the mechanical connection or attachment to the operating member 108 in the connection point 110 and / or its guide structure), may be configured such that the radial distance D3 from the lifting platform pivot shaft 104 to the link operating shaft 111 is greater when the lifting platform 102 is in the raised position than when the lifting platform 102 is in the retracted position, as shown in Figures 2b and 2c, preferably by at least 25%. In some examples, the most proximal portion of the guide structure of the link 106 that can define the exit point 110A (e.g., its insertion structure such as the insertion structure 202 described later with reference to Figures 4a-4c) may be located on or very close to (e.g., more proximal) the normal from the link operating shaft 111 to the lifting platform pivot shaft 104, where the distance D3 is measured.

[0081] Link 106 preferably allows the pivoting motion of the lifting platform 102 (which can cover a wide range of angles) to be partially decoupled from the linear operating mechanism provided by the operating member 108, such that the distal end of the operating member 108 (e.g., exit point 110A and / or connection point 110) does not entirely follow the rotation of the lifting platform 102, but rather translates linearly mainly along the operating direction. Link 106 may be configured such that, for example, throughout the entire pivoting range of the lifting platform 102, the link operating axis 111 remains within an angular range of less than ±20° from the operating direction z, and / or the change in angle between the link operating axis 111 and the operating direction z is less than 40° (e.g., between -30° in the stowed state in Figure 2c and +10° in the raised state in Figure 2b). Furthermore, the link 106 shifts the "effective connection / mounting point" of the operating member 108 to the lifting base 102, thereby enabling a lever action (for example, effective lever arm length d) by allowing force to act upward on the lifting base 102. eff ) can be increased. Furthermore, link 106 can also reduce or eliminate force loss.

[0082] Figures 3a to 3c show schematic diagrams of the endoscope tip 12 according to another example of the present disclosure, in side view (for example, along the pivot axis 104 of the lifting platform). The illustrated endoscope tip 12 has its lifting platform 102 in the first raised position in Figure 3a, in the second raised position in Figure 3b, and in the retracted position in Figure 3c. Figures 4a to 4c show schematic diagrams of the lifting platform assembly 200 of the endoscope tip 12, which is shown in a side view in Figure 4a and in perspective views in Figures 4b and 4c. In Figures 3b, 3c, and 4b, the operating member 108 is not shown for clarity.

[0083] The endoscope tip 12 is similar to the endoscope tip in Figure 2a, and corresponding elements are indicated by the same reference numerals. The endoscope tip 12 also includes a lifting platform assembly 200 having a lifting platform 102 that can pivot around a lifting platform pivot shaft 104 to raise an endoscope instrument (not shown), and a link 106 for mechanically connecting the lifting platform 102 to an operating member 108 (for example, an operating wire as in the example in Figure 3a) in order to operate the lifting platform 102.

[0084] The first raised state shown in Figure 3a may be a fully raised state corresponding to, for example, a “usage configuration” in which the endoscopic instrument is positioned within the field of view of the imaging system 30 facing laterally. The retracted state shown in Figure 3c may be used, for example, to insert the endoscope tip 12 into the patient’s body and to position the endoscopic instrument on the lifting platform 102. The second raised state shown in Figure 3b may be an intermediate state when moving the lifting platform 102 together with the endoscopic instrument from the retracted state to the usage configuration, and / or may correspond to a second usage configuration in which the endoscopic instrument is positioned at a different location within the field of view of the imaging system 30.

[0085] Link 106 includes an insertion structure 202 (e.g., an opening or recess, see particularly Figure 4b) into which an operating member 108 can be inserted to define an exit point 110A and / or a link operating shaft 111 of the operating member 108, as shown, for example, in Figure 4a. The shape of the insertion structure 202 can, in some examples, in combination with an adjacent structure (e.g., a guide conduit 206), define the angle β of the extension of the link operating shaft 111, e.g., the link operating shaft 111 / operating member 108 from Link 106. Link 106 further includes a retaining structure 204 configured to define a connection point 110 into which the operating member 108 engages with Link 106 (e.g., pushes or pulls Link 106) by holding the operating member 108 and mechanically connecting it to Link 106. The retaining structure 204 may be configured to engage with and hold, for example, the distal end 108A of the operating member 108, for example, a cable stopper attached to the distal end of the operating wire. Preferably, the retaining structure 204 is configured for bidirectional operation of the lifting platform 102 by the operating member 108 so that, for example, both pushing and pulling forces generated by the operating member 108 can be transmitted to the lifting platform 102. Between the insertion structure 202 and the retaining structure 206, the operating member 108 may optionally be positioned in a guide slot or conduit 206 that guides the operating member 106 from the insertion structure 202 to the retaining structure 206. Guide slots or conduits 206 and / or insertion structures 202 (and in some examples, additionally or alternatively, retaining structures 204) can form guide structures for guiding the operating member 108 in a plane perpendicular to the link pivot shaft 112 such that the operating member 108 / link operating shaft 111 extends from a fixed exit point 110A at a certain angle β (or an angle β within a predetermined range).

[0086] Link 106 is connected to the lifting base 102 so as to be able to pivot about the link pivot shaft 112. For this purpose, link 106 includes a pin-shaped projection 208 that is rotatably positioned in a corresponding mating part (e.g., a hole or recess) on the lifting base 102. The link pivot shaft 112 is located in a plane perpendicular to the lifting base pivot shaft 104, displaced from the connection point 110 of the link operating shaft 111 and operating member 108. Thus, when link 106 pivots relative to the lifting base 102, the link operating shaft 111 and the connection point 110 can rotate relative to the lifting base 102 about the link pivot shaft 112.

[0087] Link 106 is shaped such that its longitudinal range (e.g., length) along the operating direction Z is greater than the azimuth range (e.g., width or thickness in the azimuth direction (rotational / circumferential direction around the pivot axis 104)) of the lifting platform 102. This ensures that when the lifting platform 102 is in the (first and / or second) raised position, the longitudinal range of link 106 parallel to the operating direction is greater than the longitudinal range of the lifting platform 102 in this position, and therefore ensures that, for example (when viewed along the pivot axis 104 as shown in Figures 3a-3c), link 106 extends beyond the outer circumference of the lifting platform 102 on both sides along the operating direction, thereby covering or enclosing the lifting platform 102. Furthermore, the edges and / or corners of the link 106 are chamfered and / or rounded so as to form a tapered end with chamfered (e.g., inclined or beveled) edges or sides 210 when viewed along the pivot axis 104, for example as shown in Figure 4a. The resulting "smooth" shape of the link 106 can reduce the possibility of damaging body structures, particularly the possibility of pinching tissue, when moving the pivot 102, for example, by deflecting the tissue rather than gathering and / or pinching it. For the same reason, the pivot 102 may also have chamfered and / or rounded edges and / or corners 211, particularly in its distal portion facing away from the pivot axis 104.

[0088] The lifting platform 102 includes a front surface 212 on which the endoscopic instrument is placed, and a rear surface 214 opposite the front surface 212 (for example, facing away from the proximal opening 26 of the endoscope tip 12). The link 106 is positioned to engage (e.g., mechanically connect) the lifting platform to the rear surface 214 of 102, for example, via a pin-shaped projection 208. In some examples, the link 106 does not have to contact (or at least not mechanically connect, or even be attached to) the lateral surface of the lifting platform 102 that extends between the front surface 212 and the rear surface 214 (and thus facing in the direction of the lifting platform pivot axis 104). This reduces or completely avoids torsional or torsional forces on the lifting platform 102. For example, the force transmission contact surface between link 106 and the lifting base 102, which provides a mechanical connection between them (for example, contributing significantly to the transmission of force from link 106 to the lifting base 102), may be located in the central part of the lifting base 102 such that the force transmission contact surface is contained within the central 50% of the total width of the lifting base 102 along the lifting base pivot axis 104.

[0089] The front surface 212 of the lifting platform 102 includes an instrument receiving structure for arranging endoscopic instruments thereon. In the example shown in Figures 4a to 4c, the instrument receiving structure is a curved surface on the front surface 212, forming a shovel-shaped structure with a shallow recess extending radially. To pivotally position the lifting platform 102 within the housing 12A of the endoscope tip 12, the lifting platform 102 includes a pair of pin-like projections 216 protruding from the lateral surface of the lifting platform 102. The pin-like projections 216, which may be formed integrally with the lateral surface of the lifting platform 102, define the lifting platform pivot axis 104 by being rotatably received in corresponding mating surfaces (e.g., holes and / or recesses) of the housing 12A, such as the side wall of the opposing housing 12A. Since no mechanical axis (e.g., shaft) extending through the lifting platform 102 is required, the pin-like projections 216 can improve the design flexibility of the front surface 212 in the instrument receiving structure.

[0090] Figures 5a–5c show schematic diagrams of an endoscope tip 12 having a lifting platform assembly 300 according to another example of the present disclosure, configured for use in a small endoscope (e.g., a duodenal endoscope and / or pediatric endoscope), for example, an endoscope having an insertion tube with an outer diameter of less than 10 mm, and in some cases less than 8 mm. The endoscope tip 12 is shown in a side view (e.g., along the lifting platform pivot axis 104) in Figures 5a and 5b, with the lifting platform 102 of the lifting platform assembly 300 in the retracted and raised positions, respectively. Figure 5c shows a perspective view of the endoscope tip 12 (with the lifting platform 102 in the raised position). The endoscope tip 12 and the lifting platform assembly 300 are similar to the endoscope tip and lifting platform assemblies in Figures 3a–3c and 4a–4c, respectively, with corresponding elements indicated by the same reference numerals.

[0091] In the examples shown in Figures 5a and 5c, the lifting platform assembly 300 is configured such that, when the lifting platform 102 is in the raised position, the lifting platform 102 and optionally the link 106 protrude from the housing 12A of the endoscope tip 12, as shown in Figure 5b. When viewed along the lifting platform pivot shaft 104, the far end of the lifting platform 102 and optionally the link pivot shaft 112 are located outside the outer circumference of the housing 12A of the endoscope tip 12, and are higher than the nominal height h0 of the endoscope tip 12 excluding the lifting platform assembly 300, which can be defined, for example, by the height of the housing 12A. On the other hand, in the retracted state shown in Figure 5c, both the lifting platform 102 and the link 106 are housed within the housing 12A (i.e., inside the outer circumference of the housing 12A when viewed along the lifting platform pivot shaft 104). Therefore, the total height H of the endoscope tip 12 (including the housing 12A and the stand assembly 300 having the stand 102) when the stand 102 is in the raised position may be greater than when the stand 102 is in the retracted position (where the total height H may be equal to, for example, the nominal / housing height h0).

[0092] As shown in Figures 5a and 5b, the housing 12A may include an open or partially open lateral wall 12B (facing the direction of the lifting base pivot shaft 104) which includes an opening 12B' (e.g., a notch or hole) that exposes the interior of the housing 12A, and an opposing lateral wall 12C (viewed along the lifting base pivot shaft 104). When the lifting base 102 is in the retracted position, the link 104 may be positioned within the opening 12B' such that the side of the link 104 facing the direction of the lifting base pivot shaft 104 at least partially covers the opening 12B'. Preferably, the side of the link 104 is coplanar (aligned) with the outer surface of the lateral wall 12B. The open or partially open lateral wall 12B can increase the available space for the lifting platform assembly 300 (for example, because the link 104 can be positioned in the plane of the lateral wall 12B), which can be particularly advantageous for small endoscope tips or endoscopes. For example, the movable parts of the lifting platform assembly 300 (e.g., the lifting platform 102 and the link 106) can occupy more than 25%, preferably more than 40%, and in one example more than 50%, of the cross-sectional area of ​​the endoscope tip 12 in a plane perpendicular to the direction of operation (e.g., through the lifting platform pivot axis 104). The housing of the endoscope tip in Figures 3a-3c may also be formed in some examples similarly to the housing 12A in Figures 5a-5c.

[0093] The endoscope tip 12, in particular the lifting platform assembly 300, includes a pair of mechanical stoppers 302 configured to limit the pivot range of the link 106 around the link pivot shaft 112, for example, to limit an angle α to a predetermined range or interval. In the example shown in Figures 5a-5c, the pin-shaped projection 208 of the link 106 includes a small radial projection (e.g., a nose or ridge) extending radially from the link pivot shaft 112. The projection is configured to limit the pivot range of the link 106 in both directions by contacting one of a pair of corresponding contact surfaces (determining the mechanical stoppers 302) on the lifting platform 102 when the link 106 is at each angle α. In other examples, one or both of the mechanical stoppers 302 may be located on and / or inside the housing 12A. The protruding portion provides a key connection between the lifting base 102 and the link 106, and can also function as a key member to prevent, for example, the lifting base 102 and the link 106 from coming apart.

[0094] In addition to or instead of this, the edge 12D of the lateral side wall 12B that abuts the opening 12B' can, in some examples, be used as a guide structure to guide the link 106, for example, to ensure that the link 106 follows a predetermined path and / or has a predetermined orientation when the lifting platform 102 moves from a stowed state to an raised state. The edge 12D can contact the link 106, for example, to guide the movement of the link 106 and in particular to prevent or limit rotation around the link pivot shaft 112. Thus, the shape of the edge 12D can also be used to define the torque / motion profile of the lifting platform 102. In other examples, in addition to or instead of this, a similar guide structure may be provided in other parts of the housing 12A, for example, inside the housing 12A.

[0095] However, preferably, the link 106 is freely connected to the lifting base 102 such that the pivotal movement of the link 106 around the link pivot axis 112 is not restricted, guided, and / or affected by any elements or structural features other than the link 106 (e.g., via a voluntary mechanical stopper 302) and the operating member 108 (e.g., by its rigidity and the fixed orientation of the link operating axis 111 relative to the link 106). Therefore, the edge 12D of the lateral side wall 12B is preferably shaped so that the link 106 does not come into contact with the edge 12D at any point along the pivotal range of the lifting base 102.

[0096] In connection with the present invention, a link can be provided in an unenclosed system, and the physical performance of the proposed lifting platform assembly is enhanced by an improved relationship between the input force and the output force. This improved relationship between the input force and the output force of the proposed lifting platform assembly is, in particular, due to beneficial cooperation between the link and the operating member, enabling the lifting platform to move from an elevated state to a retracted state. A feature of this disclosure is the provision of a specific pivotal connection between the link and the lifting platform in order to intentionally change the ratio of angular output to linear input.

[0097] A system can be described as non-sealed in that it does not include sealed zones designed to withstand air or liquid pressure between zones. For example, in a sealed system where the device may be reusable, the outer surface of the lifting platform can be described as an external and / or patient contact zone that may come into contact with the patient's bodily fluids and / or cleaning chemicals, as well as part of one or more internal zones that are physically sealed from the external zone, the internal zones being physically sealed from the external zone by additional components such as seal shapes or O-rings that are specifically incorporated to prevent foreign matter, i.e., unintended flows of liquids such as air, gases, cleaning chemicals, and / or bodily fluids from being carried from the external zone to one or more internal zones and / or from one or more internal zones to the external zone. In a non-sealed lifting platform system, the lifting platform, power links, and associated drive components do not have to be specifically sealed, as preferably proposed herein. This may be done for a variety of reasons, preferably to save space or manufacturing costs, to simplify assembly, and / or to facilitate sterilization of the endoscope by allowing gas permeation to flow around both external and internal geometric shapes. Furthermore, while a sealed system requires a certain degree of friction to effectively perform a long-lasting seal, an unsealed system can conveniently reduce the magnitude of forces and / or friction between moving parts, thereby reducing user fatigue and / or improving tactile feedback between the user-operated mechanism on the control body and the movement of the lifting platform performed at the tip of the endoscope.

[0098] Preferably, a connection point configured to mechanically connect an operating member to a link can be detached from the lifting platform to provide greater degrees of freedom of motion with respect to the positioning of the components, the stroke of the system, and the transmission of forces. To enable even greater degrees of freedom, the connection point can be engaged with the link. It should be noted that according to the present invention, an offset distance may exist between the linear force acting on the lifting platform and the link pivot axis which is preferably fixed. In contrast, conventional designs in which the linear input force is specifically aligned with the lifting platform force engagement axis have been described in the prior art.

[0099] Another advantage of the offset between the linear force and the link pivot axis is that the proposed lifting platform assembly can be configured to operate with a large difference between the length from the lifting platform pivot axis to the link pivot axis and the length from the lifting platform pivot axis to the entry point of the operating member into the lifting platform assembly area. Allowing, or rather using, these length differences can make the system more compact or improve force transmission. This offset is particularly due to the beneficial design of the link configured to receive the operating member for operating the lifting platform.

[0100] In the context of the present invention, it may be preferable to provide a sufficiently thick wall on the distal head of the endoscope to enclose the lifting platform and hold a device or instrument that is raised with the help of the lifting platform. By providing a wall of a certain thickness on the distal head of the endoscope, it is possible to prevent the instrument that is raised with the help of the lifting platform from sliding laterally out of the lifting platform. In other words, a thick and / or high wall on the distal head of the endoscope is useful for keeping the instrument in the desired position.

[0101] To keep the equipment in a desired position, it may be preferable to add material to the stand itself to create a shelf or wall-like structure. The shelf or wall-like structure can be positioned on either side of the stand, or it may be positioned on both sides of the stand. In other words, in the context of the present invention, it may be preferable to have a shelf or wall-like structure adjacent to or near the stand. For example, if the shelf or wall-like structure is positioned on the left side of the stand, it may be preferable for a link, which may also be called a "power link," to function similarly to the shelf or wall-like structure to provide support on the right side of the stand. Of course, this arrangement can also be reversed or swapped.

[0102] In particular, the link may be configured to function as a retaining wall preferably located to the right of the lifting platform (when viewed along the insertion direction). This configuration, which includes a shelf or wall-like structure on one side of the lifting platform and a link functioning as a retaining wall on the other side of the lifting platform, allows instruments being raised with the help of the lifting platform to be kept in the desired position and thus reduces the risk of them slipping off. In particular, it has been shown that instruments being raised with the help of the lifting platform are held more securely when the wall of the distal head of the endoscope has a certain thickness and / or when a shelf or wall-like structure is formed near the lifting platform. Surprisingly, the stability of accessories and / or instruments can be improved by providing a wall of the distal head of the endoscope having a certain thickness and / or a shelf or wall-like structure adjacent to the lifting platform. Preferably, the wall thickness may be less than 1 mm. In one example, the wall thickness may be in the range of 0.3 to 0.5 mm.

[0103] In the context of the present invention, it may be preferable to provide one or more recesses on the surface of the lifting platform that raises the instrument. In particular, it may be preferable that such recesses be located between the camera module and the link. One or more recesses may form, or be part of, an accessory ramp for guiding specific accessory instruments used, for example, in connection with endoscopic retrograde cholangiopancreatography (ERCP) procedures on a patient. In other words, it may be preferable that the surface of the lifting platform functions, partially or entirely, to raise accessory instruments that can be used for procedures on a patient. In connection with ERCP procedures, a physician may be able to access the bile ducts and / or pancreatic ducts for observation or surgical purposes. For example, an instrument may be inserted through the working channel of the endoscope and guided through the papilla with the help of the lifting platform assembly. Thus, stones or tumors may be removed from the patient's bile ducts and / or pancreatic ducts.

[0104] In a preferred embodiment of the present invention, the endoscope tip, i.e., the lifting platform, may include a first recess, which may be called a first accessory recess, and a second recess, which may be called a second accessory recess. The first (accessory) recess can be used, for example, to guide one or more guidewires in connection with a patient procedure. The second (accessory) recess can be used, for example, to guide a papillotome in connection with an ERCP procedure on a patient. Conveniently, the recesses allow the accessory devices to be viewed by a camera module, i.e., the accessory instruments are visible in photographs or videos recorded by the camera. Preferably, the recesses are located as part of the surface of the lifting platform that raises the instruments.

[0105] The wall may be positioned between the camera module and the link of the lifting platform assembly. The wall may comprise a first wall portion, a second wall portion, and a third wall portion, the third wall portion preferably referred to as the "rear cutout portion" of the wall. The wall portions may be arranged such that the third portion, i.e., the rear cutout portion of the wall, represents the most proximal portion of the wall, while the second portion represents the most distal portion of the wall. The first portion of the wall may be positioned between the second and third portions.

[0106] In the context of the present invention, it may be preferable that the recess be located near a first wall portion. However, it may also be preferable that the recess be located near a second wall portion and / or in the overlapping area of ​​the first and second wall portions. Preferably, the final resting position of the accessory may be defined by contact between the accessory and the wall and the accessory lamp and / or recess. In the context of the present invention, it is particularly preferable that the recess be located so that an instrument guided through the working conduit of the endoscope and lifted by the lifting platform is visible to the camera during patient treatment. The camera module has a virtual view pyramid that includes objects that can be seen in photographs or images taken by the camera. Preferably, the lifting platform assembly and the recess are located so that an accessory used for patient treatment or observation can be seen by the physician with the camera. To achieve this objective, it is preferable that the accessory, or part of the accessory, that should be visible to the physician during patient treatment or observation is located within the virtual view pyramid of the camera module. In particular, the design of the lifting platform assembly and the location of the recess are preferably such that an accessory that is deemed desirable to be visible to the physician is pushed into the virtual view pyramid of the camera module. Preferably, the auxiliary equipment becomes visible to the physician and / or remains visible when the lifting platform is fully raised.

[0107] The auxiliary devices may be any devices necessary to perform ERCP, such as guidewires, papillotomes, stents, or grasping devices, to name just a few examples. The auxiliary devices can move across the device elevation surface of the elevation platform and extend beyond the distal upper limit of the top of the elevation platform. The convenient placement of the recess allows the auxiliary devices to enter the camera's field of view. This is particularly advantageous for small body structures or children, where there may be limited space to automatically extend the auxiliary devices into the camera's field of view.

[0108] In pediatric applications or with very small body structures, the body structure may come close to, or even substantially touch, the outer boundary of the lifting platform when fully raised. Therefore, attachments extending from the upper and / or distal portions of the lifting platform may be invisible to the camera module and / or the physician, potentially making endoscopy difficult. To address this challenge, studies have shown that providing a shorter lifting platform is not a viable solution, as the platform requires a minimum fulcrum height above the working conduit to lift rigid or large-diameter devices. This is especially true when the endoscope is expected to lift larger and / or rigid attachments such as grippers or stents.

[0109] In the context of the present invention, the direction of movement of an accessory into the camera's field of view may preferably be defined by a recess. The recess is particularly preferably located near or as part of the accessory lamp surface of the stand. Preferably, one or more recesses are formed as part of the lamp to orient an accessory, such as a guidewire or papillotome, into the camera's field of view, which may also be called the "virtual view pyramid of the camera module." For example, the recess can move the accessory away from the left or right side of the stand and thus into the camera's field of view. It may be preferable to provide different recesses to accommodate accessories of different sizes, such as guidewires and papillotomes. For example, a first recess can be created to accommodate a guidewire, while a second recess can be created to accommodate a papillotome.

[0110] The fixture lamp surface and recesses can form a combination of an initial concave surface and a subsequent convex and / or rounded surface, thereby preventing attachments from becoming stuck on sharp edges during insertion or removal. The convex and / or rounded surface may be followed by a straight surface that substantially extends the convex and / or rounded surface and further prevents attachments from catching or getting pinched on sharp shapes. When the stand is in place, the tangents of the convex and / or rounded surface exiting the stand, and / or the angle at which the straight surface exits the stand may be approximately horizontal or tilted up to + / - 30 degrees.

[0111] The aforementioned wall may preferably be provided not only to prevent loss of control of the accessory, but also to specifically define how the accessory is guided away from the side of the lifting platform when the accessory is guided by the recess and / or instrument lamp surface. Preferably, the wall may be formed by adding wall material to the lifting platform to stabilize the accessory. The first portion of the wall may be formed near the distal end of the lifting platform. When viewing the lifting platform in its fully raised position, the first portion of the wall may be defined by its height extending vertically upward from the body of the distal head of the endoscope, and its horizontal extension away from the instrument guide surface. The first portion of the wall may be formed from a combination of convex and / or concave radii approximating a 45° line, but may also be configured as a substantially horizontal bulge.

[0112] Furthermore, a second portion of the wall may be provided. The second portion of the wall may be designed to be essentially horizontal so as to be a non-traumatic transition feature. If the attachment is located laterally away from the central position, the attachment may be in contact with the wall of the distal head and / or the wall of the lifting platform. At some point in the raising of the lifting platform, the attachment may first come into contact with the wall, specifically the second portion of the wall. The attachment is driven upward and / or forward by the wall, in particular the second portion of the wall, and the attachment eventually slides along the wall to its final position, also coming into contact with the lifting surface of the device. It is particularly preferable that the attachment transitions to its final position along the second portion of the wall.

[0113] Furthermore, one or more rear cutouts, which may also be called “third parts of the wall,” may be provided to form a wall. These third wall parts may be provided to further improve the visibility of accessories within the camera’s field of view, in the case of small body structures or pediatric applications. For example, the third wall part may be formed by removing wall material from the rear of one side of the lifting platform. The third wall part is preferably oriented towards the camera module’s line of sight.

[0114] In the context of the present invention, a lifting platform assembly for use at the tip of an endoscope is disclosed, comprising a lifting platform for raising an endoscopic instrument, the lifting platform being configured to pivot about a lifting platform pivot axis from a retracted state to an up state in order to raise the endoscopic instrument. Furthermore, the lifting platform assembly comprises a link configured to receive an operating member for operating the lifting platform, the link being configured to mechanically connect the operating member to the lifting platform so that the lifting platform can be pivoted about a lifting platform pivot axis by moving the operating member linearly along the operating direction. The lifting platform may comprise one or more recesses for guiding one or more endoscopic instruments that can be used in connection with patient treatment. The recesses may be part of the instrument ramp surface of the lifting platform and may be configured to raise or guide the endoscopic instrument so that it can enter the field of view of a camera module, which may be part of the endoscopic tip of the endoscope (for example, when the lifting platform is in the up state). Thus, the physician can visualize the endoscopic instrument during patient treatment and control the endoscopic instrument more safely and efficiently. The aforementioned lifting platform assembly may further comprise any combination of features or features described herein with respect to the lifting platform assembly, endoscope tip, and / or endoscope according to the present invention. For example, the link may optionally be pivotably connected to the lifting platform about a link pivot axis different from the lifting platform pivot axis, such that the angular displacement of the lifting platform in a linear displacement of a unit length of the operating member is smaller when the lifting platform is in the raised position than when the lifting platform is in the retracted position, as described above.

[0115] In addition to or instead of this, the tip of the endoscope may be provided with a wall, which may also be called a “lifting platform wall.” The wall can be formed from one or more wall portions. In one example, the wall may comprise a first wall portion, a second wall portion, and a third wall portion. The second wall portion may function as a non-traumatic transfer mechanism for the endoscopic instrument; that is, the second wall portion may allow the safe passage of the endoscopic instrument when it is lifted by the lifting platform. Preferably, the third wall portion assists the visibility of the endoscopic instrument to the physician. The first and / or second portions of the wall may have a specific thickness of less than 1 mm, preferably between 0.3 and 0.5 mm, in order to stabilize the movement of the endoscopic instrument and define the exit of the endoscopic instrument from the lifting platform.

[0116] The lifting platform assembly according to this disclosure is used at the tip of an endoscope. The lifting platform assembly includes a lifting platform for raising an endoscope instrument, the lifting platform being configured to pivot about a lifting platform pivot axis from a retracted position to an raised position in order to raise the endoscope instrument. The lifting platform assembly further includes a link configured to receive an operating member for operating the lifting platform. The link is configured to mechanically connect the operating member to the lifting platform so that the lifting platform can be pivoted about the lifting platform pivot axis by moving the operating member linearly along the operating direction. The link is pivotably connected to the lifting platform about a link pivot axis different from the lifting platform pivot axis. The angular displacement of the lifting platform for a linear displacement of a unit length of the operating member is smaller when the lifting platform is in the raised position than when the lifting platform is in the retracted position. The link is configured to receive the operating member for operating the lifting platform, The operating member is mechanically connected to the link at a connection point where it is radially displaced relative to the link pivot axis, and The operating member extends from the link along a link operating axis that is perpendicular or substantially perpendicular to the lifting base pivot axis and radially displaced relative to the link pivot axis. It may be configured to accept one or both of the above. A configuration in which the link operating axis is perpendicular or substantially perpendicular to the lifting base pivot axis can be described, in other words, as having an angle of 80° to 110° between the link operating axis and the lifting base pivot axis. As used herein, two directions or axes can be considered substantially perpendicular if the angle between the axes / directions is 80° to 110°, preferably 85° to 95°, in one example 88° to 92°, in another example 89° to 91°.

[0117] In any of the examples in Figures 1 to 5 described above, the endoscope tip 12 preferably includes an imaging system 30 for providing visual information regarding the position of the lifting platform 102. The imaging system 30 may include a camera module that can be positioned in the housing 12A of the endoscope tip 12. According to exemplary embodiments of the present invention shown in Figures 6a and 6b, the lifting platform 102 (which may be, for example, part of any of the lifting platform assemblies 100, 200, 300 described above) includes one or more recesses 400, 402 so that the endoscope instruments 24 are visible within the field of view of the imaging system 30. In other words, by providing a first recess 400 and / or a second recess 402, one or more endoscope instruments 24a, 24b can be made visible within the field of view of the imaging system 30 and / or the camera module. This means that the operator of the endoscope 10 can see the movement of the endoscope instruments 24a, 24b, enabling the operator to better control the endoscope instruments 24a, 24b inside the patient's body.

[0118] Preferably, the lifting platform 102 includes a first recess 400 configured to guide a first endoscopic instrument 24a, which may be a guidewire. In addition, or alternatively, the lifting platform 102 may include a second recess 402 configured to guide a second endoscopic instrument 24b, which may be a papillotome. Preferably, the endoscope tip 12 of the endoscope 10 includes a wall 404 configured to stabilize the movement of the endoscopic instrument 24. The wall 404 may comprise one or more wall portions, such as a first wall portion 404a, a second wall portion 404b, and a third wall portion 404c. The third wall portion 404c may include a notch (e.g., a recess or indentation) in the wall 404, which may be shaped, for example, so that an accessory instrument (or part thereof) is visible within the field of view of the imaging system 30 and / or camera module when lifted by the lifting platform.

[0119] The examples disclosed herein constitute only specific examples for illustrative purposes. The present invention can be implemented in various ways with many modifications without altering the underlying fundamental characteristics. Accordingly, the present invention is defined solely by the claims set forth below.

Claims

1. A lifting platform assembly (100, 200, 300) for use at the tip of an endoscope (12), A lifting platform (102) for raising an endoscope instrument (24), wherein the lifting platform (102) is configured to pivot around a lifting platform pivot shaft (104) from a stored state to a raised state for raising the endoscope instrument (24), A link (106) is configured to receive operating members (20, 108) for operating the lifting platform (102), and to mechanically connect the operating members (20, 108) to the lifting platform (102) so that the lifting platform (102) can be pivoted around the lifting platform pivot shaft (104) by linearly moving the operating members (20, 108) along the operating direction (z). It is equipped with, The link (106) is pivotally connected to the lifting platform (102) around a link pivot shaft (112) different from the lifting platform pivot shaft (104), such that the angular displacement (δω) of the lifting platform (102) per unit length of linear displacement (δz) of the operating members (20, 108) is smaller when the lifting platform (102) is in the raised state than when the lifting platform (102) is in the retracted state. Lifting platform assembly (100, 200, 300).

2. The lifting platform assembly (100, 200, 300) according to claim 1, wherein the angular displacement (δω) of the lifting platform (102) per unit length linear displacement (δz) of the operating member (20, 108) is 1 / 1.5 or less, preferably 1 / 2.0 or less, and most preferably 1 / 3.0 or less, when the lifting platform (102) is in the raised state.

3. The link (106) connects the operating members (20, 108) for operating the lifting platform (102), The operating members (20, 108) are mechanically connected to the link (106) at a connection point (110) that is radially displaced with respect to the link pivot shaft (112), and The operating members (20, 108) extend from the link (106) along a link operating axis (111) that is perpendicular or substantially perpendicular to the lifting base pivot axis (104) and radially displaced with respect to the link pivot axis (112). A lifting platform assembly (100, 200, 300) according to claim 1 or 2, configured to accept one or both of the following.

4. The lifting platform assembly (100, 200, 300) according to claim 3, wherein the link (106) is configured such that the link operating axis (111) remains within an angle range of less than ±60°, preferably less than ±45°, and most preferably less than ±20° from the operating direction (z) throughout the entire pivot range of the lifting platform (102).

5. The angle (α) between the connecting line from the link pivot shaft (112) to the lifting base pivot shaft (104) and the connecting line from the link pivot shaft (112) to the connection point (110) for the operating members (20, 108) in a projection parallel to the lifting base pivot shaft (104) is smaller, preferably at least 10° smaller, more preferably at least 25° smaller, and most preferably at least 50° smaller, when the lifting base (102) is in the raised position than when the lifting base (102) is in the retracted position, according to claim 3 or 4, lifting base assembly (100, 200, 300).

6. The radial distance (D) from the link pivot shaft (112) to the exit point (110A) for the operating members (20, 108) on the link (106) β ) is the radial distance (D) from the pivot shaft (104) of the lifting base to the pivot shaft (112) of the link pivot shaft. １ The lifting platform assembly (100, 200, 300) according to any one of claims 3 to 5, wherein the exit point (110A) is the last point on the link (106) to which the operating member is fixed and / or guided by the link (106) when the operating member is received by the link (106), and the operating member (20, 108) extends from the exit point (110A) along the link operating axis (111).

7. The link operating shaft (111) has an offset distance (D ｏｆｆ ) is displaced radially with respect to the link pivot shaft (112) by only that much, The aforementioned offset distance (D ｏｆｆ ) is the radial distance (D) from the pivot shaft (104) of the lifting base to the pivot shaft (112) of the link pivot shaft. １ ) is at least 2%, preferably at least 4%, most preferably at least 6%, and / or In the ascending state, the radial distance (D １ ) from the lifting table pivot shaft (104) to the link pivot shaft (112), and the radial distance (D １ ) from the lifting table pivot shaft (104) to the link pivot shaft (112) and the offset distance (D ｏｆｆ ), the projection length (D ２ ) obtained by projecting the vector sum of these onto the connecting line extending radially from the lifting table pivot shaft (104) to the link pivot shaft (112), the lever ratio between them is greater than 1, preferably greater than 1.02, most preferably greater than 1.05, or less than 1, preferably less than 0.98, most preferably less than 0.95 The lifting platform assembly (100, 200, 300) according to any one of claims 3 to 6.

8. The radial distance (D) from the pivot shaft (104) of the lifting base to the link operating shaft (111) ３ The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 7, wherein the link operating shaft (111) is the axis of extension of the operating member (20, 108) from the link (106) when received by the link (106) when the lifting platform (102) is in the raised state, preferably at least 25% larger, more preferably at least 50% larger, and most preferably at least 75% larger when the lifting platform (102) is in the retracted state.

9. A lifting platform assembly (100, 200, 300) according to any one of claims 1 to 8, comprising the operating members (20, 108) wherein the operating members (20, 108) are mechanically connected to the link (106).

10. The lateral displacement (d) between the pivot shaft (104) and the entrance point (109) where the operating members (20, 108) enter the pivot assembly (100, 200, 300) is, wherein the lateral displacement (d) measured perpendicular to the operating direction (z) of the pivot shaft (104) and the operating members (20, 108) is, The radial distance (D) from the pivot shaft (104) of the lifting base to the pivot shaft (112) １ ) is smaller than, preferably the radial distance (D) from the pivot shaft (104) to the link pivot shaft (112). １ ) less than 90%, more preferably less than 75%, and most preferably less than 65%. The effective lever arm length (d) in the raised state ｅｆｆ ) is smaller than the effective lever arm length (d) in the raised state. ｅｆｆ ) is less than 95%, more preferably less than 90%, and most preferably less than 70%, and the effective lever arm length (d ｅｆｆ ) is the radial distance from the pivot shaft (104) of the lifting base to the connecting line that extends radially from the pivot shaft (112) to the entry point (109) of the operating member (20, 108), and The longitudinal displacement (e) between the pivot shaft (104) of the lifting platform and the entry point (109) of the operating member (20, 108) is smaller than, preferably less than 90%, and most preferably less than 75%, and the longitudinal displacement (e) is measured parallel to the operating direction (z) of the operating member (20, 108). A lifting platform assembly (100, 200, 300) according to claim 9, which is one or more of the above.

11. The lifting platform assembly (100, 200, 300) according to claim 9 or 10, wherein the operating members (20, 108) extend from the link (106) at the same or substantially the same angle (β) in the retracted state and the raised state in a projection along the link pivot shaft (112).

12. The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 11, wherein the link (106) is provided with a guide structure (202, 206) for guiding the operating member (20, 108) in a plane perpendicular to the link pivot shaft (112) when received by the link (106).

13. The exit point (110A) for the operating members (20, 108) on the link (106) and one or both of the guide structure (202, 206) or a part thereof are positioned normal to or near the normal from the link operating shaft (111) to the lifting base pivot shaft (104) in one or both of the retracted state and the raised state, and the link operating shaft (111) is positioned such that the operating members (20, 108) are received by the link (106) The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 12, wherein the exit point (110A) is the last point on the link (106) to which the operating member (20, 108) is fixed to and / or guided by the link (106) when the operating member (20, 108) is received by the link (106), and the operating member (20, 108) extends from the exit point (110A) along the link operating axis (111).

14. The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 13, wherein the link (106) is configured to pivot relative to the lifting platform (102) in a direction opposite to the pivoting motion of the lifting platform (102) about the link pivot shaft (112) when the lifting platform (102) pivots about the lifting platform pivot shaft (104) from the stored state to the raised state.

15. The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 14, further comprising one or more mechanical stoppers (302) for limiting the pivot range of the link (106) with respect to the link pivot shaft (112).

16. The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 15, wherein the lifting platform (102) has a front surface (212) on which the endoscopic instrument (24) is placed, and the link (106) engages with the lifting platform (102) at the rear surface (214) of the lifting platform (102) opposite to the front surface (210).

17. The lifting base assembly (100, 200, 300) according to any one of claims 1 to 16, wherein the force transmission contact surface between the link (106) and the lifting base (102) is configured to be within the central 75% of the total width of the lifting base (102) parallel to the lifting base pivot shaft (104), preferably within the central 50% of the total width of the lifting base (102).

18. The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 17, wherein the lifting platform (102) is provided with a pair of pin-shaped projections (216) on both sides thereof, and the pin-shaped projections (216) are configured to be rotatably positioned within the corresponding housing structure of the endoscope tip (12) in order to enable the lifting platform (102) to pivot about the lifting platform pivot shaft (104).

19. The lifting platform assembly (100, 200, 300) according to any one of claims 1 to 18, wherein the link (106) is configured such that, when the lifting platform (102) is in the raised state, the longitudinal range of the link (106) parallel to the operating direction (z) of the operating members (20, 108) is larger than the longitudinal range of the lifting platform (102), preferably at least twice as large.

20. The lifting base assembly (100, 200, 300) according to any one of claims 1 to 19, wherein the link (106) and / or the lifting base (102) have one or more chamfered and / or rounded corners and / or edges (210, 211) when viewed along the lifting base pivot shaft (104).

21. An endoscope tip (12) comprising a lifting platform assembly (100, 200, 300) according to any one of claims 1 to 20 or any one of claims 26 to 28.

22. The endoscope tip (12) according to claim 21, wherein the lifting platform (102) protrudes from the endoscope tip (12) when the lifting platform (102) is in the raised position, and in particular, the link pivot shaft (112) is located outside the outer circumference of the endoscope tip (12) when the lifting platform (102) is in the raised position, as viewed along the lifting platform pivot shaft (104).

23. The endoscope tip (12) according to claim 22, wherein the total height (H) of the endoscope tip (12) in a direction (x) perpendicular to the pivot shaft (104) of the lifting platform is at least 20% greater, preferably at least 30% greater, and most preferably 50% greater when the lifting platform (102) is in the raised state than when the lifting platform (102) is in the retracted state.

24. The endoscope tip (12) according to any one of claims 21 to 23, comprising a housing (12A) on which the lifting platform assembly (100, 300) is disposed, the housing (12A) comprising a lateral side wall (12B) oriented in a direction parallel to the lifting platform pivot shaft (104), and the lateral side wall (12B) comprising an opening (12B') on which the link (106) is disposed when the lifting platform (102) is in the stored state and which is at least partially covered by the side of the link (106).

25. An endoscope (10), particularly a duodenal endoscope, comprising a lifting platform assembly (100, 200, 300) according to any one of claims 1 to 20 or any one of claims 26 to 28, or an endoscope tip (12) according to any one of claims 21 to 24 or any one of claims 29 to 30, further comprising an operating member (20, 108), particularly an operating wire or rod, for operating the lifting platform (102).

26. The endoscope tip (12) is equipped with an imaging system (30) for providing visual information regarding the position of the lifting platform (102), as described in any one of claims 1 to 20, for the lifting platform assembly (100, 200, 300).

27. The lifting platform assembly (100, 200, 300) according to claim 26, wherein the lifting platform (102) includes one or more recesses (400, 402) so that the endoscopic instrument (24) can be seen within the field of view of the imaging system (30) when it is lifted by the lifting platform (102).

28. The lifting platform assembly (100, 200, 300) according to claim 27, wherein the lifting platform (102) comprises a first recess (400) configured to guide a first endoscope instrument (24a), and / or the lifting platform (102) comprises a second recess (402) configured to guide a second endoscope instrument (24b).

29. The endoscope tip (12), in particular the lifting platform (102), comprises a wall (404) configured to stabilize the movement of the endoscope instrument (24), as described in any one of claims 21 to 24.

30. The endoscope tip (12) according to claim 29, wherein the wall (404) comprises one or more wall portions (404a, 404b, 404c).

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