DE3102806A1 - CONTROL DEVICE FOR AN ENDOSCOPE - Google Patents

Description

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Control device for an endoscope.

The present invention relates to an improved endoscope, and more particularly to an apparatus which provides precise coordination Allows control of the various functions that are inherent in a endoscopic instrument.

In addition to other functions, the test head of an endoscope must be maneuvered very precisely in a remote body cavity that is undergoing inspection to avoid discomfort to avoid for the patient and in certain cases to prevent injuries. A distant manipulation of the head has so far proven to be difficult, which can be attributed to the complex design of the control mechanism is common to most endoscopic instruments. Usually the operator has to have two very different ones and perform independent operations to bring the head of the instrument to a predetermined target. Above one operation moves the head in a first plane, while a second operation moves the head in a second Level is moved. The final position of the head is thus the result of these two processes. Even if this from an experienced well-practiced. Operator, a considerable period of time is required to bring the probe to a desired target, what

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can be very painful for the patient.

In addition, normally during the course of an examination In addition to aligning the observation head with a specified target, other functions must be carried out. These additional functions can, but are not limited to, the movement of fluids and / or gases in and out of the test regions and the insertion and removal of diagnostic equipment include in the removed body area. Due to the fact that most of the endoscopic instruments own controls normally randomly distributed around the instrument in an irregular order are arranged, the coordination of these additional functions with the control process is extremely difficult. Normally the operator or the surgeon must use both hands to move the test head into a desired one Position. To begin an additional operation, the surgeon must remove one or both hands Release control mechanism so that he is in control of this important during a critical period of the test Loses function. It often happens that the instrument loses its alignment and, as a result, realignment makes necessary, whereby the length of the test duration is increased, which is inconvenient and uncomfortable for the patient can be painful.

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Furthermore, most endoscopes are structurally unstable devices in which many of the external components of the instrument are simply removed from the relatively flexible probe. This unstable platform also causes problems in terms of alignment and makes quick, precise and coordinated control over the various functions difficult.

It is therefore an object of the present invention to provide "at performing an endoscopic examination or similar used to improve device.

Another object of the present invention is to increase the safety and convenience of the individual on whom the endoscopic examination is performed.

The aim of the invention is also to provide an extremely sensitive and precise control option with respect to the movement of the To make available the probe of an endoscope.

Another object of the invention is to provide the various to coordinate interrelated functions that are inherent in an endoscopic instrument.

The aim of the invention is also to provide precise one-hand control to make available for the observation head of an endoscope, so that the other hand of the surgeon other Can take on tasks.

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Finally, it is an aim of the present invention to provide a stable platform from which various functions convenient for an endoscopic examination and can be carried out safely

These and other objects of the invention are achieved by an endoscope that has an examination head that extends in the distal End of an elongated, flexible probe is mounted, a housing that is connected to the proximal end of the probe, and a control rod which is movably mounted in the housing and connected to the examination head via control wires, said control wires being arranged to extend through said housing and probe and wherein the Examination head responds instantly to a movement of the rod and performs a movement that is is a direct analogue to rod motion.

The invention is now based on an exemplary embodiment described in connection with the drawing. Show it:

Figure 1 is a perspective view of an endoscopic instrument embodying the subject matter of the invention;

FIG. 2 shows a section along line 2-2 in FIG. 1 j

FIG. 3 shows a partial section through the endoscopic instrument of FIGS. 1 and 2 along the line 3-3 in Figure 2;

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Figure 4 is a bottom view of the control housing of the instrument with the bottom cover removed is to show the inside}

Figure 5 is an exploded perspective view of a portion of the control mechanism used for Carrying out a precise positioning of the examination head is used;

FIG. 6 shows a perspective view of the distal end of the one designed according to the invention Endoscope used probe with parts removed to better build the probe to be able to show j

FIG. 7 a side view of a multi-joint coupling, which is used in connection with the probe, around a smooth turning or swiveling radius to reach;

Figure 8 is a perspective view of one of the irregular shaped swivel disks, which are used in the multi-joint coupling; and

FIG. 9 is an end view of the process in which FIG present invention used control housing in which a second embodiment of the control mechanism is arranged.

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The endoscope 10 shown in Figures 1 to 4 comprises a housing 11 which contains the various control devices, required to perform an endoscopic examination of a distant body cavity. If the endoscope is preferably of a type which is described in the pending American patent application with serial number 951 653 and the capability has a complete color reproduction of the examined body area on a standard television available to deliver. The housing 11 has a generally rectangular shape Form with a broad base so that it can be safely placed on a table or similar. Alternatively The housing can also be provided with its own frame with castors so that it can be conveniently used for various purposes Places can be moved

A cable harness 12 is via an adapter 14 that is in the side wall 15 of the housing is arranged, connected to this. The wiring harness is provided with a protective sheath 16 and contains electrical lines, fluid lines and a fiber optic, which are used for the various endoscopic Systems are needed '. As used herein, fluid refers to any liquid, vapor, or Gas normally found during an endoscopic examination Find use. Although not shown, the lines out of the system become appropriate Connections to complete the various circles.

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A thin elongated probe 18 made from a flexible tubular Material which is commonly used for this purpose is made extends over a fitting 20 out of the opposite side wall 19 of the housing. As shown in Figure 1, a Examination head 21 arranged in the distal end of the probe. The examination head contains a viewing window 22 which is located in the end side 23 thereof. The window is from a series of smaller openings 25 which provide both optical and physical access to the Allow body cavity. At least one of these openings houses the end of a fiber bundle that is used for this purpose is used to transmit light energy from a remote light source into the cavity. Light energy is from the bundle transferred into the cavity to illuminate the region of interest without creating unwanted shadows. An image is thus generated in the objective plane of the observation system. The image enters the through the window Head and is picked up by a charge coupled device memory (CCD). The charge coupled storage converts the optical input into an electrical read signal, which is treated by external devices so that it is on a conventional video device can be read or stored there.

As will be explained in detail below, the examination head within a distant area of the body

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in response to the movement of a hand-held Rod 2? maneuvered extending upward from the top wall of the housing. The staff is with the head Connected via Stburwires, which extend between the two through the housing and the probe and which are connected via act a control mechanism which is arranged so that the movement performed by the examination head is analogous to the movement communicated to the rod. A surgeon who is watching the television playback of the subject to be examined Area monitored, therefore the staff only has to move to a desired target on the screen for an immediate and to effect precise movement of the head and the optical axis of the observation system to a desired target center. The rod can also be moved in a circular motion, with the examination head reaching the removed body cavity scans in the transverse direction so as to provide wide visual coverage of the area to be examined reach.

As best shown in Figures 6, 7 and 8, the control wires are connected to the examination head via a multi-joint coupling 26. The clutch controls the Turning radius of the head to ensure that the probe circumscribes a slight, smooth curve when the head is inside of the cavity is manipulated.

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It is evident that a violent curvature of the probe can potentially injure the patient. The coupling is arranged inside the probe directly behind the search head and can be connected to it by suitable means Fasteners are attached. It is cylindrical in shape and includes an annular base portion 2Θ which abuts the head, an annular end cap portion 29 on the rear of the unit, and a Series of irregularly shaped swash plates 30-30 which are generally coaxial between the base and the end cap sections are aligned. Four control wires 31-31 are anchored at their ends in the base and extend rearward through openings provided in the unit along its perimeter. The wires are in 90 ° intervals circumferentially around the unit. Flexible hollow-wound cables 33-33 are for example attached by butt welding to the face plate 34 of the end cap portion of the unit and take the control wires sliding on. The cables extend through the probe into the housing and serve to be mutual To prevent contact with the control wires inside the probe.

The swivel washers are between the base and the end cap sections arranged in a stack and form a multitude of hinged jaws over the length of the cylinder are arranged. A variety of jaw members can be used

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there are four quadrants in each of them, those of the control wires be formed, open and close. Therefore, if one of the wires is pulled inward towards the housing, a closure of the jaws in that particular quadrant is effected, so that the unity in that particular Sector is shortened. At the same time diB jaws open in the opposite quadrant and allow a corresponding expansion of the unit in this sector, whereby the unit forms a relatively smooth, gentle curve. By manipulating the control wires, the examination head can be rotated gently to any observation position.

As Figure 8 shows, each swivel plate of the unit includes one ring-like body section 35. Identical sets of contoured Cam tabs 36-36 are disposed on the front end side and the rear side of the body portion. The lobes of each set are 180 degrees apart remotely, while each set is offset 90 from the other. The raised cam surfaces the tabs are generally arcuate in shape so that the disc easily surrounds each set of the cam tabs can be pivoted. Holes 37-37 extend axially through the center of each tab and take on one of the control wires in a sliding manner. For assembly, the discs are bead-like on the control wires lined up, with a set of cam lobes attached to the

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Face of one disc with a second set of cam lobes on the back of the next adjacent disc in square contact is located. The interconnected disks thus form two opposing jaw elements, the effect of which is opposite to each other so that one set of jaws opens while the other closes. In a similar way each subsequent set of jaw members is rotated 180 ° from the previous pair. Hence is in everyone Quadrants over the length of the unit a large number of hinged jaws are present. By manipulating the control wires the surgeon can thus maneuver the examination head into any position.

Maneuvering the control wires is accomplished with pulley assemblies 40 located within the housing are. The pulley units are driven by a gimbal unit 68 which is above the aforementioned Rod 27 is controlled. Each pulley unit includes a pulley 41 with a circumferential groove 42 to which one of the four control wires is coiled. As can be seen from Figures 2 to 5, the pulley is one each unit rotatably supported within a contoured arm on a stub shaft 45 which is anchored in the arm.

Each pulley is rotatably mounted on a flange bushing 47, which in turn slides on the stub shaft is arranged close sliding fit. An adjustment drum 50 is also on the socket between the socket flange 51 and mounted on the end face 52 of the pulley. A row of

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radially extending wedges (not shown) is along the Peripheral wall formed of a groove cut into the rear side 54 of the drum. The wedges belong to one Series of keyways 53 cut into the flange of the socket are, and are in the assembled state within the keyways, so that the drum together rotates with the socket. In the front of the drum are a plurality of equally spaced V-shaped ones Teeth 55 formed. The teeth mesh with complementary teeth 56 which are in the back of the adjacent Pulley are cut. A nut 57 is screwed onto the end of the socket and fixes the Pulley on this. The disk unit is pushed over the shaft and there by means of a spring clip 46 fixed.

Two arcuate slots 58-58 are in the front of each pulley are cut or otherwise formed and extend between the circumferential groove the disc and a circular recess 59. A small circular bead is at the end of each control- attached wire, which is located in the assembled state within the recess 59 to the wire to the To attach washer. If the bead is within one of the two recesses, the rear end of the Inserted wire into the appropriate slot and pulled over the pulley, so that the wire on the Disc can be wound.

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A holder 62, which is provided with a C-shaped opening, is attached to the bottom surface of the disc arm by means of screws. The screws also serve to open the opening positioned exactly in the vicinity of the circumferential groove of the pulley. The proximal end of the control wire cable 33 is slidably inserted into the opening and there by means of a Plate 63 attached, which is attached over the opening. Thus each cable is at one end in one of the pulley units and firmly held at the other end in the multi-joint coupling. The control wire contained in it can thus in response "to the movement of the pulley freely in and out of the probe move out.

The arm 43 that supports each of the pulley units is attached to the bottom surface of a mounting wall 65 which is in a horizontal position via screws 66-66 (Figure 4 ") on the side walls of the housing is attached. The arms are circumferentially spaced around the vertical centerline of the housing arranged and store the pulley units in such a way that the control wires drawn over the pulleys are free into the Move the probe in and out of it.

As mentioned earlier, the four pulley units driven by a cardan unit 68. The cardan unit consists of an outer gimbal ring 69 and an inner gimbal ring 70. The inner gimbal ring has the

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Shape of a hemisphere. The outer ring is between two upright arms 71-71 of the mounting plate by means two coaxially aligned pivot pins 72-72 articulated. The inner ring is inside the outer Ring has a second set of coaxially aligned pivot pins 73-73 that are perpendicular to the first set are hung up. The inner gimbal is attached to the base 74 of the aforementioned control rod 27, the rod being coaxially aligned with the shorter axis of the hemisphere. The staff is also with a contoured hollow handle 75 is provided and extends up through an opening in the top wall of the Housing up to a position in which it can be comfortably grasped by the surgeon. By manipulating the Control rod, the gimbals are pivoted about their respective pivot pins in a predetermined manner.

As shown in Figures 3 and 5, the adjustment drum is of each pulley unit is connected to the gimbal unit by a lanyard 76 which extends extends upwardly through the mounting plate via holes provided therein. The lanyard is at one end with a square bead 79 which is fitted into a square opening in a basement 77 (Figure 3) which extends radially from the outer wall of the drum. The opposite end of the

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Lanyard has an associated round bead 80, which sits in one of the complementary recesses 81 and 82 formed in the gimbals. Lobes 83-83 are on inner gimbal attached, offset by 90 ° with respect to each pivot pin. The lobes are with contoured recesses provided that can accommodate the ball of a lanyard. By keeping the lanyard a short distance is offset from the center line of the pulley, becomes a mechanical advantage for the system achieved in-which the control wires over the rod easier can be manipulated. The lanyard is therefore off Made of relatively strong, braided wire, which prevents unwanted breaks in the critical area and thus a reliable and continuous operation of the control mechanism is ensured.

When assembling the two opposite pulley units connected to the inner gimbal via the aforementioned lanyards, while the other two Units are similarly attached to the outer gimbal. The pulleys are like that with the control wires oriented that the examination head follows the rod exactly and a movement analogous to the rod movement performs when it is moved within the housing. When the stick is pushed forward, the head becomes upward moves while retracting the rod one

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Causes downward movement of the head. Similarly, moving the rod to the right or left of the from the center a corresponding movement of the examination head. Using the rod, the surgeon can either use the Scan the area to be checked with your head or point your head directly at the target. Above the top wall A Θ5 railing is attached to the housing using stands 88-88. The railing surrounds the control rod and ensures a stable rest position for the surgeon's hand and arm. The railing also represents a reference point that corresponds to the television image. Can by feeling the surgeon can orient the rod very quickly relative to the display screen and make extremely fine adjustments to the head perform quickly and accurately.

As shown in Figures 1, 2 and 3, extends the rod 27 up through a sleeve 89, which has a threaded ring 90, which is attached to this by screws (not shown) is attached. The ring is screwed into the top wall of the housing and contains a friction ring 91 which is fitted into a complementarily shaped groove formed within the inner wall of the annular opening. The cuff is provided with two opposing thumb grips 92-92 which extend radially on the ends of it Arms 93-93 are arranged. The handles extend to a height at which the surgeon maneuvering the rod at least one of the handles with your fingers on the wand

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touch the operating hand and place the cuff inside the Housing can rotate. When the sleeve is rotated in one direction, the friction ring can be brought into contact with the hemispherical body of the inner ring so that he applies this. A sufficient lever arm is available via the arm mechanism, so that the friction ring Lock the cardan unit securely in a desired position and thereby the observation head on a special one Can keep target centered. By simply turning the I / I collar in the opposite direction, the the force applied to the cardan unit can be reduced.

Two caught & actuated valves 95 and 96 are located on the rod and serve to perform two primary functions in relation to the endoscopic examination. Hence, these will Valves referred to as the primary valves. Each valve is connected to a fluid line 97-97 which passes through the wiring harness is inserted into the housing and on a of the openings formed in the front of the observation head. Air and Water may be introduced into the cavity area to clean the viewing window and cavity area. The second The primary valve is used to build up a vacuum at one of the openings so that it is located within the cavity area Fluid can be withdrawn from these very quickly. It is understood, however, that the primary valves

can also be used to control a wide variety of similar functions without departing from the teachings of the present invention.

The fluid lines belonging to the primary valves branch up from the cable harness through a soft rubber grommet 98, which is centered in the mounting plate just below the rod. The base section of the rod contains a central opening 99 extending into the upper handle portion opens and thereby enables access for the fluid lines to the valves without this the function of the cardan unit is disturbed or hindered in some other way.

In the wiring harness holder 14 is an access 100 for a Instrument provided. The access includes a threaded portion 101 which can be removed for cleaning purposes can. This section opens into a conduit 102 that runs through the probe and ends at one of the openings, which are arranged on the end face of the probe. It can thus be a small instrument through the line in the Body cavity can be introduced to take tissue samples or similar, and this instrument can again removed without disturbing the parts of the other systems. The threaded section is provided with seals, so that no dirt particles enter the endoscope

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can and to prevent ambient air from entering the cavity is pulled when a vacuum is maintained there.

Secondary or auxiliary valves 104 and 105 are also on the side walls of the housing and fitting 20
assembled. These valves communicate with secondary fluid lines 106-106 located within the housing. The secondary fluid lines are like the primary lines into the housing via the wiring harness
inserted and terminate at one of the openings in the
Observation head are included. The secondary valves can be used to control a variety of different functions, such as the introduction of gases and pressurized fluids into the cavity area. Although these auxiliary valves are not readily accessible to the operator's fingertips, they are nonetheless convenient around the housing
arranged around so that they can operate the surgeon with his free hand in a simple manner.

In Figure 9, a second embodiment of the control mechanism used to carry out the invention is shown, in which the cardan unit by a ball joint unit for
Regulation of the movement of the lanyard is replaced.
In this embodiment, parts corresponding to those in the embodiment described above are identical

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Provided with reference numbers. The base 99 of the control stick is on attached to the top of a finely ground ball 110. The ball is movable in a two-piece holder 111 mounted, which is divided along the vertical center line of the housing. In the assembled state, the Socket halves have a split socket 112 which is centered on the vertical axis of the ball so that the ball is free can move in it.

A planar control plate 113 is suspended below the ball by means of a depending arm 114. The plate is vertical aligned with the vertical axis of the rod and arranged with the help of the arm so that it is in direct response on the positioning of the rod can move. A vertical hole 116 extends up through the plate and the neck so that the fluid lines 97-97 can extend up into the rod where they connect with the Valves 95 and 96 are connected.

The pulley units 40-40 are mounted in the housing as described above. Lanyards extend 76-76 from these upwards through openings provided in the mounting wall 65 and the one associated with each lanyard round bead 80 sits in a complementarily shaped seat which is provided in the plate. The control wires are set as described above so that the control mechanism is brought into one state in which he responds immediately to the positioning of the rod;

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Claims (1)

Claims ./fendoskop with an observation head, the iriT. distal end an elongated probe is movably attached by means of a flexible coupling, which allows a positioning of the head enabled in both a vertical and a horizontal direction relative to the axis of the probe, characterized in that that the proximal end (20) of the probe (18) is attached to a housing (11) which has a cardan unit (68), which is provided with two rings (69, 70) which rotate around two mutually perpendicular axes of rotation (72, 73) are rotatably mounted, a control rod (27) which is attached to one of the rings and extends from the housing to the outside extends so that the rings are rotated about their respective axes of rotation by movement of the rod, and with Connecting means (40, 33, 76) extending through the probe and each gimbal to the observation head connect so that when one of the rings rotates the head in a vertical direction and when the other rotates the Rings this is shifted in its horizontal direction. 2. Endoscope according to claim 1, characterized in that two cooperating pulleys (41) are connected to each gimbal ring, namely in such a way that the pulleys in each pair are rotated in opposite directions, 130051/0501 when the associated gimbal is rotated about its axis is, and that a flexible connecting element (33) around each Pulley that extends through the probe and is attached to the observation head » 3. Endoscope according to claim 2, characterized in that the flexible connecting elements (33), which extend between the pulleys (41) and the observation head,
are arranged at equal intervals around the circumference of the observation head. 4t endoscope according to claim 1, characterized in that the gimbal unit comprises an inner ring, the one thereon
contains mounted ball element (70), as well as adjustable
Friction means (89, 90, 81) which act on the spherical element in order to exert a holding pressure on the cardan unit. 5 »Endoscope according to claim 4, characterized in that the rod is attached to the spherical element to
move along with this. 6. Ebdoscope according to claim 1, characterized in that the GehSuse contains a hand rest (85) which surrounds the rod. 130051/0501 3 - 4 - 7. Endoscope with an observation head that is attached to the distal end of an elongated probe by means of a flexible coupling is movably mounted, which allows movement of the head in both vertical and horizontal directions relative to the axis of the probe, characterized in that the proximal end (20) of the probe (18) on a housing (11) which contains a control rod (27) which is mounted on a rotary joint (68) arranged in the housing is, and that a plurality of flexible connecting elements (33) extend through the probe which is attached to at one end to the observation head and at the other end to the rod, so that a displacement of the rod causes a corresponding displacement of the observation head around the axis of the probe around the rotary connection. 8. Endoscope according to claim 7, characterized in that the rod is connected to a plurality of pulley units (40) around which the flexible connectors are wound. 9. Endoscope according to claim 8, characterized in that the rod via lanyards (76) to each of the pulley units is connected, these lanyards have a higher strength than the flexible connecting elements. 130051/0501 V. 10. Endoscope according to Anspruoh 9, characterized in that the flexible connecting elements on the observation head are attached, are arranged at equal intervals around the observation head. 130051/0501