CN117045176A

CN117045176A - Endoscope with a lens

Info

Publication number: CN117045176A
Application number: CN202210493457.5A
Authority: CN
Inventors: 林民才; 孙强; 夏侯命金; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2023-11-14

Abstract

The embodiment of the application provides an endoscope, which comprises a handle, an endoscope front end and a supporting rod for connecting the handle and the endoscope front end, wherein a first joint component is arranged in a deflector rod of the handle, the first joint component is in interference fit with an elastic component, the deflector rod is used for driving the endoscope front end to rotate in a first preset direction corresponding to a first direction when being stirred in the first direction, the deflector rod is also used for driving the endoscope front end to rotate in a second preset direction corresponding to a second direction when being stirred in the second direction, and the elastic component resists stirring of the deflector rod and enables the first joint component to hover when the deflector rod is not stirred, so that the endoscope front end is kept in a preset direction corresponding to the first preset direction and/or the second preset direction.

Description

Endoscope with a lens

Technical Field

The application relates to the field of medical instruments, in particular to an endoscope.

Background

Minimally invasive surgical procedures are known to provide many advantages over traditional open surgery, including less pain, shorter hospital stay, faster recovery from normal activity, less scarring, shorter recovery time, and less tissue damage. To perform these procedures, access to the patient's body may be created through incisions or natural body orifices, using robotic and manual minimally invasive surgical equipment.

An endoscope is a medical instrument that allows a physician to capture images of internal body organ problems by inserting the instrument through a natural body orifice or surgically created opening and directing it to a target site within the patient. In some cases, it may also be used to perform therapeutic procedures on internal body organs. It is operable such that its distal end is controllably oriented for navigation purposes, and an image capturing device, such as a stereoscopic or monoscopic camera, may be disposed at its distal end such that images captured by the camera from that view may be viewed by a physician on a display screen. To perform various treatment procedures at the target site, surgical tools such as those used for cutting, grasping, cauterizing, etc., may be extended beyond the distal end of the endoscope.

In the prior art, after the lens of the endoscope stretches into a body, the bending direction of the lens is easy to be limited, so that the imaging range is limited, and particularly when the lens is required to take images in different directions, the rotation or locking is inflexible and inconvenient, so that the use experience is poor.

Disclosure of Invention

In order to solve the above problems, the present application provides an endoscope that can be locked by rotation.

An aspect of an embodiment of the present application provides an endoscope including an endoscope front end and a lever for adjusting a direction of the endoscope front end, the lever including a first joint assembly and an elastic assembly interference-fitted with a movable portion of the first joint assembly, the first joint assembly being moved to a first predetermined orientation when subjected to a first direction pulling force, the elastic assembly providing a friction force to hover the first joint assembly when the pulling force is removed, thereby maintaining the endoscope front end in the first predetermined orientation.

In a specific embodiment, the elastic component includes two first elastic pieces, a first group of relative positions of the movable portion of the first joint component are provided with first friction fit structures, the two first elastic pieces are provided with second friction fit structures, and when the first joint component is subjected to a force of pulling in a first direction and/or a second direction opposite to the first direction, the second friction fit structures slide and rub along the surfaces of the first friction fit structures.

In a specific embodiment, when the first joint assembly is subjected to the second direction poking force, the endoscope front end moves to a second preset azimuth direction opposite to the first preset azimuth direction, and the two first elastic sheets provide friction force to hover the first joint assembly when the poking force fails, so that the endoscope front end is kept at the second preset azimuth.

In a specific embodiment, the elastic component further comprises two second elastic pieces, the first friction fit structure is arranged at a second group of relative positions of the movable part of the first joint component, the connecting line of the second group of relative positions is perpendicular to the connecting line of the first group of relative positions, the two second elastic pieces are respectively provided with the second friction fit structure, when the first joint component is subjected to a third direction and/or a fourth direction opposite to the third direction, the second friction fit structure of the second elastic pieces slides and rubs along the surface of the first friction fit structure, the front end of the endoscope moves towards a third preset position and/or a fourth preset position, and the two second elastic pieces provide friction force to enable the first joint component to hover when the poking force fails, so that the front end of the endoscope is kept at the third preset position and/or the fourth preset position.

In a specific embodiment, the first joint assembly includes a first joint, a second joint and a third joint, the second joint and the first joint are rotatably connected with each other, the third joint is fixed, the second joint is rotatably connected with the third joint, one end of each of the two first elastic sheets is relatively fixed with the first joint, and the other end of each of the two first elastic sheets is in friction interference fit with the second joint; one end of each second elastic piece is fixed with the third joint relatively, and the other end of each second elastic piece is in friction interference fit with the second joint.

In a specific embodiment, the first friction fit structure is a mesh-shaped concave-convex surface, and the second friction fit structure is a fixing bump or a protruding pin with a fine-adjustable front-rear position.

In a specific embodiment, the deflector rod includes a cap body, the first joint with the cap body fixed connection is followed the cap body is stirred, two first shell fragments are "L" style of calligraphy, two second shell fragments are "L" type, and the vertical one end of "L" type with second joint friction interference fit, horizontal one end is fixed to a first support, and first support is fixed to a second support, the second support is fixed in the handle, the third joint embedding is in between first support and the second support.

In a specific embodiment, the front end of the endoscope is provided with a second joint assembly for supporting the endoscope lens, the second joint assembly is connected with the first joint assembly through four driving wires, the four driving wires are accommodated in the supporting rod, the handle is connected with the supporting rod, the second joint assembly comprises a fourth joint, a fifth joint and a sixth joint, the fourth joint is arranged at the end part of the supporting rod and is fixed relative to the supporting rod, the fifth joint is rotatably connected relative to the fourth joint, one end of the sixth joint is rotatably connected with the fifth joint, and the other end of the sixth joint is fixedly connected with the endoscope lens.

In a specific embodiment, four driving wire through holes are formed in the positions, corresponding to the second driving wire through holes and the third driving wire through holes, of the first joint, four first limiting structures are formed in the positions, corresponding to the fourth driving wire through holes and the third joint, of the fourth joint, four driving wire through holes are formed in the positions, corresponding to the fourth driving wire through holes and the fifth joint, of the sixth joint, four second limiting structures are formed in the positions, corresponding to the fourth driving wire through holes and the fifth joint, of the sixth joint, one end of each of the four driving wires penetrates through the corresponding driving wire through holes of the second joint and the corresponding driving wire through holes of the third joint, then is limited and fixed in the corresponding first limiting structures, and the other end of each of the four driving wires penetrates through the corresponding driving wire through holes of the fourth joint and the corresponding driving wire through holes of the fifth joint, and then is limited and fixed in the corresponding second limiting structures.

In a specific embodiment, the first limiting structure comprises a first through hole and a second through hole which are separated, one end of the driving wire penetrates through the first through hole, and then is folded into the second through hole and welded and fixed in the second through hole; the second limiting structure comprises a limiting hole, and the other end of the driving wire is welded and fixed in the limiting hole.

In a specific embodiment, two connecting pieces are respectively arranged between the first joint and the second joint, between the second joint and the third joint, between the fourth joint and the fifth joint and between the fifth joint and the sixth joint, two ends of each connecting piece are respectively provided with a protruding portion, each of the first joint to the sixth joint is provided with a fixing hole matched with the protruding portion, each connecting piece is provided with a through hole, one end of each of the four driving wires respectively penetrates through one connecting piece on the first joint assembly side, and the other end of each of the four driving wires respectively penetrates through one connecting piece on the second joint assembly side.

In a specific embodiment, the connection line of the two connecting pieces between the first joint and the second joint is perpendicular to the connection line of the two connecting pieces between the second joint and the third joint; the connecting line of the two connecting pieces between the fourth joint and the fifth joint is perpendicular to the connecting line of the two connecting pieces between the fifth joint and the sixth joint.

In a specific embodiment, a rotation connection structure which is matched with each other and forms rotation connection between the joints is formed between the first joint and the second joint, between the second joint and the third joint, between the fourth joint and the fifth joint, and between the fifth joint and the sixth joint, and the rotation connection structure is located between the fixing holes.

In a specific embodiment, the axis of rotation of the rotational connection between the first and second joints is perpendicular to the axis of rotation of the rotational connection between the second and third joints; the rotation axis of the rotation connecting structure between the fourth joint and the fifth joint is perpendicular to the rotation axis of the rotation connecting structure between the fifth joint and the sixth joint.

A further aspect of an embodiment of the present application provides an endoscope including:

a handle, the handle is provided with a deflector rod,

an endoscope front end having an endoscope lens, and

the handle is connected with a support rod at the front end of the endoscope, a first joint component is arranged in the deflector rod, an elastic component is in interference fit with the first joint component, the deflector rod is used for driving the endoscope lens to rotate in a first preset direction corresponding to the first direction when being stirred in the first direction, the deflector rod is also used for driving the endoscope lens to rotate in a second preset direction corresponding to the second direction when being stirred in the second direction, and the elastic component resists stirring of the deflector rod and enables the first joint component to hover when the deflector rod is not stirred, so that the endoscope lens is kept in a preset position corresponding to the first preset direction and/or the second preset direction.

In a specific embodiment, the elastic component includes two first shell fragments that set up in the first relative position of first joint component side and sets up two second shell fragments of first joint component side second group relative position, the line of second group relative position with the line of first group relative position is perpendicular, first group relative position and second group relative position are equipped with first friction fit structure respectively, two first shell fragments are all fixed with one end of second shell fragment, and the other end is equipped with second friction fit structure, second friction fit structure with first friction fit structure forms friction interference fit.

In a specific embodiment, the deflector rod comprises a cap body, the first joint component comprises a first joint, a second joint and a third joint, the first joint is fixedly connected with the cap body and is stirred along with the cap body, the third joint is fixed in the handle, the second joint and the first joint are rotatably connected with each other, the second joint is rotatably connected with the third joint, one end of each of the two first elastic sheets is fixed on the first joint, the other end of each of the two first elastic sheets can slide and rub against the second joint when the first joint is stirred, and friction force is provided to enable the first joint component to hover when the stirring is removed; one end of each second elastic piece is fixed relative to the third joint, the other end of each second elastic piece can slide and rub relative to the second joint when the first joint is shifted, and friction force is provided when shifting is removed, so that the first joint assembly hovers.

In a specific embodiment, the front end of the endoscope is provided with a second joint assembly for supporting the endoscope lens, the first joint assembly and the second joint assembly are connected through a driving wire accommodated in the supporting rod, and when the driving rod is used for poking in the first direction and/or the second direction, the driving wire drives the second joint assembly to move so as to drive the endoscope lens to rotate in the first preset direction and/or the second preset direction.

In a specific embodiment, the first predetermined direction is the same as or opposite to the first direction, and the second predetermined direction is the same as or opposite to the second direction.

The endoscope of the application has at least the following beneficial effects:

the joint component is arranged in the deflector rod to realize rotation deflection, so that the front end deflection of the endoscope is driven, the joint component is provided with the elastic component, and the elastic component can slide in a friction manner in an interference fit manner when being stirred or pushed, and can press the joint component in a friction interference manner when not being stirred or pushed, so that the front end of the endoscope can be kept in a preset position.

Drawings

FIG. 1 is a schematic view of an endoscope according to an embodiment of the present application;

FIG. 2 is a schematic illustration of the toggle lever of the endoscope of FIG. 1 being toggled in a first direction;

FIG. 3 is a schematic illustration of the toggle lever of the endoscope of FIG. 1 being toggled in a second direction;

FIG. 4 is a schematic view of the endoscope of FIG. 1 with the support bar and handle removed in accordance with a first embodiment of the present invention;

FIG. 5 is a schematic view of the first and second joint assemblies of FIG. 4 assembled with a support rod;

FIG. 6 is a schematic illustration of the first joint and the sixth joint of FIG. 5 symmetrically flexed;

FIG. 7 is a schematic illustration of the first joint and the sixth joint being symmetrically curved in a direction opposite to that of FIG. 6;

FIG. 8 is a schematic illustration of the second joint and the fifth joint of FIG. 5 symmetrically flexed;

FIG. 9 is a schematic view of the second joint and the fifth joint being symmetrically curved in the opposite direction to that of FIG. 8;

FIG. 10 is a schematic illustration of a first joint component with a first axis and a second axis;

FIG. 11 is a schematic illustration of the second joint assembly with third and fourth axes;

FIG. 12 is a schematic view of a drive wire passing through a tube;

FIG. 13 is a schematic illustration of a lever assembled with a first joint component;

FIG. 14 is a schematic view of a joint assembly having a connector;

FIG. 15 is a schematic view of the joint assembly of FIG. 14 rotated 90;

FIG. 16 is a schematic view of the connector of FIG. 14;

FIG. 17 is a schematic view of the first joint of FIG. 4;

FIG. 18 is a schematic view of the second joint of FIG. 4;

FIG. 19 is a schematic view of the third joint of FIG. 4;

FIG. 20 is a schematic view of the joint assembly of FIG. 4 with a connector between the first joint and the second joint;

FIG. 21 is a schematic view of the first joint assembly of FIG. 20 from another perspective;

FIG. 22 is a schematic view of a first articulation component with resilient components on the handle side of an endoscope in accordance with a second embodiment of the present invention;

FIG. 23 is a schematic view of FIG. 22 with the first spring, the second spring and the top bracket removed;

FIG. 24 is another schematic view from another perspective of the first joint assembly of FIG. 23;

FIG. 25 is a first schematic view of the first spring and the second spring in FIG. 22;

FIG. 26 is a schematic view of a first stop feature and a second stop feature of the drive wire of FIG. 22;

fig. 27 is a second structural schematic diagram of the first elastic piece and the second elastic piece in fig. 22.

The reference numerals of the elements in the drawings are as follows:

endoscope 100 handle 101 toggle 102

Cap 1021 supporting rod 103 tube 1031

Second joint assembly 104 fourth joint 1041 fifth joint 1042

Sixth joint 1043 endoscope front end 105 lens 106

First joint assembly 107 first joint 1071 second joint 1072

Third joint 1073 first drive wire 1081 and second drive wire 1082

Third drive wire 1083 fourth drive wire 1084 connector 109

First connector 109a second connector 109b support column 1091

Elastic component 1012 with protrusion 1092 and through hole 1093

First limit structure 1013 of first elastic piece 1012a and second elastic piece 1012b

Second spacing structure 1014 first friction fit structure 1012c and second friction fit structure 1012d

Top bracket 1017 of second bracket 1016 of first bracket 1015

Pin 1018 first through hole 1013a second through hole 1013b

Limiting hole 1014a driving wire 108 pin holes 1019, 10200 b

Fixing base 1015a of end face 1020a of protruding pin 1020

Detailed Description

In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the application. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present, as "engaged" herein means that the two elements have a power-transmitting coupling. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions as used herein are for the purpose of illustration and do not denote a unique embodiment, it being understood that these spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., an element or feature described as "below" or "beneath" other element or feature would be oriented "above" the other element or feature if the device were turned over in the figures. Thus, the example term "below" may include both an orientation above and below.

The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. As used herein, "coupled" may be understood broadly as wherein two or more objects are connected to any event in a manner that allows the absolutely coupled objects to operate with each other such that there is no relative movement between the objects in at least one direction, such as coupling of a protrusion and a recess, which may be relatively moved in a radial direction but not in an axial direction.

The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument comprising an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a jaw, a stapler, a scissor, an imaging device, such as an endoscope or an ultrasonic probe, and the like. The end effector may also provide articulating components, such as joint assemblies, that enable the position and orientation of the end effector to be manipulated for movement with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system elements.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "and/or" and/or "as used herein include any and all combinations of one or more of the associated listed items.

As shown in fig. 1, an endoscope 100 provided by the present application includes a handle 101, a lever 102, an endoscope front end 105, and a support bar 103. Wherein, the shift lever 102 is arranged on the handle 101, and the operator can hold the handle 101 and simultaneously operate the shift lever 102, specifically, the operator can hold the handle 101 and simultaneously operate the shift lever 102 with the thumb and/or index finger. The endoscope front end 105 is used to acquire images. Specifically, the endoscope front end 105 includes a lens 106, and the endoscope front end 105 extends into the body and bends in the body to achieve imaging of the lens 106 at different angles. One end of the support rod 103 is connected to the handle 101, and the other end of the support rod 103 is connected to the endoscope front end 105. The support rod 103 is used for connecting the handle 101 and the endoscope front end 105, and meanwhile, a driving wire for realizing transmission between the deflector rod 102 and the endoscope front end 105 is accommodated in the support rod 103.

As shown in fig. 2, when the lever 102 is used to dial in a first direction, the power of the lever 102 is transmitted through the support rod 103, so as to drive the endoscope front end 105 to rotate in a first predetermined direction corresponding to the first direction. As shown in fig. 3, when the lever 102 is further used for pulling in the second direction, the power of the lever 102 is transmitted through the supporting rod 103, so as to drive the endoscope front end 105 to rotate in a second predetermined direction corresponding to the second direction.

The first direction is the same as the first predetermined direction, and the second direction is the same as the second predetermined direction, i.e. when the lever 102 is toggled, the endoscope front end 105 rotates in the same direction. Alternatively, the first direction is opposite the first predetermined direction and the second direction is opposite the second predetermined direction, i.e., when the lever 102 is toggled, the endoscope front end 105 is rotated in a reverse direction.

In the actual use process, the first direction is the same as the first preset direction, and when the second direction is the same as the second preset direction, the first direction can be the forward or backward direction, and when the shift lever 102 is shifted forward, the front end 105 of the endoscope is driven to rotate forward; when the shift lever 102 is shifted backwards, the front end 105 of the endoscope is driven to rotate backwards; the second direction may be left or right, and when the lever 102 is shifted left, the front end 105 of the endoscope is driven to rotate left; when the shift lever 102 is shifted rightward, the endoscope front end 105 is driven to rotate rightward. Alternatively, the first direction may be a forward or backward direction when the first direction is opposite to the first predetermined direction and the second direction is opposite to the second predetermined direction, and the front end 105 of the endoscope is driven to rotate backward when the lever 102 is pushed forward; when the shift lever 102 is shifted backwards, the front end 105 of the endoscope is driven to rotate forwards; the second direction may be left or right, and when the lever 102 is shifted left, the front end 105 of the endoscope is driven to rotate right; when the shift lever 102 is shifted rightward, the endoscope front end 105 is driven to rotate leftward. From the above, the shift lever 102 can be shifted in the front-back and left-right directions, so that the front end 105 of the endoscope can rotate in the front-back and left-right directions, and the four-way rotation of the front end 105 of the endoscope is realized.

Of course, in practical application, the first direction may have an angle with the front-rear direction, and the angle between the first direction and the front-rear direction may be any angle such as 30 ° or 60 °. Similarly, the second direction may have an angle with the left-right direction, and the angle between the second direction and the left-right direction may be any angle such as 30 ° or 60 °, which is not limited herein.

As shown in fig. 4, endoscope 100 also includes a first joint assembly 107 and a second joint assembly 104. Wherein, the first joint assembly 107 is connected with the deflector rod 102, and the second joint assembly 104 is connected with the endoscope front end 105. Specifically, when the lever 102 is used for pulling in the first direction, the lever 102 drives the first joint assembly 107 to rotate in the first direction, and then the power of the first joint assembly 107 is transmitted to the second joint assembly 104, so that the second joint assembly 104 rotates in the first predetermined direction, and finally, the second joint assembly 104 drives the endoscope front end 105 to rotate in the first predetermined direction. When the shift lever 102 is further used for shifting to the second direction, the shift lever 102 drives the first joint assembly 107 to rotate to the second direction, and then the power of the first joint assembly 107 is transmitted to the second joint assembly 104, so that the second joint assembly 104 rotates to the second predetermined direction, and finally the second joint assembly 104 drives the endoscope front end 105 to rotate to the second predetermined direction. In this embodiment, the linkage between the lever 102 and the endoscope front end 105 is achieved by the linkage between the first joint assembly 107 and the second joint assembly 104, so that when the lever 102 is shifted, the endoscope front end 105 rotates relative to the support rod 103.

The first joint assembly 107 is located between the shift lever 102 and the support lever 103, one end of the first joint assembly 107 is connected to the shift lever 102, and the other end of the first joint assembly 107 is connected to the support lever 103. As shown in fig. 5, the second joint assembly 104 is located between the endoscope front end 105 and the support rod 103, one end of the second joint assembly 104 is connected to the endoscope front end 105, and the other end of the second joint assembly 104 is connected to the support rod 103.

As shown in fig. 5, the first joint assembly 107 includes a first joint 1071, a second joint 1072, and a third joint 1073, and the first joint 1071, the second joint 1072, and the third joint 1073 are sequentially arranged, with the second joint 1072 being located between the first joint 1071 and the third joint 1073. The first joint 1071 is rotatably coupled to the second joint 1072, and the second joint 1072 is rotatably coupled to the third joint 1073. Specifically, one end of the second joint 1072 near the first joint 1071 is rotatably connected to the first joint 1071, and one end of the second joint 1072 near the third joint 1073 is rotatably connected to the third joint 1073. Both ends of the second joint 1072 are hinged to the first joint 1071 and the second joint 1072, respectively. The first joint 1071 is fixedly connected with the shift lever 102, and the third joint 1073 is connected with the support rod 103. Specifically, the first joint 1071 may be in an interference fit, a threaded connection, a screw connection, or an integral structure with the lever 102, and the third joint 1073 may be in an interference fit, a threaded connection, a screw connection, or an integral structure with the support rod 103, which are not limited herein.

The second joint assembly 104 includes a fourth joint 1041, a fifth joint 1042, and a sixth joint 1043, where the fourth joint 1041, the fifth joint 1042, and the sixth joint 1043 are sequentially arranged, and the fifth joint 1042 is located between the fourth joint 1041 and the sixth joint 1043. The fourth joint 1041 is rotatably connected to the fifth joint 1042, and the fifth joint 1042 is rotatably connected to the sixth joint 1043. Specifically, one end of the fifth joint 1042, which is close to the fourth joint 1041, is rotatably connected to the fourth joint 1041, and one end of the fifth joint 1042, which is close to the sixth joint 1043, is rotatably connected to the sixth joint 1043. Both ends of the fifth joint 1042 are hinged to the fourth joint 1041 and the sixth joint 1043, respectively. The sixth joint 1043 is fixedly connected to the endoscope front end 105, and the fourth joint 1041 is connected to the support rod 103. Specifically, the sixth joint 1043 may be in an interference fit, a threaded connection, a screw connection, or an integral structure with the endoscope front end 105, and the fourth joint 1041 may be in an interference fit, a threaded connection, a screw connection, or an integral structure with the support rod 103, which are not limited herein.

The first joint 1071, the second joint 1072, the third joint 1073, the sixth joint 1043, the fifth joint 1042, and the fourth joint 1041 may be symmetrically disposed. In a specific application, as shown in fig. 6 and 7, when the first joint 1071 rotates clockwise or counterclockwise in the first direction, power is transmitted to the sixth joint 1043 to rotate the sixth joint 1043 in the first predetermined direction. The first direction is specifically the rotation of the first joint 1071 about the axis of rotation between the second joint 1072 and the first joint 1071. As shown in fig. 8 and 9, when the first joint 1071 rotates clockwise or counterclockwise about the second joint 1072 in the second direction, power is transmitted to the sixth joint 1043 to rotate the sixth joint 1043 and the fifth joint 1042 in the second predetermined direction. The second direction is specifically the rotation of the first joint 1071 about the axis of rotation between the second joint 1072 and the third joint 1073.

Further, as shown in fig. 10, the rotation axes of the first joint 1071 and the second joint 1072 are the first axis a, that is, the first joint 1071 can rotate around the first axis a with respect to the second joint 1072. The axes of rotation of the third joint 1073 and the second joint 1072 are the second axis b, i.e., the second joint 1072 is rotatable about the second axis b relative to the third joint 1073. The angle between the first axis a and the second axis b is greater than 0 °. In other words, the first axis a and the second axis b are not parallel to each other. In a preferred embodiment, the first axis a and the second axis b are perpendicular to each other, e.g., the first axis a is along the diameter of the first joint 1071 and the second axis b is along the diameter of the third joint 1073.

As shown in fig. 11, the rotation axes of the fourth joint 1041 and the fifth joint 1042 are the third axis c, that is, the fifth joint 1042 is capable of rotating about the third axis c relative to the fourth joint 1041. The rotation axes of the fifth joint 1042 and the sixth joint 1043 are the fourth axis d, i.e., the sixth joint 1043 is rotatable about the fourth axis d relative to the fifth joint 1042. The angle between the third axis c and the fourth axis d is greater than 0 °. In other words, the third axis c and the fourth axis d are not parallel to each other. In a preferred embodiment, the third axis c and the fourth axis d are perpendicular to each other, e.g. the third axis c is along the diameter of the fourth joint 1041 and the fourth axis b is along the diameter of the sixth joint 1043.

When the first joint assembly 107 and the second joint assembly 104 are symmetrically disposed, the first axis a is parallel to the fourth axis d, and the second axis b is parallel to the third axis c, and when the lever 102 drives the first joint 1071 to rotate, power is transmitted to the sixth joint 1043 to reversely rotate the sixth joint 1043. Of course, the first axis a may be parallel to the third axis c, and the second axis b may be parallel to the fourth axis d, where the first joint assembly 107 and the second joint assembly 104 are asymmetrically disposed, and when the lever 102 drives the first joint 1071 to rotate, the power is transmitted to the sixth joint 1043 to reversely rotate the sixth joint 1043.

When the first axis a and the second axis b are perpendicular to each other, and the third axis c is perpendicular to the fourth axis d, the bending direction when the sixth joint 1043 drives the endoscope front end 105 to rotate around the third axis c is perpendicular to the bending direction when the sixth joint 1043 drives the endoscope front end 105 to rotate around the fourth axis d, and four bending directions of the endoscope front end 105 are uniformly distributed along the circumferential direction, which is more beneficial to medical observation.

In one embodiment, the ratio of the width of the first joint 1071 to the width of the sixth joint 1043 is a first predetermined ratio, such as a reasonable ratio of 1:1, 2:1, 3:2, and 4:3. The width of the first joint 1071 is the distance between the two points farthest on the first joint 1071, and the width of the sixth joint 1043 is the distance between the two points farthest on the sixth joint 1043. The transmission ratio between the first joint 1071 and the sixth joint 1043 is inversely proportional to the first predetermined ratio, and the transmission ratio between the first joint 1071 and the sixth joint 1043 is further adjusted by adjusting the first predetermined ratio, so that the sixth joint 1043 drives the bending of the endoscope front end 105 to fit into the internal space, and simultaneously the rotation of the first joint 1071 and the lever 102 is suitable for the hand operation of the staff.

In addition, the width of the first joint 1071 may be larger than the width of the sixth joint 1043, so that the sixth joint 1043 extends into the body, and meanwhile, the width of the first joint 1071 is larger to be more convenient for operation.

The first joint 1071 and the sixth joint 1043 may each be cylindrical, where the width of the first joint 1071 is the diameter of the first joint 1071 and the width of the sixth joint 1043 is the diameter of the sixth joint 1043.

As shown in FIGS. 10 and 11, in another preferred embodiment, the endoscope 100 further includes a first drive wire 1081 and a second drive wire 1082. The first and second drive wires 1081 and 1082 are each disposed through the support rod 103. One end of each of the first and second drive wires 1081 and 1082 is fixed to the first joint 1071, and the other end is fixed to the sixth joint 1043. That is, both ends of the first driving wire 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively, and both ends of the second driving wire 1082 are also fixed to the first joint 1071 and the sixth joint 1043, respectively. When the shift lever 102 is shifted, the first joint 1071 is driven to rotate, and power is transmitted to the sixth joint 1043 through the first driving wire 1081 and the second driving wire 1082, so that the sixth joint 1043 drives the endoscope front end 105 to rotate.

Alternatively, the first driving wire 1081 has one end fixed to the first joint 1071 and the other end fixed to the sixth joint 1043, and the second driving wire 1082 has one end fixed to the second joint 1072 and the other end fixed to the sixth joint 1043. Specifically, the first driving wire 1081 is fixed to the first joint 1071 and the sixth joint 1043 at both ends thereof, and the second driving wire 1082 is fixed to the second joint 1072 and the sixth joint 1043 at both ends thereof, respectively. When the shift lever 102 is shifted, the first joint 1071 is driven to rotate along a first direction, and power is transmitted to the sixth joint 1043 through the first driving wire 1081, so that the sixth joint 1043 drives the endoscope front end 105 to rotate along a first predetermined direction. When the shift lever 102 is shifted, the second joint 1072 is further driven to rotate along the second direction, and the power is transmitted to the sixth joint 1043 through the second driving wire 1082, so that the sixth joint 1043 drives the endoscope front end 105 to rotate along the second predetermined direction.

Further, the endoscope 100 also includes a third drive wire 1083 and a fourth drive wire 1084, each of the third and fourth drive wires 1083, 1084 being disposed through the support shaft 103. The third driving wire 1083 is disposed opposite to the first driving wire 1081, and is connected to the corresponding joints of the first joint assembly 107 and the second joint assembly 104 in the same manner. That is, the first and third drive wires 1081 and 1083 are fixed to the same joint at the same lateral end. The fourth driving wire 1084 is disposed opposite to the second driving wire 1082, and both are connected to the corresponding joints of the first joint assembly 107 and the second joint assembly 104 in the same manner. That is, the second and fourth drive wires 1082 and 1084 are fixed to the same joint at the same lateral end.

In the above embodiment, when the lens 106 is bent in the body, the driving wire is pulled to realize accurate transmission in a narrow space with a long distance, and the driving wire extends along the length of the supporting rod 103, so that the connection relationship between the driving wire and the joint assembly is simple, and the operation is convenient; moreover, the lens 106 is smaller in distance from the third axis c and the fourth axis d, so that the lens 106 is smaller in bending diameter, occupies smaller space during bending, and is not easy to collide with and interfere with other surgical instruments.

As shown in FIG. 12, the endoscope 100 further includes a tube 1031, the tube 1031 being sleeved over the first and second drive wires 1081, 1082. The tube 1031 is used to provide a counteracting force to the first and second drive wires 1081, 1082 to change the direction of extension of the first and second drive wires 1081, 1082 between the first and second joint assemblies 107, 104. When the tube 1031 is bent, the inner wall of the tube 1031 abuts the first and second drive wires 1081 and 1082 to bend the first and second drive wires 1081 and 1082.

Likewise, the third and fourth drive wires 1083, 1084 may also be sleeved with a tube 1031, the tube 1031 being configured to provide an interference force to the third and fourth drive wires 1083, 1084 to change the direction of extension of the third and fourth drive wires 1083, 1084 between the first and second joint assemblies 107, 104.

In another embodiment, the endoscope 100 further includes a reversing wheel (not shown) disposed within the support bar 103 for changing the direction of extension of the first and second drive wires 1081, 1082 between the first and second joint assemblies 107, 104. Specifically, the first and second drive wires 1081, 1082 each bypass the reversing wheel, effecting bending steering of the first and second drive wires 1081, 1082. The reversing wheel may also be used to change the direction of extension of the third 1083 and fourth 1084 drive wires between the first 107 and second 104 joint assemblies. That is, the third and fourth drive wires 1083, 1084 each bypass the reversing wheel, effecting bending of the third and fourth drive wires 1083, 1084.

As shown in FIG. 11, in a preferred embodiment, the rotational axes of the fourth joint 1041 and the fifth joint 1042 are the third axis c, the rotational axes of the fifth joint 1042 and the sixth joint 1043 are the fourth axis d, and the endoscope 100 further includes a first drive wire 1081, a second drive wire 1082, a third drive wire 1083, and a fourth drive wire 1084 that are disposed through the support bar 103.

The first and third drive wires 1081, 1083 are positioned on either side of the fourth axis d, respectively, and the sixth joint 1043 is driven to rotate about the fourth axis d by the first and third drive wires 1081, 1083 in a first predetermined direction that is the rotation of the endoscope front end 105 about the fourth axis d. The second and fourth drive wires 1082 and 1084 are positioned on opposite sides of the third axis c, respectively, and the fifth joint 1042 is driven to rotate about the third axis c by the second and fourth drive wires 1082 and 1084 in a second predetermined direction that is the rotation of the endoscope front end 105 about the third axis c.

In particular, pulling on the first or third drive wires 1081, 1083 can cause the sixth joint 1043 to rotate about the fourth axis d either toward one side or toward the other side. At this time, the sixth joint 1043 drives the rotation of the endoscope front end 105 about the fourth axis d, and the first predetermined direction is that the endoscope front end 105 rotates about the fourth axis d.

Specifically, pulling on the second or fourth drive wires 1082, 1084 causes the fifth and sixth joints 1042, 1043 to rotate together about the third axis c toward one side or toward the other side. At this time, the sixth joint 1043 drives the rotation of the endoscope front end 105 about the third axis c, and the second predetermined direction is that the endoscope front end 105 rotates about the third axis c.

As shown in fig. 4, for convenience of the operator, a straight line in which the first joint assembly 107 is located and a straight line in which the second joint assembly 104 is located intersect. The straight line of the first joint assembly 107 is along the arrangement direction of the first joint 1071, the second joint 1072 and the third joint 1073, and the straight line of the second joint assembly 104 is along the arrangement direction of the fourth joint 1041, the fifth joint 1042 and the sixth joint 1043, and the arrangement direction of the first joint 1071, the second joint 1072 and the third joint 1073 is different from the arrangement direction of the fourth joint 1041, the fifth joint 1042 and the sixth joint 1043. So configured, the relative positions of the straight line where the first joint assembly 107 is located and the straight line where the second joint assembly 104 is located can be designed according to practical situations, so as to be suitable for the use modes of different types of endoscopes 100.

As shown in fig. 13, for convenience of operation, the lever 102 includes a cap 1021 fixedly connected to the first joint assembly 107, and the cap 1021 may be fixedly connected to the first joint 1071.

The cap 1021 may be cylindrical, and the cap 1021 is covered on the first joint 1071. One end of the cap 1021 is fixedly connected with the first joint 1071, and the other end of the cap 1021 is an operation end. The first joint assembly 107 is located inside the handle 101, and the operation end of the cap 1021 is exposed outside the handle 101, so that an operator can hold the handle 101 and operate the operation end of the cap 1021 with the thumb and/or index finger.

As shown in fig. 14 and 15, the first joint assembly 107 and/or the second joint assembly 104 further comprises a connector 109 for connecting two adjacent joints. As shown in fig. 16, the connector 109 includes a support post 1091 and two projections 1092 protruding from the end of the support post 1091.

Each joint is provided with a fixing hole i, and the protruding part 1092 is used for being clamped into the corresponding fixing hole i, and when two adjacent joints rotate relatively, the protruding part 1092 rotates in the fixing hole i.

The number of the connection members 109 may be plural, and may be divided into a plurality of first connection members 109a and a plurality of second connection members 109b, for example. In the following, the first joint assembly 107 is exemplified, and the first connector 109a is connected to the first joint 1071 and the second joint 1072, and the second connector 109b is connected to the second joint 1072 and the third joint 1073.

The two protruding portions 1092 of the first link 109a are respectively caught in the fixing holes i of the first joint 1071 and the second joint 1072, and the protruding portions 1092 can rotate in the fixing holes i. The axes of the two protruding portions 1092 of the first connection member 109a are parallel to the first axis a, and the first axis a and the axes of the two protruding portions 1092 of the first connection member 109a lie in the same plane. The axes of the two protruding portions 1092 and the first axis a of the first connector 109a are sequentially arranged along the arrangement direction of the three joints. The three joints are arranged in directions perpendicular to the first axis a and the second axis b. So set up, when first joint 1071 rotates for second joint 1072, two bulge 1092 of first connecting piece 109a rotate in fixed orifices i, drives first connecting piece 109a swing to guarantee that first joint 1071 rotates more steadily. In addition, the first connector 109a may also prevent the first joint 1071 and the second joint 1072 from separating.

The second joint 1072 and the third joint 1073 are provided with fixing holes i into which the protruding portions 1092 are engaged. The two protruding portions 1092 of the second link 109b are respectively caught in the fixing holes i of the second joint 1072 and the third joint 1073, and the protruding portions 1092 can rotate in the fixing holes i. The axes of the two protrusions 1092 of the second connection member 109b are parallel to the second axis b, and the second axis b and the axes of the two protrusions 1092 of the second connection member 109b lie in the same plane. The axes of the two protruding portions 1092 and the second axis b of the second connector 109b are sequentially arranged along the arrangement direction of the three joints. The three joints are arranged in directions perpendicular to the first axis a and the second axis b. So set up, when the second joint 1072 rotates relative to the third joint 1073, the two protruding portions 1092 of the second connecting piece 109b rotate in the fixing hole i to drive the second connecting piece 109b to swing, so as to ensure that the second joint 1072 rotates more stably. In addition, the second connector 109b may also prevent the third joint 1073 and the second joint 1072 from separating.

The rotational connection between the joints is illustrated by way of example with a first joint assembly 107, wherein one of the first joint 1071 and the second joint 1072 is provided with a protrusion h and the other of the first joint 1071 and the second joint 1072 is provided with a recess e. The inner wall of the groove e and the top surface of the protrusion h are cambered surfaces, the protrusion h can be clamped into the groove e so that the first joint 1071 and the second joint 1072 can rotate relatively, and therefore rotary connection of the first joint 1071 and the second joint 1072 is achieved, namely, the protrusion h and the groove e form a rotary connection structure. After the protrusion h is clamped into the groove e, the cambered surface extends around the first axis a, the section of the cambered surface is an arc, and the protrusion h and the groove e are positioned between the fixing holes i. As shown in fig. 17 to 19, a protrusion h is provided on one of the second joint 1072 and the third joint 1073, a groove e is provided on the other of the second joint 1072 and the third joint 1073, the inner wall of the groove e and the top surface of the protrusion h are arc surfaces, and the protrusion h can be clamped into the groove e so that the second joint 1072 and the third joint 1073 can rotate relatively, thereby realizing the rotational connection of the second joint 1072 and the third joint 1073. After the boss h is clamped into the groove e, the cambered surface extends around the second axis b, and the section of the cambered surface is an arc.

Preferably, the second joint 1072 is provided with protrusions h at both ends, and the first joint 1071 and the third joint 1073 are provided with grooves e. The bulge h at one end of the second joint 1072 is clamped into the groove e of the first joint 1071, and the bulge h at the other end of the second joint 1072 is clamped into the groove e of the third joint 1073, so that two ends of the second joint 1072 are respectively connected with the first joint 1071 and the third joint 1073 in a rotating mode.

The first joint 1071 and the second joint 1072 are rotatably connected through two grooves e and two protrusions h respectively clamped into the two grooves e. That is, the first joint 1071 is provided with two grooves e, the first end of the second joint 1072 is provided with two protrusions h matched with the two grooves e of the first joint 1071, and the two protrusions h of the first end of the second joint 1072 are respectively clamped into the two grooves e of the first joint 1071, so as to realize rotational connection of the first joint 1071 and the second joint 1072. Or, the first joint 1071 is provided with two protrusions h, the first end of the second joint 1072 is provided with two grooves e matched with the two protrusions h of the first joint 1071, and the two protrusions h of the first joint 1071 are respectively clamped into the two grooves e of the first end of the second joint 1072, so that the first joint 1071 and the second joint 1072 are connected in a rotating mode.

Likewise, the second joint 1072 and the third joint 1073 are rotatably connected by two grooves e and two protrusions h respectively engaged in the two grooves e. That is, the third joint 1073 is provided with two grooves e, the second end of the second joint 1072 is provided with two protrusions h matched with the two grooves e of the third joint 1073, and the two protrusions h of the second end of the second joint 1072 are respectively clamped into the two grooves e of the third joint 1073, so that the second joint 1072 and the third joint 1073 are rotationally connected. Or, the third joint 1073 is provided with two protrusions h, the second end of the second joint 1072 is provided with two grooves e matched with the two protrusions h of the third joint 1073, and the two protrusions h of the third joint 1073 are respectively clamped into the two grooves e of the second end of the second joint 1072, so that the third joint 1073 and the second joint 1072 are connected in a rotating mode.

Of course, the second joint 1072 and the third joint 1073 may be rotationally connected through a groove e and a protrusion h that is snapped into the groove e, and the second joint 1072 and the first joint 1071 may be rotationally connected through a groove e and a protrusion h that is snapped into the groove e, which is not limited herein.

As shown in fig. 20, the number of the first connectors 109a is two, and two sets of matching grooves e and protrusions h between the first joint 1071 and the second joint 1072 are respectively located between the two protrusions 1092 of the two first connectors 109 a. Specifically, the first joint 1071 and the second joint 1072 are rotatably connected by two sets of grooves e and protrusions h, each set of grooves e and protrusions h that snap into the grooves e being located between the two protrusions 1092 of one of the first connectors 109 a.

As shown in fig. 21, the number of the second connectors 109b is two, and two sets of matching grooves e and protrusions h between the second joint 1072 and the third joint 1073 are respectively located between the two protrusions 1092 of the two second connectors 109 b. Specifically, the second joint 1072 and the third joint 1073 are rotatably connected by two sets of grooves e and protrusions h, each set of grooves e and protrusions h that snap into the grooves e being located between two protrusions 1092 of one of the second connection members 109 b.

The second joint assembly 104 has the same structure as the first joint assembly 107, and will not be described again.

One end of the first driving wire 1081 is fixed to the first joint 1071, and the other end is fixed to the sixth joint 1043, that is, two ends of the first driving wire 1081 are fixed to the first joint 1071 and the sixth joint 1043, respectively. As shown in fig. 17, the connector 109 further includes a through hole 1093 penetrating the support column 1091, each joint is provided with a driving wire through hole f, the first driving wire 1081 is used to sequentially pass through the driving wire through hole f of each joint, and the through hole 1093 of the connector 109 then terminates in a sixth joint 1043. So configured, the first drive wire 1081 is perpendicular to the axis of the two protrusions 1092 of the connector 109, and thus does not rotate the two joints engaged with the connector 109 when the first drive wire 1081 is pulled.

In order to facilitate the passage of the light source cable of the endoscope system from the inside of the joint assembly, each joint is provided with a receiving hole g for the passage of the light source cable of the endoscope 100 at a position adjacent to the driving wire through hole f. The light source cable may be an LED cable, an optical fiber cable, or the like.

Referring to fig. 22, a partial schematic view of a handle 101 of an endoscope according to a second embodiment of the present invention is shown. The endoscope of this second embodiment is substantially identical to the endoscope of the first embodiment, except that the first articulation assembly within the handle 101 has an interference fit resilient assembly 1012 and the first limit structure 1013 of the drive wire is added.

Referring to fig. 23 and 25, in the present embodiment, the elastic component 1012 includes two first elastic pieces 1012a and two second elastic pieces 1012b. Two first elastic pieces 1012a are arranged at a first set of relative positions of the first joint component, and two second elastic pieces 1012b are arranged at a second set of relative positions of the first joint component. Specifically, the first joint assembly includes a first joint 1071, a second joint 1072 and a third joint 1073, two first elastic pieces 1012a are disposed at the relative positions between the first joint 1071 and the second joint 1072, two second elastic pieces 1012b are disposed at the relative positions between the second joint 1072 and the third joint, and the connection line of the first set of relative positions is perpendicular to the connection line of the second set of relative positions. One end of each of the two first elastic pieces 1012a is fixed on the first joint 1071, and the other end of each of the two first elastic pieces is in interference fit with the side surface of the second joint 1072; one end of each of the two second elastic pieces 1012b is fixed on the third joint 1073, and the other end of each of the two second elastic pieces is in interference fit with the side surface of the second joint 1072.

The interference fit of this example adopts a friction interference fit, specifically, a first friction fit structure 1012c is respectively disposed on the left, right, front and rear sides of the second joint 1072, and a second friction fit structure 1012d is disposed at a corresponding position of the elastic component 1012. The first friction fit structure 1012c has a plurality of spaced grooves, or uneven friction surfaces, the second friction fit structure 1012d has bumps, and the second friction fit structure 1012d can slide and rub along the first friction fit structure 1012c under the action of external force and can rest by friction when the external force is lost, so that the joint is pressed at the rest position, and a hovering effect is generated. The elastic material of the elastic component 1012 provides flexibility for repeated use, and the above-mentioned sheet-like contact area is large, so that the joint can be pressed, and it is understood that the sheet-like shape can be a plate-like shape or a plurality of strip-like shapes.

To better fix the first joint 1071 in the cap of the toggle lever (see reference numeral 1021 in fig. 13), and further fix the first elastic piece 1012a, a top bracket 1017 may be added. The first elastic piece 1012a may be directly l-shaped. To increase the stability of the second elastic piece 1012b, the second elastic piece 1012b is designed as an "L" shape, wherein one end of the "L" shape is vertical for sliding friction, and the other end is fixed. Referring to fig. 24, the second elastic piece 1012b may be first fixed on the L-shaped fixing base 1015a of the first bracket 1015, the first bracket 1015 is fixed on the second bracket 1016, and then the third joint 1073 is pressed into between the first bracket 1015 and the second bracket 1016 in an interference manner, so that the third joint 1073 is fixed. The spring plate and the bracket are fixed through the pin 1018 and the pin hole 1019.

In actual use, when a user dials (or pushes) the cap of the dial rod leftwards or rightwards, the top bracket 1017 moves along with the cap along with the first joint 1071, the end part of the first elastic piece 1012a slides and rubs on the side surface of the second joint 1072, and the rotation fit between the first joint 1071 and the second joint 1072 around the rotation axis (see the reference numeral a of fig. 10) of the corresponding groove and the protrusion h helps to drive other joints to move in a preset direction, the front end of the endoscope can reach a preset left or right direction, and the first elastic piece 1012a enables the second joint 1072 to hover, so that the front end of the endoscope hovers in the preset direction.

When the user dials (or pushes) the cap of the toggle lever forwards or backwards, the top bracket 1017 moves along with the cap along with the first joint 1071, and as the first joint 1071 is connected with the second joint 1072, and the second joint 1072 is opposite to the third joint 1073 by means of the protrusion h and the corresponding groove around the rotation axis (see reference b of fig. 10), thus helping to drive the other joints to move in the preset direction, the front end of the endoscope can reach the preset position forwards or backwards, and the end part of the second elastic piece 1012b slides and rubs on the side surface of the second joint 1072 until the toggling (or pushing) fails to stop, so that the second joint 1072 hovers, and the front end of the endoscope hovers in the preset position. The hovering of the mode achieves the effect that the front end of the user stops immediately after the hand stops, namely, the locking is convenient to rotate, and the self-locking function is achieved. The endoscope has the function of poking in four directions, namely front, back, left and right, when the endoscope is used up, a doctor pulls out the endoscope from the abdominal cavity, the doctor receives the action force of the poking card when the doctor passes through the poking card, the joint can be straightened, and the endoscope can be pulled out directly, namely, the action force for manually and additionally correcting the joint is not needed.

Referring to fig. 26 together, the first joint 1071 is provided with a first limiting structure 1013 of the driving wire, and specifically, the first joint 1071 is provided with four first limiting structures 1013 corresponding to the positions of four driving wire through holes (see reference sign f in fig. 17) of the second joint 1072 and the third joint 1073. The first spacing structure 1013 includes a first through hole 1013a and a second through hole 1013b which are separated, and one end of the driving wire 108 passes through the first through hole 1013a, and then is folded into the second through hole 1013b and is welded and fixed at the second through hole 1013 b. The limiting structure of the mode ensures that the driving wire is well straightened and fixed without the traditional knotting fixation.

In other embodiments, a second stop feature 1014 may be used in the sixth joint of the second joint assembly (see reference 1043 in fig. 11), where the second stop feature 1014 has only one stop hole 1014a, and the other end of the drive wire 108 may be welded directly into the stop hole 1014 a.

Referring to fig. 27, another structure of the first elastic piece 1012a and the second elastic piece 1012b is shown, in which the friction fit structure on the elastic piece is a protruding pin 1020 with a fine-adjustable front-back position, and preferably, the protruding pin 1020 is used to contact the end surface 1020a of the side surface of the first closing component and is spherical for better contact. The protruding pin 1020 can slightly move at the front and back positions of the pin hole 1020a when the first joint component is shifted by the shift lever, so that the interference amount of the elastic sheet and the joint is slightly adjusted, the resistance born by a user when shifting is small, and the protruding pin 1020 can still maintain the hovering resistance on the side surface of the joint when shifting force is removed.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. An endoscope comprising an endoscope front end and a deflector rod for adjusting the direction of the endoscope front end, characterized in that the deflector rod comprises a first joint component and an elastic component in interference fit with a movable part of the first joint component, when the first joint component is subjected to a first direction poking force, the endoscope front end moves towards a first preset azimuth, and the elastic component provides friction force when the poking force is removed so as to enable the first joint component to hover, thereby keeping the endoscope front end at the first preset azimuth.

2. The endoscope of claim 1, wherein the elastic assembly comprises two first elastic pieces, a first set of relative positions of the movable portion of the first joint assembly is provided with a first friction fit structure, the two first elastic pieces are provided with a second friction fit structure, and when the first joint assembly is subjected to a first direction and/or a second direction opposite to the first direction, the second friction fit structure slides and rubs along the surface of the first friction fit structure.

3. The endoscope of claim 2, wherein the endoscope front end moves to a second predetermined orientation opposite the first predetermined orientation when the first joint assembly is subjected to the second direction of the poking force, and wherein the two first spring plates provide friction to hover the first joint assembly when the poking force is removed, thereby maintaining the endoscope front end in the second predetermined orientation.

4. An endoscope according to claim 3 and wherein said resilient assembly further comprises two second spring plates, a second set of opposed positions of said movable portion of said first joint assembly being provided with said first friction fit structure, a line connecting said second set of opposed positions being perpendicular to a line connecting said first set of opposed positions, said two second spring plates each being provided with said second friction fit structure, said second friction fit structure of said second spring plates sliding friction along said first friction fit structure surface when said first joint assembly is subjected to a third direction and/or a fourth direction opposite to said third direction, said endoscope front end moving towards a third predetermined orientation and/or a fourth predetermined orientation, said two second spring plates providing friction to hover said first joint assembly upon failure of said toggle force, thereby maintaining said endoscope front end in said third predetermined orientation and/or fourth predetermined orientation.

5. The endoscope of claim 4, wherein the first joint assembly comprises a first joint, a second joint and a third joint, the second joint and the first joint are rotatably connected with each other, the third joint is fixed, the second joint is rotatably connected with the third joint, one end of each of the two first elastic sheets is relatively fixed with the first joint, and the other end of each of the two first elastic sheets is in friction interference fit with the second joint; one end of each second elastic piece is fixed with the third joint relatively, and the other end of each second elastic piece is in friction interference fit with the second joint.

6. The endoscope of claim 4, wherein the first friction fit structure is a net-shaped concave-convex surface, and the second friction fit structure is a fixing bump or a protruding pin whose front-rear position is finely adjustable.

7. The endoscope of claim 5, wherein the deflector rod is disposed in a handle, the deflector rod comprises a cap, the first joint is fixedly connected with the cap and is stirred along with the cap, the two first elastic pieces are L-shaped, the two second elastic pieces are L-shaped, one vertical end of the L-shaped is in friction interference fit with the second joint, one transverse end of the L-shaped is fixed on a first support, the first support is fixed on a second support, the second support is fixed in the handle, and the third joint is embedded between the first support and the second support.

8. The endoscope of claim 5, wherein the endoscope front end is provided with a second joint component for supporting the endoscope lens, the second joint component is connected with the first joint component through four driving wires, the four driving wires are accommodated in the supporting rod, the second joint component comprises a fourth joint, a fifth joint and a sixth joint, the fourth joint is arranged at the end part of the supporting rod and fixed relative to the supporting rod, the fifth joint is rotatably connected relative to the fourth joint, one end of the sixth joint is rotatably connected with the fifth joint, and the other end of the sixth joint is fixedly connected with the endoscope lens.

9. The endoscope of claim 8, wherein four driving wire through holes are formed in the positions of the second joint and the third joint, four first limiting structures are formed in the positions of the first joint corresponding to the four driving wire through holes of the second joint and the third joint, four driving wire through holes are formed in the positions of the fourth joint and the fifth joint, four second limiting structures are formed in the positions of the sixth joint corresponding to the four driving wire through holes of the fourth joint and the fifth joint, one end of each driving wire penetrates through the corresponding driving wire through holes of the second joint and the third joint and then is limited and fixed in the corresponding first limiting structures, and the other end of each driving wire penetrates through the corresponding driving wire through holes of the fourth joint and the fifth joint and then is limited and fixed in the corresponding second limiting structures.

10. The endoscope of claim 9, wherein the first spacing structure comprises a first through hole and a second through hole separated from each other, wherein one end of the driving wire passes through the first through hole, then is folded into the second through hole and is welded and fixed in the second through hole; the second limiting structure comprises a limiting hole, and the other end of the driving wire is welded and fixed in the limiting hole.

11. The endoscope as defined in claim 9, wherein two connecting members are respectively arranged between the first joint and the second joint, between the second joint and the third joint, between the fourth joint and the fifth joint, and between the fifth joint and the sixth joint, two end portions of each connecting member are respectively provided with a protruding portion, each of the first joint to the sixth joint is provided with a fixing hole matched with the protruding portion, each connecting member is provided with a through hole, one end of each of the four driving wires passes through one connecting member on the side of the first joint assembly, and the other end of each of the four driving wires passes through one connecting member on the side of the second joint assembly.

12. The endoscope of claim 11, wherein a line of two connectors between the first joint and the second joint is perpendicular to a line of two connectors between the second joint and the third joint; the connecting line of the two connecting pieces between the fourth joint and the fifth joint is perpendicular to the connecting line of the two connecting pieces between the fifth joint and the sixth joint.

13. The endoscope of claim 11, wherein a rotational connection structure is formed between the first and second joints, between the second and third joints, between the fourth and fifth joints, between the fifth and sixth joints, respectively, which are engaged with each other to form a rotational connection between the joints, and the rotational connection structure is located between the fixing holes.

14. The endoscope of claim 13, wherein an axis of rotation of the rotational connection between the first and second joints is perpendicular to an axis of rotation of the rotational connection between the second and third joints; the rotation axis of the rotation connecting structure between the fourth joint and the fifth joint is perpendicular to the rotation axis of the rotation connecting structure between the fifth joint and the sixth joint.

15. An endoscope, comprising:

a handle, the handle is provided with a deflector rod,

an endoscope front end having an endoscope lens, and

the handle is connected with a support rod at the front end of the endoscope, and the endoscope is characterized in that a first joint component is arranged in the deflector rod, an elastic component is in interference fit with the first joint component, the deflector rod is used for driving the endoscope lens to rotate in a first preset direction corresponding to the first direction when being stirred in the first direction, the deflector rod is also used for driving the endoscope lens to rotate in a second preset direction corresponding to the second direction when being stirred in the second direction, and the elastic component resists stirring of the deflector rod and enables the first joint component to hover when the deflector rod is not stirred, so that the endoscope lens is kept in a preset position corresponding to the first preset direction and/or the second preset direction.

16. The endoscope of claim 15, wherein the elastic assembly comprises two first elastic pieces arranged at a first set of relative positions on the side of the first joint assembly and two second elastic pieces arranged at a second set of relative positions on the side of the first joint assembly, a connecting line of the second set of relative positions is perpendicular to a connecting line of the first set of relative positions, the first set of relative positions and the second set of relative positions are respectively provided with a first friction fit structure, one ends of the two first elastic pieces and the second elastic pieces are fixed, and the other ends of the two first elastic pieces and the second elastic pieces are provided with a second friction fit structure, and the second friction fit structure and the first friction fit structure form a friction interference fit.

17. The endoscope of claim 16, wherein said lever comprises a cap, said first joint assembly comprising a first joint fixedly connected to said cap and adapted to be moved with said cap, a second joint rotatably connected to said first joint with respect to each other, and a third joint rotatably connected to said third joint, said first spring having one end fixed to said first joint and the other end slidably rubbed against said second joint when said first joint is moved, said first joint assembly being hovered by friction when said movement is released; one end of each second elastic piece is fixed relative to the third joint, the other end of each second elastic piece can slide and rub relative to the second joint when the first joint is shifted, and friction force is provided when shifting is removed, so that the first joint assembly hovers.

18. An endoscope as claimed in claim 15 wherein a second joint assembly is provided at the front end of the endoscope to support the endoscope lens, the first joint assembly and the second joint assembly are connected by a driving wire accommodated in the support rod, and the driving wire is used for driving the second joint assembly to move when the driving rod is shifted to the first direction and/or the second direction, so as to drive the endoscope lens to rotate in the first predetermined direction and/or the second predetermined direction.

19. The endoscope of claim 15, wherein the first predetermined direction is the same as or opposite to the first direction and the second predetermined direction is the same as or opposite to the second direction.