KR100990992B1 - Angle and curvature of terminal adjustable micro endoscope - Google Patents

Abstract

The present invention relates to a micro endoscope capable of adjusting the angle and curvature of the distal end, and in particular, the end angle of the insertion tube can be bent by 180 degrees according to the use, and the end angle and curvature of the distal end that can adjust the end curvature of the insertion tube can be adjusted. Relates to a microscopic endoscope. The present invention can provide a micro endoscope capable of adjusting the angle and curvature of the end to bend the end of the insertion tube at a desired angle by using a spring module, a cylinder and a wire. The present invention can be fixed in a bent state after bending the end of the insertion tube using a fixing device such as a worm gear, so that the user can easily and accurately observe the internal part of the human body to observe the end angle and curvature adjustment Possible microscopic endoscopes can be provided.

Endoscope, Insertion Tube, 180 Degree, Bending, Spring, Cylinder

Description

ANGLE AND CURVATURE OF TERMINAL ADJUSTABLE MICRO ENDOSCOPE}

The present invention relates to a micro endoscope capable of adjusting the angle and curvature of the distal end, and in particular, the end angle of the insertion tube can be bent by 180 degrees according to the use, and the end angle and curvature of the distal end that can adjust the end curvature of the insertion tube can be adjusted. Relates to a microscopic endoscope.

Endoscopy is a medical device that allows the internal organs or the body cavity to be seen directly. The endoscope is a device designed to insert and observe a machine for organs that cannot be seen directly without surgery or autopsy. Such endoscopes generally include bronchoscopy, esophagus, gastroscopy, duodenum, rectal, bladder, laparoscopic, thoracoscopic, mediastinal, cardiac, etc.

Such endoscopes are typically manufactured so that the insertion tube is flexible to bend according to the curvature of the inside of the human body, but its flexibility is limited. In other words, the conventional endoscope is manufactured so that the insertion tube is naturally bent according to the bending inside the human body, rather than the user controls the bending of the insertion tube. Therefore, the conventional endoscope cannot bend the insertion tube according to the user's intention even when inserted into the human body of the patient, there is a problem that the user can not switch the camera provided at the end of the insertion tube in the desired direction.

In order to solve this problem, an endoscope capable of some bending has been developed, but this also has a limitation in bending angle and curvature, and there is a problem in that it cannot be fixed in that state even when bending within a limited angle.

It is an object of the present invention to provide a micro endoscope capable of adjusting the end angle and curvature of the end tube, which can adjust the end angle and curvature of the insertion tube.

In addition, another object of the present invention is to provide a micro endoscope capable of adjusting the angle and curvature of the end that can be fixed after adjusting the end angle of the insertion tube.

In order to achieve the above object, the present invention provides a spring module of a flexible material, at least one cylinder inserted into one end of the spring module spaced apart from each other, a camera provided at one end of the spring module, the longitudinal direction of the spring module An insertion tube comprising at least one wire disposed around the body along the perimeter; And a driver connected to one end of the wire to tension or relax the wire, the angle at which the end node of the insertion tube is bent, the radius of curvature at the time of bending of the insertion tube, the radius of the insertion tube, and the entire node. The free length of the spring module and the length of the cylinder are set according to the number, and the node includes one cylinder and one spring module adjacent to the one cylinder. Provide a micro endoscope.

에 의해 구해지며, 상기

는 각 노드 말단의 절곡각 도이고, 상기 i는 노드의 번호이되 1부터 N까지의 값을 가지며, 상기 N은 전체 노드의 개수이다. 또한, 상기 삽입 튜브의 절곡 시 곡률 반경은

이며, 상기 X는 상기 삽입 튜브의 절곡 방향이고, 상기 D는 상기 삽입 튜브의 절곡 시 곡률지름이며, 상기 Z는 상기 삽입 튜브의 길이 방향이다. The angle θ ₁ at which the final node of the insertion tube is bent

Obtained by the above

Is the bending angle of the end of each node, i is the number of nodes, and has a value from 1 to N, where N is the total number of nodes. In addition, the bending radius of the insertion tube is

X is the bending direction of the insertion tube, D is the bending radius of the insertion tube when bending, Z is the longitudinal direction of the insertion tube.

이며, 상기 N은 전체 노드의 개수이고, 상기 r은 삽입 튜브의 반지름이며, 상기

은 상기 삽입 튜브 말단의 각도이다. 상기 실린더의 길이 P는

에 의해 구해지며, 상기 a는

이고, 상기 D는 상기 삽입 튜브의 절곡 시 곡률지름이다.The free field L of the spring module

N is the total number of nodes, r is the radius of the insertion tube,

Is the angle of the insertion tube end. The length P of the cylinder

Obtained by the above a

D is a curvature diameter when the insertion tube is bent.

In addition, the driver may further include a fixing device for fixing the bending angle of the insertion tube. The driver includes a bidirectional motor, a roller and a bending shaft for transmitting power of the bidirectional motor to a wire, and the fixing device is connected to the bending shaft. The fixing device may include a worm gear.

In addition, the wires are provided with an even number and are arranged at equal intervals from each other.

The present invention can provide a micro endoscope capable of adjusting the angle and curvature of the end to bend the end of the insertion tube at a desired angle by using a spring module, a cylinder and a wire.

The present invention can be fixed in a bent state after bending the end of the insertion tube using a fixing device such as a worm gear, so that the user can easily and accurately observe the internal part of the human body to observe the end angle and curvature adjustment Possible microscopic endoscopes can be provided.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

It will be apparent to those skilled in the art that the present invention may 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 is provided to let you know. Like reference numerals in the drawings refer to like elements.

1 is a view illustrating a micro endoscope capable of adjusting the angle and curvature of the distal end and an operation control system thereof according to the present invention. Figure 2 is a perspective view showing a coupling relationship between the body and the cylinder of the micro-endoscope capable of adjusting the angle and curvature of the terminal according to the present invention.

Micro endoscope capable of adjusting the angle and curvature of the end according to the present invention, as shown in Figure 1, the tube is formed long and bendable insertion tube 1000 and the control unit for adjusting the insertion tube 1000 (2000). At this time, the insertion tube 1000 is a portion that can be inserted and bent inside the human body, the body 100 is bent, the cylinder 200 is inserted into the body 100 and disposed at regular intervals, the body 100 ) Includes a wire 300 and a camera 150 for bending. In addition, the control unit 2000 is for adjusting the bending, that is, bending of the insertion tube 1000, and includes a driver 400, a manipulator 500, and a fixing device (not shown).

The body 100 is to allow the insertion tube 1000 to be flexible and bendable. In this embodiment, the body 100 has a spring shape having a predetermined length corresponding to the shape of the insertion tube 1000. An elastic body, that is, a spring module is illustrated. The spring module can be elastically bent up and down and left and right by the basic properties of the spring, and has a restoring force to return to its original shape. In addition, when the insertion tube 1000 is bent and then restored to the original shape, the insertion tube 1000 may be restored to the original shape by the restoring force of the body 100.

The cylinder 200 is to assist the bending and restoration of the body 100 by receiving a wire, the cylinder body 210 and the cylinder body 210 in which the opening 211 is formed so that the body 100 can be inserted. It includes a wire hole 212 formed through the.

The cylinder body 210 is in direct contact with the body 100 and the body 100 is inserted, and may be formed of a metal such as aluminum (Al) or an alloy containing aluminum (Al). Of course, the cylinder body 210 is not limited only to aluminum (Al), and may be formed of a metal or nonmetal other than aluminum (Al) as long as it meets the purpose of the cylinder body 210.

The wire hole 212 is formed in the cylinder body 210 to accommodate the wire, and is formed through the cylinder body 210 to be opened in the same direction as the opening direction of the opening 211 of the cylinder body 210. Can be. In addition, the wire hole 212 is effective to correspond to the number of wires, but if necessary, the wire hole 212 may be larger than the number of wires.

The cylinder having such a structure is inserted in the longitudinal direction of the body 100, it is preferably provided at the end of the insertion tube 1000 is inserted into the body to perform the bending function. In addition, the cylinder 200 is inserted spaced apart at regular or irregular intervals at the end of the insertion tube 1000, so that the spring module between the cylinders can be bent.

On the other hand, the present invention is the bending angle of the end of the insertion tube 1000 is set according to the purpose of the endoscope, the radius of curvature when bending the end of the insertion tube 1000, the radius of the insertion tube 1000, and the insertion tube 1000 The length of the cylinder and the length of the spring module can be determined according to the total number of nodes provided in the. This will be described below with reference to the drawings.

Figure 3 is a conceptual diagram showing the insertion tube spring module bending of the micro-endoscope capable of adjusting the angle and curvature of the distal end according to the present invention. At this time, in Figure 3 F means the force applied to the spring module, L means the free field of the spring module.

As shown in FIG. 3, when the spring module according to the present invention pulls a wire provided on one side of the spring module, the spring module of the corresponding portion contracts, and thus, the opposite side of the spring module is provided. Is tensioned. In addition, the spring module may be bent to one side by this driving. Here, it is assumed that the length of the free field L, which is the center line, is always constant due to the symmetry of the spring module.

), 그리고

는 각 노드의 절곡각도를 나타낸다. 이때, 노드는 절곡이 가능한 구조의 기본 단위를 의미하며, 이는 하나의 실린더와 하나의 스프링 모듈을 포함한다.Figure 4 is a conceptual diagram showing the end node of the end of the insertion tube of the micro-endoscope adjustable angle and curvature according to the present invention, Figure 5 is the end of the insertion tube end of the micro-endoscope adjustable angle and curvature according to the present invention 6 is a conceptual diagram showing an initial node of FIG. 6 is a conceptual diagram illustrating a state in which an insertion tube of a micro endoscope capable of adjusting the angle and curvature of the distal end according to the present invention is bent by 180 degrees, and FIG. 7 is an angle of the distal end according to the present invention and Conceptual view showing the relationship between the end angle of the insertion tube end of the micro-endoscope curvature adjustable and the limit angle of the spring module, Figure 8 is the inner and outer limits of the insertion tube of the micro endoscope capable of adjusting the end angle and curvature according to the present invention It is a conceptual diagram showing the length. Where P is the length of the cylinder, L is the free length of the spring module, i is the number of nodes, N is the total number of nodes, and β is the bending angle at the end of the insertion tube (=

), And

Denotes the bending angle of each node. In this case, the node means a basic unit of the structure that can be bent, which includes one cylinder and one spring module.

)는 기하학적 관계로부터 수식1과 같이 구해질 수 있다.4 and 5, the bending angle of each node of the insertion tube (

) Can be obtained from Equation 1 as shown in Equation 1.

[Equation 1]

)와, 삽입 튜브의 절곡 시 곡률반경(D/2)과, 삽입 튜브의 반지름(r) 및 전체 노드의 수(N)에 대하여 실린더의 길이(P)와 스프링 모듈의 자유장(L)의 값을 결정하기 위해서 우선 삽입 튜브(1000)의 말단 위치를 구한다. 이는 도 4와 도 5의 기하학으로부터 삽입 튜브(1000)의 말단 노드와 내시경 최초 노드의 위치함수를 구할 수 있다. 이때, 내시경 말단 노드에서의 위치함수는 수식 2와 같다.The angle of the insertion tube end node given by Equation 1 (

), The radius of curvature (D / 2) of the insertion tube, the radius (r) of the insertion tube and the total length (N) of the cylinder length (P) and the free length (L) of the spring module. To determine the value, first find the distal position of the insertion tube 1000. This can obtain the position function of the end node and the endoscope first node of the insertion tube (1000) from the geometry of Figs. At this time, the position function at the endoscope end node is shown in Equation 2.

[Equation 2]

In this case, H _i is a position function in the longitudinal direction Z of the insertion tube 100, and W _i is a position function in the bending direction X of the insertion tube 1000. In addition, the position function at the first node can be expressed as Equation 3.

[Equation 3]

는 수식 4와 같다.In this case, the parameter in the position function at the first node (Equation 3)

Is the same as Equation 4.

[Equation 4]

Therefore, the distal position of the entire insertion tube 1000 mechanism can be arranged as shown in Equation 5.

[Equation 5]

)는 내시경의 용도에 따라 설정되는, 즉, 주어지는 값이므로 도 4 및 도 5를 참조하면, 삽입 튜브의 길이 방향(Z)과 삽입 튜브의 절곡 방향(X)은 실린더의 길이(P)와 스프링 모듈의 자유장(L)의 함수이다. 이때, 내시경의 삽입 튜브(1000)가 주어진 조건 곡률반경(D/2)로 절곡하기 위해서는 수식 6을 만족해야 한다.Where the total number of nodes (N) and the angle of the insertion tube end node (

) Is set according to the purpose of the endoscope, i.e., given values, referring to FIGS. 4 and 5, the length direction Z of the insertion tube and the bending direction X of the insertion tube are the length of the cylinder P and the spring. It is a function of the free field (L) of a module. At this time, in order to bend the insertion tube 1000 of the endoscope to a given condition curvature radius (D / 2) must satisfy the formula (6).

[Equation 6]

)는 180도로 주어진다. 또한, 이에 따라 수식 6은 수식 7과 같이 다시 정리할 수 있다.Here, since the end of the insertion tube 1000 of the endoscope should be able to be bent at an angle of 180 degrees, the angle of the insertion tube final node (

) Is given 180 degrees. In addition, Equation 6 may be rearranged as in Equation 7 accordingly.

[Formula 7]

)와 스프링 모듈의 한계 각도(

)의 관계식은 수식 8과 같이 정의될 수 있다. 이때, 스프링 모듈의 한계 각도(

)는 최대로 수축된 스프링 모듈의 일측 법선에 대해서 최대로 인장된 스프링 모듈의 타측과의 사이각, 즉, 스프링 모듈의 수축과 인장에 대한 최대 각도를 의미한다.The angle of insertion tube end node from FIG.

) And the limit angle of the spring module (

) Can be defined as in Equation 8. At this time, the limit angle of the spring module (

) Denotes an angle between the other side of the spring module that is maximum tension with respect to one normal of the spring module that is fully contracted, that is, the maximum angle with respect to the contraction and tension of the spring module.

[Equation 8]

)와 삽입 튜브 최종 노드의 각도(

)는 서로 비례관계에 있으며, 노드 수가 증가할수록 스프링 모듈의 한계 각도(

)의 값은 감소한다. 도 8의 스프링 모듈 일측의 수축된 길이(k)는 수식 9와 같이 구할 수 있다.That is, the limit angle of the spring module (

) And the angle of insertion tube end node (

) Are proportional to each other, and the limit angle (

) Decreases. The contracted length k of one side of the spring module of FIG. 8 may be obtained as shown in Equation 9.

[Equation 9]

The length L _s of the insertion tube 1000 of the constricted region of FIG. 8 is The length of one node can be obtained by subtracting the contracted length (2k) of both sides of the spring module from the free field (L) of the spring module and adding the length of the cylinder (P) to multiply it by the total number of nodes (N). have. In addition, the length L _c of the insertion tube 1000 of the free field region may be obtained by multiplying the length N of the total nodes by the length P of the cylinder and the free field L of the spring module. In addition, this can be summarized as in Equation 10 and Equation 11.

[Equation 10]

[Equation 11]

In addition, in order to determine the length (P) of the cylinder and the free field (L) of the spring module, more information is needed about one condition, that is, the length that one spring module should contract. This can be obtained by dividing the total length of the spring module from Equation 10 and Equation 11 by dividing this value by the total number of nodes (N). This adds information on one condition for the free field L of the spring module, that is, the length of one spring module to be shrunk, and the condition is expressed by Equation 12.

Equation 12

Finally, the free field (L) and the length (P) of the spring module can be determined using Equations 7 and 12.

)와, 삽입 튜브 말단의 절곡 시 곡률반경(D/2)과, 삽입 튜브의 반지름(r)과, 삽입 튜브에 구비된 전체 노드의 개수(N)가 주어질 때 실린더의 길이(P)와 스프링 모듈의 자유장(L)을 결정할 수 있다.Thus, the bending angle of the end tube of the insertion tube set according to the purpose of the endoscope (

), The length of the cylinder (P) and the spring when the radius of curvature (D / 2) at the end of the insertion tube, the radius of the insertion tube (r), and the total number of nodes (N) provided in the insertion tube are given. The free field L of the module can be determined.

On the other hand, the wire 300 is for bending the body 100 by the user's operation, at least one is provided with each of the wire hole 212 of the cylinder body 210 along the longitudinal direction of the body 100 Is inserted into That is, although four wires 300, that is, the first to fourth wires 310, 320, 330, and 340 are illustrated in FIG. 2, the present disclosure is not limited thereto, and the number of wires 300 may vary depending on the purpose of the endoscope. Can be added or subtracted. In this case, the first wire 310 is disposed to face the fourth wire 340, and the second wire 320 is disposed to face the third wire 330.

The outside of the camera 150 is for acquiring visible information, and is preferably installed at the end of the body 100 to be bent.

The driver 400 is for tensioning or relaxing the wire 300 and the wire 300 physically, and two wires 300 may be connected to one driver 400. In this embodiment, since four wires are provided, the driver 400 may include two drivers, that is, first and second drivers 410 and 420. In addition, the first driver 410 may include a first bidirectional motor 411, a first bending shaft 412, and a first roller 413, and the second driver 420 may include a second bidirectional motor 421. The second bending axis 422 and the second roller 423 is included. The driver 400 may be driven by receiving power from the outside, and the first and second drivers 410 and 420 may independently drive power of the first and second bidirectional motors 411 and 421 to adjust tension. May be transmitted to the first to fourth wires 310, 320, 330, and 340 through the first and second bending axes 412 and 422 and the first and second rollers 413 and 423. At this time, the first to fourth wires 310, 320, 330, and 340 are wound or unwound by the first and second bending axes 412 and 422 by the operation of the first and second bidirectional motors 411 and 421. The body 100 can be bent or returned to its original state.

In addition, the driver 400 of the present invention may further include a fixing device (not shown) to maintain the bent state of the insertion tube (1000). The fixing device fixes the first and second bending shafts 412 and 422 to maintain the bent state of the insertion tube 1000, and may include a configuration such as a worm gear. Of course, the fixing device may be turned on / off by the user, and thus the free state of the insertion tube 1000 may be fixed.

The manipulator 500 is for controlling the driver 400 and may be electrically connected to the driver 400 for this purpose. The manipulator 500 includes a manipulation device such as a joystick and a button so that a user can control the bending direction of the body using the manipulation device. Of course, the operation information of the first and second bidirectional motors 411 and 421 of the driver 400 may be preset in the manipulator 500 according to the bending direction information of the body.

Looking at the operation of the micro-endoscope capable of adjusting the angle and curvature of the terminal according to the present invention having the above-described structure with reference to Figure 1, when bending the end of the insertion tube 1000 in the A direction or B or C direction, the manipulator The 500 may operate some or all of the first and second bidirectional motors 411 and 421 according to preset operation information of the first and second bidirectional motors 411 and 421. At this time, bending of the end of the insertion tube 1000 in the B direction operates the first bidirectional motor 411 in one direction to wind the first wire 310 on the first roller 413 so that the first wire 310 is rotated. Can pull. In addition, the fourth wire 340 provided to face the first wire 310 is relaxed by the operation as opposed to the first wire 310. In addition, by this operation, one side of the spring module may be contracted and the other side thereof may be stretched, and the end of the insertion tube 1000 may be bent in the B direction.

In addition, when the end of the insertion tube 1000 is bent in the A direction, the manipulator 500 operates the second bidirectional motor 432 in the other direction to wind the first wire 310 on the first roller 431. I can pull it. In addition, the fourth wire 340 provided to face the first wire 310 is relaxed by the operation as opposed to the first wire 310. In addition, by this operation, one side of the spring module may be tensioned and the other side thereof may be contracted so that the end of the insertion tube 1000 may be bent in the A direction.

In addition, when the end of the insertion tube 1000 is bent in the C direction, which is the vertical direction of the A direction and the B direction, the manipulator 500 operates the second bidirectional motor 421 in one direction to allow the second wire 320 to be operated. May be wound around the second roller 423 to pull the second wire 320. In addition, with this operation, the third wire 330 provided to face the second wire 320 is relaxed opposite to the second wire 320. In addition, the end of the insertion tube 1000 may be bent in the C direction by this operation.

Of course, in addition to this operation, when bending the insertion tube 1000 in a diagonal direction such as between the A direction and the C direction, at least one of the first and second bidirectional motors 411 and 421 using the manipulator 500 is also used. It can be implemented by working. In addition, when the user needs during such bending operation, for example, when the user observes a portion such as the nasal cavity with an endoscope, the user can freely observe the bending state of the insertion tube 1000 by using a fixing device.

That is, when four wires 300, two wires may be operated by the operation of one driver so that the insertion tube 1000 may be bent in both directions. In addition, four wires may be operated by the operation of two drivers so that the insertion tube 1000 may be bent in all directions.

As described above, the present invention can bend the end of the insertion tube using the spring module, the cylinder and the wire at an angle desired by the user, for example, 180 degrees. In addition, the present invention can be fixed in a bent state after bending the end of the insertion tube using a fixing device such as a worm gear, so that the user can easily and accurately observe the internal part of the human body to be observed.

Although described above with reference to the drawings and embodiments, those skilled in the art can be variously modified and changed within the scope of the invention without departing from the spirit of the invention described in the claims below. I can understand.

For example, the present embodiment illustrates the bending of the end of the insertion tube by 180 degrees, but the present invention is not limited thereto, and the end of the insertion tube may be bent and fixed by 180 degrees or more.

1 is a view showing a micro endoscope capable of adjusting the angle and curvature of the distal end and an operation control system thereof according to the present invention.

Figure 2 is a perspective view showing a coupling relationship between the body and the cylinder of the micro-endoscope capable of adjusting the angle and curvature of the terminal according to the present invention.

Figure 3 is a conceptual view showing the insertion tube spring module bending of the micro endoscope capable of adjusting the angle and curvature of the distal end according to the present invention.

Figure 4 is a conceptual diagram showing the end node of the end of the insertion tube of the micro-endoscope capable of adjusting the angle and curvature of the end according to the present invention.

Figure 5 is a conceptual diagram showing the first node of the end of the insertion tube of the micro-endoscope capable of adjusting the angle and curvature of the end according to the present invention.

6 is a conceptual view showing a state in which the insertion tube of the micro endoscope capable of adjusting the angle and curvature of the distal end according to the present invention is bent 180 degrees.

Figure 7 is a conceptual diagram showing the relationship between the end angle of the insertion tube end of the micro endoscope capable of adjusting the angle and curvature of the end according to the present invention and the limit angle of the spring module.

8 is a conceptual diagram showing the inner and outer limit length of the insertion tube of the micro-endoscope capable of adjusting the angle and curvature of the distal end according to the present invention.

Claims (9)

Spring module with flexible material, At least one cylinder inserted into one end of the spring module and spaced apart from each other; A camera provided at one end of the spring module, An insertion tube including at least one wire disposed around the body along a length direction of the spring module; And, A driver connected to one end of the wire to tension or relax the wire, Setting the free length of the spring module and the length of the cylinder according to the angle at which the end node of the insertion tube is bent, the radius of curvature of the insertion tube, the radius of the insertion tube and the number of total nodes, And said node comprises one cylinder and one spring module adjacent said one cylinder. The method according to claim 1, Angle at which the last node of the insertion tube is bent

Is

Saved by remind

Is the bending angle at the end of each node, I is the number of nodes but has a value of 1, N is a micro endoscope capable of adjusting the angle and curvature of the terminal, characterized in that the total number of nodes. The method according to claim 2, The bending radius of the insertion tube when bending

, X is the bending direction of the insertion tube, D is the radius of curvature of the insertion tube when bending, The Z is a micro endoscope capable of adjusting the angle and curvature of the end, characterized in that the longitudinal direction of the insertion tube. The method according to claim 3, The free field L of the spring module

, N is the total number of nodes, R is the radius of the insertion tube, remind

Micro endoscope capable of adjusting the angle and curvature of the end, characterized in that the angle of the insertion tube end. The method according to claim 4, The length P of the cylinder

Saved by remind

Is

ego, Wherein the H _i is a function of position with respect to the longitudinal direction of the insertion tube. The method according to claim 1, The driver further comprises a fixing device for fixing the bending angle of the insertion tube micro-endoscope capable of adjusting the angle and curvature of the end. The method according to claim 6, The driver is a bidirectional motor, A roller and a bending shaft for transmitting the power of the bidirectional motor to the wire, The fixing device is a micro endoscope capable of adjusting the angle and curvature of the end, characterized in that connected to the bending axis. The method according to claim 6, The fixing device is a micro endoscope capable of adjusting the angle and curvature of the distal end characterized in that it comprises a worm gear. The method according to claim 1, The endoscope is capable of adjusting the angle and curvature of the end, characterized in that the wire is provided with an even number are arranged at equal intervals.

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