KR20210060255A - Autonomous endoscope system - Google Patents

Abstract

The present invention relates to an endoscopic system, and more particularly, to an endoscopic system in which the posture and movement of an insertion tube are controlled by electrically generated power. The present invention includes: an insertion part (300) comprising a distal end (310) an a bent part having one end connected to the distal end (310) and the other end coupled to a flexible part (330); and a manipulation part (100) including a yawing driving part (110) and a pitching driving part (120). It is possible to reduce operator fatigue due to endoscopic manipulation and reduce damage to the organ lining.

Description

Fully automatic endoscope system {AUTONOMOUS ENDOSCOPE SYSTEM}

The present invention relates to an endoscope system, and more particularly, to an endoscope system in which the posture and movement of an insertion tube are controlled by an electrically generated power.

Most of the endoscope systems currently in use, as shown in Figs. 1 and 2, drive a camera for image acquisition, a distal end provided with at least one illumination unit for illumination inside the human body, and a pitching and yawing operation at the distal end. And an insertion portion including a flexible portion installed at an end of the bent portion and connected to an operation portion to be described later and bendable to facilitate insertion into the human body.

And the endoscope system controls the shape of the bend to drive the pitching and yawing motion of the distal end, the Air/water System for injecting water/air into the human body, the Image System for photographing inside the human body, It includes various configurations such as Suction/biopsy Channel that performs specific functions such as removing or collecting tissue, and Electrical system (buttons) for exchanging electrical signals to cameras, etc. Includes.

In particular, in the angulation system, the position (Pitch, Yaw) of the bend is controlled through mechanical rotation through a knob or the like of the operation unit.

However, according to this method, since all the angulation systems are controlled by mechanical movement by the manipulation of the knob, there is a problem in that fatigue of the operator increases due to the increase in weight due to this.

In addition, since the insertion unit has a tubular structure and includes various modules, there is a limit to further reducing the diameter of the tube constituting the insertion unit, unless some functions are excluded with the current technology. Accordingly, there is a problem in that the discomfort that the subject feels during the endoscopy is increased, and the sequelae persists due to damage to the inner wall of the organ after the examination.

In addition, because the degree of mechanical tension and knob friction that doctors who are practitioners prefer are different, the uniform scope is a factor that makes it difficult to optimize the procedure.

In addition, the translational or rolling movement as a mechanical movement is quite difficult to implement in terms of the mechanism, and even when implemented, the weight increases due to the increase in the mechanical part compared to the utility, making it inconvenient to use.

In addition, mechanical movements cannot implement automatic procedure such as automatic detection of the lesion and automatic change of the posture of the distal end according to the entry direction.

In addition, in the actual procedure, the screen is stopped on the lesion and then additional instruments such as scissors and forceps are inserted through the biopsy channel, but in the mechanical control method, the lesion is often shaken during insertion of the additional instrument.

(Patent Document 1) WO2012020987 A2

(Patent Document 2) KR10-2019-0076289A

(Non-patent document 1)'The structure of an endoscope' Journal of the Korean Society of Gastrointestinal Endoscopy 2004;29(Suppl 1):179-183

An object of the present invention was devised to solve the above-described conventional problems, while reducing the operator's fatigue caused by endoscopy operation, while reducing the discomfort felt by the subject during endoscopy or the risk of damage to the inner wall of the organ after the examination, and conventional implementation It is to provide an endoscope module and an endoscope system that enable various operations of this difficult endoscope insertion unit.

The present invention was created to achieve the object of the present invention as described above, the present invention, at least one lighting unit 311 and an objective lens 312 for image acquisition is installed a distal end 310, and the distal end at one end A bent part 310 is connected to drive the yawing and pitching operation of the distal part 310, and a flexible part that is bent to the other end of the bent part 320 and is bent so as to be inserted into the human body ( An insertion part 300 including 330; It is coupled to the insertion unit 300 to drive the yaw driving unit 110 for driving the yawing operation of the distal end 310 after the insertion unit 300 is inserted into the human body, and the pitching operation of the distal end 310 It includes a pitching drive unit 120 for, and an operation unit 100 including an operation member 130 for operating the yawing drive unit 110 and the pitching drive unit 120, the yawing drive unit 110, A first rotary motor 111 controlled by the operation of the operation member 130; A first rotating member 112 that is directly or indirectly coupled to the driving shaft 117 of the first rotating motor 111 to rotate; The pair of yawing drive wires 510 and 520 are coupled to respective ends of the pair of yaw driving wires 510 and 520 connected to the bent part 320 and rotated by the first rotating member 112 It includes a yaw driving member 114 for driving the yawing motion of the distal end 310 by inducing the movement in the opposite longitudinal direction of each other, and the pitching driving part 120 is controlled by the operation of the operation member 130 A second rotary motor 121 and; A second rotating member 122 that is directly or indirectly coupled to the driving shaft 127 of the second rotating motor 121 to rotate; The pair of pitching drive wires 530 and 540 are coupled to respective ends of the pair of pitching drive wires 530 and 540 connected to the bent part 320 and rotated by the second rotation member 122 Disclosed is an endoscope module comprising a pitching driving member 124 for driving a pitching operation of the distal end 310 by inducing movement in the longitudinal direction opposite to each other.

The rotational force of the drive shaft 117 of the first rotation motor 111 is transmitted to the rotation shaft 116 of the first rotation member 112 by any one of a gear coupling structure, a belt and pulley combination, and a chain and gear combination. Can be.

The rotational force of the drive shaft 127 of the second rotation motor 121 is transmitted to the rotation shaft 126 of the second rotation member 122 by any one of a gear coupling structure, a belt and pulley combination, and a chain and gear combination. Can be.

The operating member 130 may include a first operating member for controlling the first rotating motor 121 and a second operating member for controlling the second rotating motor 121.

As for the first operation member and the second operation member, any one of a button and a stick may be used.

The operation member 130 controls the first rotation motor 121 by reciprocating movement in a first direction, and controls the second rotation motor 121 by reciprocating movement in a direction crossing the first direction. It may include a joystick to control.

The present invention also includes an endoscope module 10 having the above configuration; A light source connected to the manipulation unit 100 of the endoscope module 10 to generate light for transmitting light to the lighting unit 311, and supply power to the yaw driving unit 110 and the pitching driving unit 120 A power supply unit for; An optical guide member connected to the light source to transmit light generated from the light source, and a connecting unit connected to the power supply unit to which a power line for supplying power to the yawing driving unit 110 and the pitching driving unit 120 is installed ( 200) discloses an endoscope system comprising a.

The endoscope module and endoscope system according to the present invention have the advantage of being able to automatically implement various functions such as tension control by conventional mechanical manipulation by using a rotating motor as a power source in driving yawing and pitching of the distal end.

In addition, the endoscope module and the endoscope system according to the present invention use a rotary motor as a power source to drive yawing and pitching at the distal end, thereby adjusting the tension value according to the preferences of the individual medical staff who are users of the endoscope system to improve ease of use There is an advantage that can be increased.

1 is a perspective view showing an example of a conventional endoscope module.
2 is a partial perspective view showing the operation unit shown in FIG. 1.
3 is a block diagram showing a functional configuration of a yaw driving unit, a pitching driving unit, and an operation member installed on the operation unit of the endoscope system according to the present invention.
4A is a side view showing an example of a configuration of a yaw driving unit/pitching driving unit among the operation units of FIG. 3, and FIG. 4B is a plan view showing a configuration of a yawing driving unit/pitching driving unit shown in FIG. 4A.

Hereinafter, an endoscope module and an endoscope system having the same according to the present invention will be described with reference to the accompanying drawings.

1 and 2, except for the configuration of the operation unit, the remaining configurations are similar or substantially the same. In the description of the present invention, it will be described with reference to FIGS. 1 and 2.

The endoscope module 10 according to the present invention, as shown in FIGS. 1 to 4B, has a distal end 310 provided with at least one illumination unit 311 and an objective lens 312 for image acquisition, and a distal end ( 310 is connected to the bending portion 320 for driving the yawing and pitching operation of the distal portion 310, and a flexible portion 330 that is coupled to the other end of the bent portion 320 and is bent so that it can be inserted into the human body. An insertion part 300 including; A yaw driving unit 110 coupled to the insertion unit 300 to drive the yawing motion of the distal end 310 after the insertion unit 300 is inserted into the human body, and a pitching driving unit for driving the pitching operation of the distal end 310 It includes an operation unit 100 including an operation member 130 for operating the yaw driving unit 110 and the pitching driving unit 120 and 120.

The insertion unit 300 is a configuration to be inserted into an inspection object that is difficult to observe from the outside, for example, a human body, and at least one illumination unit 311 and a distal end 310 in which an objective lens 312 for image acquisition is installed. , The end portion 310 is connected to one end to drive the yawing and pitching motion of the end portion 310, and the bending portion 320 is coupled to the other end of the bent portion 320, and is flexible to be bent so that it can be inserted into the human body. As a configuration including the unit 330, various configurations are possible.

The distal end 310 is a minimum configuration of the endoscope system by configuring one module together with the operation unit, and various configurations are possible in a configuration in which at least one illumination unit 311 and an objective lens 312 for image acquisition are installed. .

Particularly, the distal end 310 is a configuration that is inserted into an object to be examined, for example, inside the human body, and is moved to a position to be examined for obtaining an image of a lesion, collecting tissue, etc., using an image acquisition unit and a lighting unit as a basic configuration. Various additional configurations may be installed depending on the additional function.

As an example, the distal end 310, in addition to the illumination unit 311 and the objective lens 312 forming a part of the image acquisition unit, installation and manipulation of members for implementing additional functions such as installing a cutter for collecting tissue from a specific part of the human body, Various members, such as one or more additional channels 313 for performing specific functions such as suction, and a water/air injection nozzle 314 for injecting water or air into the human body, may be installed.

The illumination unit 311 is a configuration for irradiating light for image acquisition by an image acquisition unit to be described later inside an inspection object that is difficult to observe from the outside, for example, inside the human body, and radiated light characteristics (infrared, laser, visible light, Various configurations are possible depending on the single or combination possible) depending on the lighting characteristics such as monochromatic light.

In particular, the lighting unit 311 may have various configurations such as an LED installed at an end portion and an optical cable connected to a light source to be described later.

The objective lens 312 is a lens for acquiring an image of the interior of the object to be inspected, and various configurations are possible according to an image transmission method.

For example, an image capturing unit such as a CCD module may be installed at the distal end 310, and in this case, the objective lens 312 may be configured in combination with an image capturing unit.

In addition, the image through the objective lens 312 may be transmitted to the outside through an optical cable that is optically connected.

At this time, the objective lens 312 may be configured by being combined with an optical cable for transmitting an image to the outside.

The bent part 320 is a configuration in which the distal end 310 is connected to one end to drive the yawing and pitching operations of the distal part 310, and various configurations are possible according to the implementation method of the yawing and pitching operations.

Here, the bent part 320 is bent so as to be installed inside so that the lighting part 311, the image acquisition part, the additional channel 313, and the water/air injection nozzle 314 installed at the distal part 310 can be connected to the outside. Has a possible tubular structure.

And the bent part 320, as an example, may have the structure of Figure 3 of the non-patent document.

Specifically, the bent portion 320 is a pair of yawing driving wires 510 and 520 for driving the yawing motion of the distal end 310 installed at one end by movement in the lengthwise direction opposite to each other, and in the lengthwise direction opposite to each other. A pair of pitching driving wires 530 and 540 for driving the pitching operation of the distal end 310 installed at one end by movement may be installed.

The flexible portion 330 has one end coupled to the other end of the bent portion 320 and is bent so as to be inserted into the human body, and various configurations are possible.

The flexible part 330 has a configuration similar to the configuration of the bent part 320, except for a configuration for driving the yawing operation and the pitching operation compared to the configuration of the bent part 320, and is composed of a pipe member that is easy to bend. I can.

Meanwhile, the flexible part 330 may be further coupled with an insertion part-side connection part 340 forming a part that is coupled to the operation part 100.

The insertion portion-side connection portion 340 is a portion coupled to the end of the flexible portion 330 and coupled to the operation portion 100, and various configurations are possible according to the coupling structure.

In particular, the insertion part side connection part 340 may be provided with an additional channel connection part 341 communicating with the additional channel 313 having a tubular structure for implementing a biopsy function and connecting a member for implementing the additional function to the outside.

The operation unit 100 is coupled to the insertion unit 300 to drive the yawing motion of the distal end 310 after the insertion unit 300 is inserted into the human body, and the pitching of the distal end 310 Various configurations are possible as a configuration including a pitching driving unit 120 for driving an operation, a yawing driving unit 110 and an operating member 130 for operating the pitching driving unit 120.

The yaw driving part 110 is coupled to the insertion part 300 to drive the yawing motion of the distal end 310 after the insertion part 300 is inserted into the human body, and various configurations are possible.

Meanwhile, referring to FIG. 3 of Non-Patent Document 1, in the endoscope module according to the prior art, the user rotates the knobs 810 and 820 and the chain coupled to the rotation of the knobs 810 and 820 in order to drive the yawing operation. It has a mechanical drive method that induces the movement of a pair of wires by rotation.

However, in the case of the conventional endoscope module, as the method of driving the yawing operation is a mechanical driving method, there is a problem that fatigue and inconvenience of operation are caused to the user when the endoscope module is operated.

Also, depending on the user's skill level, changes in yawing speed and yaw strength may cause discomfort for the subject or cause a problem that may injure the inside of the human body.

Thus, the yaw driving unit 110 of the endoscope module 10 according to the present invention, as shown in Figs. 4a and 4b, the first rotary motor 111 controlled by the operation of the operation member 130 and ; A first rotating member 112 that is directly or indirectly coupled to the driving shaft 117 of the first rotating motor 111 to rotate; Each end of the pair of yawing driving wires 510 and 520 connected to the bent part 320 is coupled to each other, and the pair of yawing driving wires 510 and 520 are opposed to each other by the rotation of the first rotating member 112. It may include a yaw driving member 114 for driving the yawing motion of the distal end 310 by inducing movement in the longitudinal direction.

The first rotation motor 111 is a rotation driven motor controlled by the manipulation of the manipulation member 130 to be described later, and may be configured as an electric motor. At this time, a step motor may be used in consideration of the amount of movement of the yaw driving member 114 to be described later.

The first rotating member 112 is a configuration that is directly or indirectly coupled to and rotated with the drive shaft 117 of the first rotating motor 111, and various configurations are possible according to a rotation transmission method.

As an example, the first rotating member 112 may be directly coupled to the driving shaft 117 of the first rotating motor 111 and rotated.

As another example, the first rotating member 112, as shown in Figs. 4A and 4B, the first rotating motor 111 by a rotational force transmission means such as a gear coupling structure, a belt and pulley combination, a chain and a gear combination, etc. ) May be indirectly coupled to the drive shaft 117 and rotated.

The rotational force transmission means is a configuration for transmitting the rotational force of the driving shaft 117 of the first rotational motor 111 to the rotational shaft 116 of the first rotational member 112, and various configurations are possible.

Specifically, the rotational force of the drive shaft 117 of the first rotation motor 111 is the rotation shaft 116 of the first rotation member 112 by any one of a gear coupling structure, a belt and pulley combination, and a chain and gear combination. Can be delivered.

At this time, the rotational force transmission means may be composed of a gear coupling structure, a belt and pulley combination, a chain and a gear combination, and the like.

Meanwhile, the rotational force transmission means may need to change the rotational speed of the drive shaft 117 of the first rotational motor 111 and the rotational speed of the rotational shaft 116 of the first rotational member 112, and in this case, the radius of the gear or pulley , Can be adjusted by the number of gears.

More specifically, the rotational force transmission means is a drive gear 118 coupled to the drive shaft 117 of the first rotary motor 111, the drive gear 118 and the gear-coupled rotation shaft of the first rotation member 112 It may include a driven gear 119 coupled to the 116.

The yawing driving member 114 is coupled to each end of a pair of yawing driving wires 510 and 520 connected to the bent portion 320, respectively, and a pair of yawing driving by rotation of the first rotating member 112 Various configurations are possible as a configuration for driving the yawing motion of the distal end 310 by inducing the movement of the wires 510 and 520 in opposite longitudinal directions.

In particular, the yaw driving member 114 may have various configurations in inducing the movement of the yawing driving wires 510 and 520 in a lengthwise direction opposite to each other by a combination with the first rotating member 112.

For example, the yaw driving member 114 may be configured as a pulley or a chain to which the yaw driving wires 510 and 520 corresponding to each end are coupled.

At this time, the first rotation member 112 may be configured as a sprocket or a pulley for coupling with the yaw driving member 114 configured as a pulley or a chain.

The pitching drive unit 120 is coupled to the insertion unit 300 to drive the pitching operation of the distal end 310 after the insertion unit 300 is inserted into the human body, and various configurations are possible.

Meanwhile, referring to FIG. 3 of Non-Patent Document 1, in the endoscope module according to the prior art, in order to drive the pitching operation, the user rotates the knobs 810 and 820 and the chain coupled to the rotation of the knobs 810 and 820 It has a mechanical drive method that induces the movement of a pair of wires by rotation.

However, in the case of the conventional endoscope module, as the method of driving the pitching operation takes the mechanical driving method, there is a problem that fatigue and inconvenience of operation are caused to the user when the endoscope module is operated.

In addition, depending on the user's skill level, changes in pitching speed, pitching strength, etc. may cause discomfort for the subject or cause a problem that may injure the inside of the human body.

Accordingly, the pitching driving unit 120 of the endoscope module 10 according to the present invention is a configuration similar to the yawing driving unit 110 described above, as shown in Figs. 4A and 4B, by the operation of the operation member 130 A controlled second rotation motor 121; A second rotating member 122 which is directly or indirectly coupled to the driving shaft 127 of the second rotating motor 121 to rotate; Each end of the pair of pitching drive wires 530 and 540 connected to the bend portion 320 is coupled to each other, and the pair of pitching drive wires 530 and 540 are opposed to each other by the rotation of the second rotating member 122. It may include a pitching driving member 124 for driving the pitching operation of the distal end 310 by inducing movement in the longitudinal direction.

The second rotational motor 121 is a rotationally driven motor controlled by an operation of an operation member 130 to be described later, and may be configured as an electric motor. At this time, a step motor may be used in consideration of the amount of movement of the pitching driving member 124 to be described later.

The second rotation member 122 is a configuration that is directly or indirectly coupled to and rotated with the drive shaft 127 of the second rotation motor 121, and various configurations are possible according to a rotation transmission method.

As an example, the second rotation member 122 may be directly coupled to the drive shaft 127 of the second rotation motor 121 to rotate.

As another example, the first rotating member 112, as shown in Figs. 4a and 4b, the second rotary motor 121 by a rotational force transmission means such as a gear coupling structure, a belt and pulley combination, a chain and a gear combination. ) May be indirectly coupled to the drive shaft 127 and rotated.

The rotational force transmission means is a configuration for transmitting the rotational force of the driving shaft 127 of the second rotational motor 121 to the rotational shaft 126 of the second rotational member 122, and various configurations are possible.

Specifically, the rotational force of the drive shaft 127 of the second rotation motor 121 is the rotation shaft 126 of the second rotation member 122 by any one of a gear coupling structure, a belt and pulley combination, and a chain and gear combination. Can be delivered.

At this time, the rotational force transmission means may be composed of a gear coupling structure, a belt and pulley combination, a chain and a gear combination, and the like.

Meanwhile, the rotational force transmission means may need to change the rotational speed of the drive shaft 127 of the second rotational motor 121 and the rotational speed of the rotational shaft 126 of the second rotational member 122. In this case, the radius of the gear or pulley , Can be adjusted by the number of gears.

More specifically, the rotational force transmission means, the drive gear 128 coupled to the drive shaft 127 of the second rotary motor 121, the drive gear 128 and the gear-coupled rotation shaft of the second rotation member 122 It may include a driven gear 129 coupled to the 126.

The pitching drive member 124 is coupled to each end of a pair of pitching drive wires 530 and 540 connected to the bend part 320, and a pair of pitching drive by rotation of the second pivoting member 122 Various configurations are possible as a configuration for driving the pitching operation of the distal end 310 by inducing movement of the wires 530 and 540 in opposite longitudinal directions.

In particular, the pitching driving member 124 may have various configurations in inducing the movement of the pitching driving wires 530 and 540 in the opposite longitudinal direction by a combination with the second rotating member 122.

For example, the pitching driving member 124 may be configured as a pulley or a chain to which the pitching driving wires 530 and 540 corresponding to each end are coupled.

In this case, the second rotation member 112 may be configured as a sprocket or a pulley for coupling with the pitching driving member 124 configured as a pulley or a chain.

The operation member 130 is a configuration for operating the yaw driving unit 110 and the pitching driving unit 120, and various configurations are possible.

In particular, the operation member 130 is a configuration for generating electric signals for controlling the yaw driving unit 110 and the pitching driving unit 120, and various configurations are possible according to the user's operation convenience.

For example, the operation member 130 may include a first operation member for controlling the first rotary motor 121 and a second operation member for controlling the second rotary motor 121.

In this case, any one of a button and a stick may be used as the first operation member and the second operation member.

As another example, the operation member 130 controls the first rotation motor 121 by reciprocating movement in the first direction, and the second rotation motor 121 by reciprocating movement in a direction crossing the first direction. ) May include a joystick to control.

Meanwhile, the operation unit 100 may include a first connection part 180 for smooth connection with the insertion part 300 described above, and a second connection part 170 for seamless connection with a power supply unit and a light source unit to be described later. have

The first connection part 180 is a component for connection with the insertion part 300 and may function as a part connected to the adapter member 400 to be described later.

The second connection part 170 is a component for connection with the power supply unit and the light source unit, and may have various configurations according to the connection with the power unit and the light source unit.

On the other hand, the endoscope module 10 according to the present invention having the above configuration is an example of a minimum configuration as a part of the endoscope system, and various configurations may be included depending on the purpose of use, function, and the like.

As an example, the endoscope system according to the present invention may further include an endoscope module 10 having the above configuration; A light source (not shown) that is connected to the operation unit 100 of the endoscope module 10 to generate light for transmitting light to the illumination unit 311, and to supply power to the yaw driving unit 110 and the pitching driving unit 120 A power supply unit (not shown) for; A light guide member (not shown) that is connected to a light source and transmits light generated from the light source, and a connecting part 200 in which a power line for supplying power to the yawing driving unit 110 and the pitching driving unit 120 is connected to the power supply unit. ) Can be included.

Since the above is only described with respect to some of the preferred embodiments that can be implemented by the present invention, the scope of the present invention, as well known, should not be limited to the above embodiments and should not be interpreted, It will be said that both the technical idea and the technical idea together with the fundamental are included in the scope of the present invention.

10: endoscope module
100: operation part 200: connecting part
300: insertion part

Claims (7)

One or more illumination units 311 and a distal end 310 having an objective lens 312 for acquiring an image is installed, and the distal end 310 is connected to one end to drive the yawing and pitching operation of the distal end 310 An insertion part 300 including a flexible part 330 coupled to the other end of the bent part 320 and capable of being bent so as to be inserted into the human body;
It is coupled to the insertion unit 300 to drive the yaw driving unit 110 for driving the yawing operation of the distal end 310 after the insertion unit 300 is inserted into the human body, and the pitching operation of the distal end 310 And a control unit 100 including a pitching drive unit 120 for operating the yaw drive unit 110 and an operation member 130 for operating the pitching drive unit 120,
The yaw driving unit 110 includes a first rotary motor 111 controlled by an operation of the operation member 130; A first rotating member 112 that is directly or indirectly coupled to the driving shaft 117 of the first rotating motor 111 to rotate; The pair of yawing drive wires 510 and 520 are coupled to respective ends of the pair of yaw driving wires 510 and 520 connected to the bent part 320 and rotated by the first rotating member 112 It includes a yaw driving member 114 for driving the yawing motion of the distal end 310 by inducing movement in the longitudinal direction opposite to each other,
The pitching drive unit 120 includes a second rotary motor 121 controlled by the operation of the operation member 130; A second rotating member 122 that is directly or indirectly coupled to the driving shaft 127 of the second rotating motor 121 to rotate; The pair of pitching drive wires 530 and 540 are coupled to respective ends of the pair of pitching drive wires 530 and 540 connected to the bend part 320 and rotated by the second rotation member 122 An endoscope module comprising a pitching driving member (124) for driving a pitching operation of the distal end (310) by inducing movement in the lengthwise direction opposite to each other. The method according to claim 1,
The rotational force of the drive shaft 117 of the first rotation motor 111 is transmitted to the rotation shaft 116 of the first rotation member 112 by any one of a gear coupling structure, a belt and pulley combination, and a chain and gear combination. Endoscopy module, characterized in that the. The method according to claim 1,
The rotational force of the drive shaft 127 of the second rotation motor 121 is transmitted to the rotation shaft 126 of the second rotation member 122 by any one of a gear coupling structure, a belt and pulley combination, and a chain and gear combination. Endoscopy module, characterized in that the. The method according to any one of claims 1 to 3,
The operation member 130, an endoscope comprising a first operation member for controlling the first rotary motor 121 and a second operation member for controlling the second rotary motor 121 module. The method of claim 4,
The first operation member and the second operation member, the endoscope module, characterized in that any one of a button and a stick. The method according to any one of claims 1 to 3,
The operation member 130 controls the first rotation motor 121 by reciprocating movement in a first direction, and controls the second rotation motor 121 by reciprocating movement in a direction crossing the first direction. An endoscope module comprising a joystick to control. The endoscope module 10 according to any one of claims 1 to 3;
A light source connected to the manipulation unit 100 of the endoscope module 10 to generate light for transmitting light to the lighting unit 311,
A power supply for supplying power to the yaw driving unit 110 and the pitching driving unit 120;
An optical guide member connected to the light source to transmit light generated from the light source, and a connecting unit connected to the power supply unit to which a power line for supplying power to the yawing driving unit 110 and the pitching driving unit 120 is installed ( 200).

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