Articulated tube for endoscope

Abstract

The present invention relates to an articulated tube for an endoscope which provides a firm fitting structure for joint portions, which flex and connect multiple successively arranged segments, and allows the bend radius to be as small as possible by ensuring the flexion angles of the joint portions are at a maximum, particularly in the direction of an endoscope insertion part tip end where an end effector is positioned.

Description

Endoscopic joint tube

[0001] The present invention relates to an endoscopic joint tube, and more specifically, to an endoscopic joint tube configured to perform a flexion and extension movement according to the operation of an endoscopic operating part.

[0002] Generally, an endoscope is a general term for medical instruments used to examine the inside of the body for medical purposes. Fiber endoscopes are highly flexible and easy-to-manipulate semi-solid instruments that allow observation of passages in the digestive system that were previously inaccessible. Made of bundles of thin glass fibers, they can be easily bent and twisted, emitting an intense light that illuminates every nook and cranny from front to back, allowing the examiner to see clearly.

[0003] Recently, minimally invasive surgical instruments have been added to these endoscopes to be used for collecting samples of cells or tissues, excising and removing polyps or tumors, and performing other procedures or surgeries.

[0004] The aforementioned endoscopic instruments include the esophagoscope, a stiff tube used to examine the esophagus; the bronchoscope, used to examine the bronchi; the gastroscope, a flexible rod with a light used to examine the stomach; the proctoscope, a perforated tube used to examine the rectum or descending colon; and the cystoscope, a rod with a light that passes through the urethra to examine the bladder. Other instruments include the laparoscope, thoracoscope, cardioscope, and mediastinoscope.

[0005] Recently, an articulated structure for an endoscope insertion part has been proposed to locally change the direction of an end effector positioned at the tip of such an endoscope insertion part. Generally, the articulated structure performs pan and / or tilt steering of the tip using a plurality of wires passing through the articulated structure.

[0006] As an example of such a joint structure, there is a device in which multiple segments are connected in series and steering is performed by moving adjacent segments relative to each other.

[0007] As shown in the attached drawings FIG. 1 and FIG. 2, the joint structure for a conventional endoscope insertion part as described above comprises a plurality of segments (10), wherein a first C-shaped occlusion part (101) is formed at one end of each segment (10) and opens in a direction that forms a first narrow angle (less than 90 degrees) with the axial direction of the segment (10), and a first C-shaped notch (102) is installed to surround the outer side of the first C-shaped occlusion part (101), and at the other end of each segment (10), a second C-shaped occlusion part (111) is installed to engage with the first C-shaped notch (102) of another segment (10), and a second C-shaped notch (112) and a spherical projection (113) are installed inside the second C-shaped occlusion part (111) to engage with the first C-shaped occlusion part (101) of another segment (10), and the second The C-shaped notch (112) is configured to surround the spherical projection (113), so that when two adjacent segments (10) are connected in series, the spherical projection (113) of the first segment (10) is engaged with the interior of the first C-shaped occlusion part (101) of the second segment (10), thereby the first C-shaped occlusion part (101) of the second segment (10) is joined to the second C-shaped notch (112) of the first segment (10), and at the same time, the second C-shaped occlusion part (111) of the first segment (10) is joined to the first C-shaped notch (102) of the second segment (10).

[0008] The above-described conventional endoscopic joint body is configured such that the first C-shaped occlusion part (101) of the first segment (10) is fitted into the second C-shaped notch (112) of the second segment (10) to surround the spherical projection (113) and is coupled so as to be rotatable at a predetermined angle, and the second C-shaped occlusion part (111) of the second segment (10) is fitted into the first C-shaped notch (102) of the first segment (10) to surround the first C-shaped occlusion part (101) and is coupled so as to be rotatable at a predetermined angle, thereby allowing the direction of the end effector positioned at the tip of the endoscope insertion part to be locally switched as shown in the attached drawing Fig. 3.

[0009] As described above, the conventional endoscopic joint is composed of a simple structure in which two interlocking parts wrap around and combine two notched parts and a spherical projection (113), resulting in a problem where the bonding force between different adjacent segments (10) is weak and consequently the bonding part easily detaches, which acts as a fatal problem for endoscopes inserted into the human body. In particular, in the case of the conventional endoscopic joint as described above, when a pair of left and right wires that are pulled or released by the operating part for the flexion and extension movement of the joint are pulled excessively, as shown in the attached drawing Fig. 4, the problem is that the joined part between the two interlocking parts, two notched parts, and spherical projections deviates from the rotation angle and detaches.

[0010] In particular, as shown in the attached drawing Fig. 5, a first C-shaped occlusion part (101) and a first C-shaped notch part (102) are symmetrically formed on both opposing sides of one end of each segment (10), and a second C-shaped occlusion part (111), a second C-shaped notch part (112), and a spherical projection (113) are symmetrically formed on both opposing sides of the other end. Therefore, as described above, when a pair of left and right wires that are pulled or released by the operating part for the flexion and extension movement of the joint body are pulled excessively, the problem of the joined parts between the two occlusion parts, the two notch parts, and the spherical projections being disengaged by moving out of the rotation angle is exacerbated.

[0011] In addition, in the case of a conventional endoscopic joint body as described above, the opening of the first C-shaped joint (101) and the second C-shaped joint (111) is formed at a narrow angle (an angle of less than 90 degrees), and as shown in the attached drawing Fig. 6, there is a problem in that the rotation angle at the mutually joined part is extremely limited. This problem is that the joint bending angle of the joint body is inevitably narrow, and since the joint body as a whole bends while drawing a large curve, there is a problem in that there are limitations on use when a procedure or surgery is performed in a narrow area inside the human body.

[0012] For reference, although there are some overlapping symbols between the drawing symbols of the prior art and the drawing symbols of the present invention, these are added to aid in understanding each technology, so it is preferable to understand and interpret them differently.

[0013] The present invention aims to provide an endoscope joint tube that provides a rigid fitting structure for a joint portion undergoing flexion and extension while connecting each segment arranged in a continuous sequence, and can minimize the bending radius by maximizing the flexion angle of the joint portion, particularly in the direction of the tip of the endoscope insertion part where the end effector is located.

[0014] The present invention relates to an articulated tube for an endoscope in which a plurality of circular unit segments are articulated so that the endoscope insertion part can be flexed by pulling and releasing a wire according to the operation of a separate operating part, comprising: a first coupling unit in which a plurality of coupling parts are arranged, each consisting of a cape block part having an acute angle at different radii and a bay space part having an obtuse angle, with a spherical block part protruding from one end of the segment as a concentric circle; and a second coupling unit in which a plurality of coupling parts are arranged, each consisting of a bay space part having an obtuse angle at different radii and a cape block part having an acute angle, with a spherical space part provided on the free space of the other end of the segment as a concentric circle; wherein the spherical block part, the cape block part, and the bay space part of the first coupling unit may be articulated by fitting together with the spherical space part, the bay space part, and the cape block part of the second coupling unit of another segment to be adjacently connected.

[0015] In the present invention, the first coupling unit may be provided on the first side of the first direction, which is one connecting end of the segment, and the second coupling unit may be provided on the second side of the first direction, and the second coupling unit may be provided on the first side of the second direction, which is the other connecting end of the segment, and the first coupling unit may be provided on the second side of the second direction.

[0016] The first coupling unit of the present invention may be composed of a first-1 coupling part, a first-2 coupling part, and a first-3 coupling part along concentric circles having three different radii centered on a spherical block part.

[0017] In the present invention, the first-1 coupling part may be provided in a plurality of alternating first-1 cape block parts and first-1 bay space parts along a first concentric circle surrounding the spherical block part, the first-2 coupling part may be provided in a plurality of alternating first-2 cape block parts and first-2 bay space parts along a second concentric circle surrounding the first-1 coupling part, and the first-3 coupling part may be provided in a plurality of alternating first-3 cape block parts and first-3 bay space parts along a third concentric circle surrounding the first-2 coupling part.

[0018] The first-1 cape block portion, the first-2 bay space portion, and the first-3 cape block portion of the present invention may have parts formed alternately in the radial direction of the concentric circles, and the first-1 bay space portion, the first-2 cape block portion, and the first-3 bay space portion may have parts formed alternately in the radial direction of the concentric circles.

[0019] The second coupling unit of the present invention may be composed of a second-1 coupling part, a second-2 coupling part, and a second-3 coupling part along concentric circles having three different radii centered on a spherical space.

[0020] In the present invention, the second-1 coupling part may be provided in a plurality of alternating second-1 cape block parts and second-1 bay space parts along a first concentric circle surrounding the spherical space part, the second-2 coupling part may be provided in a plurality of alternating second-2 cape block parts and second-2 bay space parts along a second concentric circle surrounding the second-1 coupling part, and the second-3 coupling part may be provided in a plurality of alternating second-3 cape block parts and second-3 bay space parts along a third concentric circle surrounding the second-2 coupling part.

[0021] The 2-1 cape block portion, the 2-2 bay space portion, and the 2-3 cape block portion of the present invention may have parts formed alternately in the radial direction of the concentric circles, and the 2-1 bay space portion, the 2-2 cape block portion, and the 2-3 bay space portion may have parts formed alternately in the radial direction of the concentric circles.

[0022] The present invention may be such that when two adjacent segments are connected in a straight line, the spherical block portion of the first coupling unit and the spherical space portion of the second coupling unit are coupled, and the respective cape block portions and bay space portions forming the first-1 coupling part, the first-2 coupling part, and the first-3 coupling part of the first coupling unit are coupled to the respective cape block portions and bay space portions forming the second-1 coupling part, the second-2 coupling part, and the second-3 coupling part of the second coupling unit, so that the respective cape block portions rotate and move relative to each other within a certain angle range within the respective bay space portions corresponding thereto.

[0023] The first and second coupling units of the present invention are each provided protrudingly at one side connecting end and the other side connecting end of each segment, and a bending groove is provided on the outer diameter of the one side connecting end and the other side connecting end, excluding the portion where the first and second coupling units are provided protrudingly, to secure a joint bending range during bending.

[0024] A wire support portion may be provided that is recessed inwardly in a cut-out state at the upper and lower outer diameters in a direction orthogonal to the direction in which the first and second coupling units of the segment of the present invention are provided.

[0025] The wire support of the present invention may be provided on segments arranged by skipping one of each continuously connected segment, and may be arranged in a stepping-stone form.

[0026] In the present invention, the segments arranged continuously in a straight line to form the joint tube may be arranged such that the length of the tube gradually shortens as they go toward the tip where the end effector is located.

[0027] The present invention is composed of a plurality of put-in structures, i.e., a plurality of joint parts that are arranged with different radii on concentric circles, wherein a first joint unit and a second joint unit, which are joint parts that perform flexion and extension movements while connecting each segment constituting an endoscope joint tube, thereby preventing the dislocation of the joint part during flexion and extension movements during endoscopic examination, procedure, or surgery.

[0028] The present invention achieves the effect of minimizing the bending radius resulting from the flexion and extension movement of the entire endoscope joint tube by maximizing the angle of rotation of the cape block portion, which is formed at an obtuse angle greater than 90 degrees and an acute angle less than 90 degrees, as it slides between the bay spaces, thereby enabling easy flexion and extension movement while inserted into a narrow part of the human body.

[0029] In this invention, the fitting direction of the first coupling unit and the second coupling unit on the first side and the fitting direction of the first coupling unit and the second coupling unit on the second side are reversed to form opposite directions, thereby preventing the fitting portion as described above from deviating from the rotation angle and becoming detached when a pair of left and right wires, which are pulled or released by the operating part, are pulled excessively.

[0030] The present invention provides a joint tube in which segments arranged continuously in a straight line are arranged such that the length of the tube gradually shortens as they go toward the leading edge where the end effector is located. When a wire is pulled according to the operation of the operating part, and a flexion motion occurs at the joint portion of each segment, the bending gap between the segments in the direction of the leading edge where the end effector is located is narrowed, thereby achieving the effect of minimizing the bending radius.

[0031] The present invention achieves the effect of further minimizing the bending radius by forming the bay space at an obtuse angle as described above to maximize the rotation angle and by forming the segment length in the end effector direction narrowly so that the bending gap between segments is narrowed, thereby minimizing the bending radius in this way, so that examination, procedures, or surgeries in the narrow spaces of the human body can be performed easily and precisely.

[0032] FIG. 1 is a perspective view illustrating a part of a conventional endoscopic articular tube.

[0033] FIG. 2 is a side view illustrating a unit segment constituting a conventional endoscopic articular tube.

[0034] FIG. 3 is a side view illustrating the state in which a conventional endoscopic articular tube is bent by the articular flexion and extension action.

[0035] FIG. 4 is a side view illustrating a state in which the joint portion of a segment constituting a conventional endoscopic articular tube is dislodged due to excessive bending motion.

[0036] FIG. 5 is a perspective view illustrating a state in which a C-shaped occlusion portion and a C-shaped notch portion, which are joint portions of a segment constituting a conventional endoscopic articular tube, are symmetrically formed on both sides of each segment.

[0037] FIG. 6 is a side view illustrating the bending angle during the bending motion of a segment constituting a conventional endoscopic articular tube.

[0038] FIG. 7 is a perspective view illustrating an example of an endoscope, cable, and operating part to which the present invention is applied.

[0039] FIG. 8 is a perspective view illustrating the overall configuration of the endoscopic articular tube of the present invention.

[0040] FIG. 9 is a partially enlarged perspective view showing the joint portion of the endoscopic joint tube of the present invention in more detail.

[0041] FIG. 10 is an exploded perspective view illustrating the configuration of a segment constituting the endoscopic articular tube of the present invention.

[0042] FIG. 11 is an exploded side view illustrating the detailed configuration and combined state of the segments constituting the endoscopic articular tube of the present invention.

[0043] FIG. 12 a) and b) are side views illustrating the bending motion and angle of adjacent segments in the present invention.

[0044] FIG. 13 a), b), and c) are side views illustrating the angles of the cape block portion and the bay space portion located in each of the first-1, 1-2, and 1-3 coupling parts constituting the first coupling unit of each segment of the present invention and the second-1, 2-2, and 2-3 coupling parts constituting the second coupling unit.

[0045] FIG. 14 is a cross-sectional view illustrating an example in which a wire causing a flexion motion in a segment constituting an endoscopic joint tube of the present invention is fed into a wire support.

[0046] FIG. 15 is a side view illustrating an example in which segments constituting the endoscopic articular tube of the present invention are arranged such that their lengths gradually decrease from the proximal part to the distal part.

[0047] FIG. 16 is a side view illustrating the bending radius in a bent state by the flexion and extension movement of the endoscopic joint tube of the present invention.

[0048] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols are assigned the same reference numeral, and redundant descriptions thereof will be omitted. Furthermore, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted.

[0049] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0050] A singular expression includes a plural expression unless the context clearly indicates otherwise.

[0051] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0052]

[0053] The present invention will be described in detail below with reference to the attached drawings.

[0054] As illustrated in the attached drawings FIGS. 7 to 11, the present invention relates to an articulated tube (100) for an endoscope in which a plurality of circular unit segments (10) are articulated so that the endoscope insertion part can be flexed by pulling and releasing a wire according to the operation of a separate operating part, wherein the articulated part (110) is formed concentrically with a spherical block part (111) protruding from one end of the segment (10), and the articulated part comprises a cape block part (112) having an acute angle at different radii and a bay space part (113) having an obtuse angle; a first articulated unit (110) in which a plurality of articulated parts are arranged, wherein the cape block part (112) having an obtuse angle at different radii and the articulated part (123) having an acute angle are arranged, wherein the spherical space part (121) provided on the free space of the other end of the segment (10) is formed concentrically with a bay space part (122) having an obtuse angle at different radii and the cape block part (123) having an acute angle. The spherical block portion (111), the cape block portion (112), and the bay space portion (113) of the first coupling unit (110) may be jointly coupled by fitting together the spherical space portion (121), the bay space portion (122), and the cape block portion (123) of the second coupling unit (120) of another segment (10) to be adjacently connected.

[0055] The present invention is configured with a plurality of interlocking joint parts, i.e., a plurality of put-in structures, wherein the first joint unit (110) and the second joint unit (120), which are joint parts that perform flexion and extension movements while connecting each segment (10) constituting the endoscope joint tube (100), are provided with different radii on concentric circles. This makes it possible to prevent the joint part from detaching during flexion and extension movements during endoscopic examination, procedure, or surgery.

[0056] In addition, as shown in the attached drawing Fig. 12, the present invention makes it possible to minimize the bending radius according to the flexion movement of the entire endoscope joint tube (100) of the present invention by maximizing the angle of rotation (15 to 20 degrees) as the cape block part (112) (123), which is formed at an obtuse angle greater than 90 degrees, for example 110 degrees, and an acute angle less than 90 degrees, for example 70 degrees, slides between the bay space part (113) (122), thereby making it possible to facilitate the flexion movement while inserted into a narrow part of the human body.

[0057] Here, each segment (10) having the first and second coupling units (110) (120) of the present invention may be formed by irradiating a laser onto a tubular body having a long axis and making cuts and perforations.

[0058] The present invention, as described above, forms each segment (10) having the first and second coupling units (110) (120) by irradiating a tube body prepared to match the long axis, that is, the length of the endoscope insertion part, with a laser to form incisions and perforations. This allows for easier manufacturing and improved productivity compared to fabricating and assembling the segments (10) having the first and second coupling units (110) (120) formed therein, and enables the provision of a hygienic endoscope joint tube by minimizing exposure to a contaminated environment during the manufacturing and assembly process.

[0059] Meanwhile, in the present invention, the first coupling unit (110) may be provided on the first side of the first direction, which is one connecting end of the segment (10), and the second coupling unit (120) may be provided on the second side of the first direction, and the second coupling unit (120) may be provided on the first side of the second direction, which is the other connecting end of the segment (10), and the first coupling unit (110) may be provided on the second side of the second direction.

[0060] For reference, to aid in understanding the present invention, the prior art is described again. As shown in the attached drawing Fig. 5, the prior art has a first C-shaped occlusion part (101) and a first C-shaped notch part (102) symmetrically formed on both opposing sides of one end of each segment (10), and a second C-shaped occlusion part (111), a second C-shaped notch part (112), and a spherical projection (113) symmetrically formed on both opposing sides of the other end. Therefore, when a pair of left and right wires that are pulled or released by an operating part for the flexion and extension movement of the joint body are pulled excessively, the problem of the joined parts between the two occlusion parts, the two notch parts, and the spherical projections deviating from the rotation angle and becoming detached frequently occurs in the medical field.

[0061] In contrast, the present invention is configured such that the first coupling unit (110) is arranged diagonally on the first side of the first direction, which is the one-sided connection end of the segment (10), and the second side of the second direction, which is the other-sided connection end, and the corresponding second coupling unit (120) is also arranged diagonally on the first side of the second direction, which is the other-sided connection end of the segment (10), and the second side of the first direction, which is the one-sided connection end. That is, the fitting direction of the first coupling unit (110) and the second coupling unit (120) on the first side and the fitting direction of the first coupling unit (110) and the second coupling unit (120) on the second side are reversed to form opposite directions, so that when a pair of left and right wires that are pulled or released by the operating part are pulled excessively, it is possible to prevent the fitted part from deviating from the rotation angle and becoming detached.

[0062] At this time, the first coupling unit (110) of the present invention may be composed of a first-1 coupling part (110-1), a first-2 coupling part (110-2), and a first-3 coupling part (110-3) along three concentric circles having different radii centered on a spherical block part (111).

[0063] For reference, the term "concentric circle" means "two or more circles with different radii having the same center," and in the present invention, the first-1 coupling part (110-1), the first-2 coupling part (110-2), and the first-3 coupling part (110-3) are located on concentric circles having different radii with the spherical block part (111) as the center.

[0064] At this time, the first-1 coupling part (110-1) of the present invention may be provided in a plurality of alternating first-1 cape block parts (112-1) and first-1 bay space parts (113-1) along a first concentric circle surrounding the spherical block part (111), the first-2 coupling part (110-2) may be provided in a plurality of alternating first-2 cape block parts (112-2) and first-2 bay space parts (113-2) along a second concentric circle surrounding the first-1 coupling part (110-1), and the first-3 coupling part (110-3) may be provided in a plurality of alternating first-3 cape block parts (112-3) and first-3 bay space parts (113-3) along a third concentric circle surrounding the first-2 coupling part (110-2).

[0065] At this time, the first-1 cape block portion (112-1), the first-2 bay space portion (113-2), and the first-3 cape block portion (112-3) of the present invention may have parts formed alternately in the radial direction of the concentric circles, and the first-1 bay space portion (113-1), the first-2 cape block portion (112-2), and the first-3 bay space portion (113-3) may have parts formed alternately in the radial direction of the concentric circles.

[0066] Additionally, the second coupling unit (120) of the present invention may be composed of a second-1 coupling part (120-1), a second-2 coupling part (120-2), and a second-3 coupling part (120-3) along concentric circles having three different radii centered on a spherical space (121).

[0067] At this time, the second-1 coupling part (120-1) of the present invention may be provided in a plurality of alternating second-1 cape block parts (123-1) and second-1 bay space parts (122-1) along a first concentric circle surrounding the spherical space part (121), the second-2 coupling part (120-2) may be provided in a plurality of alternating second-2 cape block parts (123-2) and second-2 bay space parts (122-2) along a second concentric circle surrounding the second-1 coupling part (120-1), and the second-3 coupling part (120-3) may be provided in a plurality of alternating second-3 cape block parts (123-3) and second-3 bay space parts (122-3) along a third concentric circle surrounding the second-2 coupling part (120-2).

[0068] At this time, the second-1 cape block portion (123-1), the second-2 bay space portion (122-2), and the second-3 cape block portion (123-3) of the present invention may have parts formed alternately in the radial direction of the concentric circles, and the second-1 bay space portion (122-1), the second-2 cape block portion (123-2), and the second-3 bay space portion (122-3) may have parts formed alternately in the radial direction of the concentric circles.

[0069] In this invention, when two adjacent segments (10) are connected in a straight line, the spherical block portion (111) of the first coupling unit (110) and the spherical space portion (121) of the second coupling unit (120) are coupled, and the first-1, 1-2, 1-3 cape block portions (112-1)(112-2)(112-3) and the first-1, 1-2, 1-3 bay space portions (113-1)(113-2)(113-3) forming the first-1 coupling part (110-1), first-2 coupling part (110-2), and first-3 coupling part (110-3) of the first coupling unit (110) and the corresponding second-1 coupling part (120-1), second-2 coupling part (120-2), and second-3 coupling of the second coupling unit (120) are formed. The second-1, second-2, second-3 cape block portions (123-1)(123-2)(123-3) forming the part (120-3) and the second-1, second-2, second-3 bay space portions (122-1)(122-2)(122-3) may be combined so that each cape block portion rotates relative to each other within a certain angle range within the corresponding bay space portion.

[0070] At this time, the angles of the first-1, 1-2, 1-3 cape block section (112-1)(112-2)(112-3) and the first-1, 1-2, 1-3 bay space section (113-1)(113-2)(113-3) and the corresponding second-1, 2-2, 2-3 bay space section (122-1)(122-2)(122-3) and the second-1, 2-2, 2-3 cape block section (123-1)(123-2)(123-3) are exemplified by the attached drawing Fig. 13.

[0071] First, attached drawing FIG. 13a) illustrates the angle of the second-1 cape block portion (123-1) of the second-1 coupling part (120-1) that is fitted with the first-1 bay space portion (113-1) of the first-1 coupling part (110-1). The first-1 bay space portion (113-1) is formed at 110 degrees, which is greater than the obtuse angle of 90 degrees, to provide a slide path, and the second-1 cape block portion (123-1) is formed at 70 degrees, which is less than the acute angle of 90 degrees, to fit into the slide path, so that it slides in an arc in the forward and reverse directions according to the rotation direction.

[0072] Meanwhile, attached drawing Fig. 13b) illustrates the angle of the second-second cape block portion (123-2) of the second-second coupling part (120-2) that is fitted with the first-second bay space portion (113-2) of the first-second coupling part (110-2). The first-second bay space portion (113-2) is formed at 110 degrees, which is greater than the obtuse angle of 90 degrees, to provide a slide path, and the second-second cape block portion (123-2) is formed at 70 degrees, which is less than the acute angle of 90 degrees, to fit into the slide path, so that it slides in an arc in the forward or reverse direction depending on the direction of rotation.

[0073] Meanwhile, attached drawing Fig. 13c) illustrates the angle of the second-third cape block portion (123-3) of the second-third coupling part (120-3) that is fitted with the first-third bay space portion (113-3) of the first-third coupling part (110-3). The first-third bay space portion (113-3) is formed at 110 degrees, which is greater than the obtuse angle of 90 degrees, to provide a slide path, and the second-third cape block portion (123-3) is formed at 70 degrees, which is less than the acute angle of 90 degrees, to fit into the slide path, so that it slides in an arc in the forward or reverse direction depending on the direction of rotation.

[0074] In addition, the first and second coupling units (110) (120) of the present invention are each provided protrudingly at one side connecting end and the other side connecting end of each segment (10), and a bending groove may be provided on the outer diameter of the one side connecting end and the other side connecting end, excluding the portion where the first and second coupling units (110) (120) are provided protrudingly, to form a block gap between the segments and secure a joint bending range during bending.

[0075] At this time, the bending groove may be naturally formed by the protrusion of the first and second coupling units (110) (120), and if necessary, it may be intentionally formed in a curved shape to further secure the range of joint bending. The size, angle, and shape of the bending groove and the first and second coupling units (110) (120) can be adjusted in advance to determine the final bending angle between each segment (10), and such prior adjustment is applied according to the use of the endoscope or the site of the procedure or surgery.

[0076] In addition, as shown in the attached drawing Fig. 14, the present invention may have a wire support portion (130) that is inwardly recessed in the upper and lower outer diameters in a direction orthogonal to the direction in which the first and second coupling units (110) (120) of the segment (10) are provided.

[0077] At this time, the wire support member (130) of the present invention may be provided on segments (10) arranged by skipping one of each segment (10) that are continuously connected, and may be arranged in a stepping stone form.

[0078] Such a wire support member (130) ensures that when the wire (1) is pulled by the operation of the operating member, a stable support state is maintained at an accurate position.

[0079] In addition, a separate effector segment (11) to which an end effector is inserted and fixed is coupled to a segment (10) located at one end of the joint tube (100) of the present invention, and a separate coupling segment (12) connected to an operating part is provided to a segment (10) located at the other end of the segment (10).

[0080] At this time, the effector segment (11) and the segment (10) may be connected in the same structure as the joint structure that connects and extends each segment (10).

[0081]

[0082] In addition, as shown in the attached drawing Fig. 15, the segments (10) arranged continuously in a straight line to form the joint tube (100) may be arranged such that the length of the tube gradually shortens as they go toward the tip where the end effector is located.

[0083] In this way, when the wire (1) is pulled according to the operation of the above-mentioned operating part, and a bending motion occurs at the joint portion of each segment (10), as shown in the attached drawing Fig. 16, the bending gap of the segment (10) in the direction of the leading edge where the end effector is located is narrowed, so the bending radius can be minimized.

[0084] As described above, the bay space portions (113) (122) provided in the first coupling unit (110) and the second coupling unit (120), respectively, are formed at an obtuse angle greater than 90 degrees to maximize the rotation angle, and the length of the segment (10) in the direction of the end effector is formed narrowly so that the bending gap between the segments (10) is narrowed, thereby minimizing the bending radius of the entire endoscopic joint tube (100) of the present invention, and by minimizing the bending radius in this way, it is possible to perform examinations, procedures, or surgeries easily and precisely while in an invasive state within a narrow space of the human body.

[0085]

[0086] The technical features disclosed in each embodiment of the present invention are not limited to that embodiment only, and as long as they are not mutually incompatible, the technical features disclosed in each embodiment may be combined and applied to different embodiments.

[0087] Therefore, in each embodiment, the technical features are described primarily, but as long as the technical features are not mutually incompatible, they may be combined and applied together.

[0088] The present invention is not limited to the embodiments described above and the attached drawings, and various modifications and variations may be possible from the perspective of those skilled in the art to which the present invention belongs. Accordingly, the scope of the present invention should be defined not only by the claims of this specification but also by equivalents thereof.

Claims

1. An articulated tube for an endoscope in which a plurality of articulated unit segments are articulated so that the endoscope insertion part moves in a flexible motion by pulling and releasing a wire according to the operation of a separate operating part, A first coupling unit comprising a plurality of coupling parts arranged at different radii, each consisting of a cape block portion having an acute angle and a bay space portion having an obtuse angle, with a spherical block portion protruding from one side connecting end of the segment as a concentric circle; and A second coupling unit comprising a plurality of coupling parts arranged in a concentric circle, each consisting of a bay space having an obtuse angle and a cape block having an acute angle, with different radii, with a spherical space provided on the free space of the other connecting end of the segment; The spherical block portion, the cape block portion, and the bay space portion of the first coupling unit are fitted and articulated with the spherical space portion, the bay space portion, and the cape block portion of the second coupling unit of another adjacent segment. Endoscopic joint tube.

2. In Paragraph 1, The first coupling unit is provided on the first side of the first direction, which is one side connection end of the above segment, and the second coupling unit is provided on the second side of the first direction. The second coupling unit is provided on the first side of the second direction, which is the other connecting end of the above segment, and the first coupling unit is provided on the second side of the second direction. Endoscopic joint tube.

3. In Paragraph 1, The above-mentioned first coupling unit is, A 1-1 coupling part, a 1-2 coupling part, and a 1-3 coupling part formed along concentric circles having three different radii centered on a spherical block part. Endoscopic joint tube.

4. In Paragraph 3, The above 1-1 connecting part is, Along the first concentric circle surrounding the above-mentioned spherical block portion, a plurality of first-1 cape block portions and first-1 bay space portions are alternately provided, and The above-mentioned first- and second connecting parts are, Along the second concentric circle surrounding the first-1 coupling part, a plurality of first-2 cape block parts and first-2 bay space parts are alternately provided, and The above 1-3 connecting parts are, Along the third concentric circle surrounding the first- and second connecting parts, a plurality of first- and third cape block parts and first- and third bay space parts are alternately provided. Endoscopic joint tube.

5. In Paragraph 4, The above 1-1 Cape Block section, 1-2 Bay Space section, and 1-3 Cape Block section are formed alternately in portions along the radial direction of the concentric circles, and The above 1-1 bay space, 1-2 cape block, and 1-3 bay space are formed such that parts thereof are alternately formed in the radial direction of the concentric circles. Endoscopic joint tube.

6. In Paragraph 1, The above second coupling unit is, Composed of a 2-1 coupling part, a 2-2 coupling part, and a 2-3 coupling part along concentric circles having three different radii centered on a spherical space. Endoscopic joint tube.

7. In Paragraph 6, The above 2-1 connecting part is, Along the first concentric circle surrounding the above-mentioned spherical space, a plurality of 2-1 cape block sections and 2-1 bay space sections are alternately provided, The above 2-2 connecting part is, Along the second concentric circle surrounding the above-mentioned second-1 coupling part, a plurality of second-2 cape block parts and second-2 bay space parts are alternately provided, and The above 2-3 connecting parts are, Along the third concentric circle surrounding the above-mentioned second-2 connecting part, a plurality of second-3 cape block parts and second-3 bay space parts are alternately provided. Endoscopic joint tube.

8. In Paragraph 7, The above 2-1 Cape Block section, 2-2 Bay Space section, and 2-3 Cape Block section are formed alternately in portions along the radial direction of the concentric circles, and The above 2-1 bay space, 2-2 cape block, and 2-3 bay space are formed such that parts thereof are alternately formed in the radial direction of the concentric circles. Endoscopic joint tube.

9. In Paragraph 4 or 7, When two adjacent segments are connected in a straight line, the spherical block portion of the first coupling unit and the spherical space portion of the second coupling unit are coupled, and the respective cape block portions and bay space portions forming the 1-1 coupling part, 1-2 coupling part, and 1-3 coupling part of the first coupling unit are coupled to the respective cape block portions and bay space portions forming the 2-1 coupling part, 2-2 coupling part, and 2-3 coupling part of the second coupling unit, so that the respective cape block portions rotate relative to each other within a certain angular range within the respective bay space portions. Endoscopic joint tube.

10. In Paragraph 1, The above first and second combined units are, Each segment is provided with a protrusion at one side connection end and the other side connection end, respectively, and A bending groove is provided on the outer diameter of the one-sided connecting end and the other-sided connecting end, excluding the portion where the first and second connecting units are protruded, to secure the joint bending range during bending. Endoscopic joint tube.

11. In Paragraph 1, A wire support portion is provided that is inwardly recessed in the upper and lower outer diameters in a direction orthogonal to the direction in which the first and second coupling units of the above segment are provided. Endoscopic joint tube.

12. In Paragraph 11, The above wire support is, Arranged in a stepping-stone form, placed on segments that skip one of the consecutively connected segments. Endoscopic joint tube.

13. In Paragraph 1, The segments arranged continuously in a straight line to form the above joint tube are arranged such that the length of the tube gradually shortens as they approach the tip where the end effector is located. Endoscopic joint tube.

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