KR20230110097A - Loading module, and insertion unit and detachable endoscope including the same - Google Patents

Abstract

One embodiment of the present invention provides a force module, which includes: a body provided with a receiving space at the tip and a plurality of through holes passing through both ends; a force portion rotatably disposed in the receiving space; a first connector coupled to a first through hole among the plurality of through holes and communicating with the receiving space; and a second connector which is coupled to a second through hole among the plurality of through holes and through which an operating wire connected to the force portion is inserted.

Description

Loading module, and insertion unit and detachable endoscope including the same}

The present invention relates to a device, and more particularly, to a force module, an insertion unit including the same, and a detachable endoscope.

In general, a procedure using an endoscope is to insert an endoscope equipped with a camera and a surgical tool through a small hole without making a large incision in the body, and then perform the procedure while examining the affected part of the patient through an image taken by the endoscope in the body. In particular, the endoscopic procedure starting from laparoscopic surgery has advantages in that the incision area is smaller than that of open surgery, so the scar area is also small, and the patient's recovery time after the procedure is fast because there is little blood loss.

Conventional conventional endoscopes are composed of an insertion unit inserted into the human body and an operation unit controlling the insertion unit in one body, and a plurality of channels and guides are built-in through the inside of each unit. Accordingly, in line with the trend of strengthening the sanitary function of medical endoscopes, various types of detachable endoscopes are being used in which an insertion unit inserted into the body and a control unit for manipulating the insertion unit can be connected to each other or stored separately from each other.

A technical problem to be achieved by the present invention is to provide a detachable endoscope capable of minimizing the size of the insertion part by configuring the front end of the insertion part to be inserted into the body to have a circular cross section rather than an elliptical shape.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve the above technical problem, a force module according to an embodiment of the present invention includes a body having a receiving space at a front end and having a plurality of through holes penetrating both ends, a weighting unit rotatably disposed in the receiving space, a first connector coupled to a first through hole of the plurality of through holes and communicating with the receiving space, and a second connector coupled to the second through hole of the plurality of through holes and into which an actuating wire connected to the lifting unit is inserted. can include

In one embodiment of the present invention, a third connection pipe coupled to a third through hole of the plurality of through holes is further included, and when coupled to the body, the second connection pipe and the third connection pipe may be disposed on both sides with the first connection pipe interposed therebetween.

In one embodiment of the present invention, the second connection pipe may include an insertion portion inserted into and fixed to the second through hole, and an intermediate protrusion protruding outward in a radial direction to have a larger diameter than the insertion portion.

In one embodiment of the present invention, a cover coupled to cover the front end of the body and having a communication portion communicating the accommodation space with the outside when coupled with the body may be further included.

In one embodiment of the present invention, the body may have an at least partially circular cross section.

In order to achieve the above technical problem, the insertion unit for a detachable endoscope according to an embodiment of the present invention may include a force module disposed at a front end.

In order to achieve the above technical problem, a detachable endoscope according to an embodiment of the present invention may include an insertion unit having one end inserted into the body and having a force module rotatably disposed on the one end, an operation unit coupled to the other end of the insertion unit and operating the one end of the insertion unit to perform a bending motion using an operation module, and a detachable unit disengaging the operation unit and the insertion unit.

The force module, the insertion unit including the same, and the detachable endoscope according to embodiments of the present invention can be configured to have a circular cross section by improving space efficiency by adjusting the arrangement of a plurality of through holes, a force unit, and an illumination capture unit in the body of the force module. Accordingly, compared to a case having an elliptical cross section, the size of the insertion end of the insertion unit inserted into the body can be minimized.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the description of the present invention or the configuration of the invention described in the claims.

1 is a plan view showing a detachable endoscope according to an embodiment of the present invention, and FIG. 1 (a) is an enlarged perspective view of an insertion end provided in an insertion unit.
FIG. 2 is a perspective view showing a state before the first detachable module and the second detachable module provided in the detachable unit according to an embodiment of the present invention are coupled.
3 is a perspective view illustrating a state in which a first detachable module and a second detachable module provided in the detachable unit according to an embodiment of the present invention are coupled.
FIG. 4 is a perspective view showing the inside of the first detachable module and the second detachable module of FIG. 2 .
5 is a perspective view showing the inside of the first detachable module and the second detachable module of FIG. 3 .
6 is a perspective view illustrating a force module included in a detachable endoscope according to an embodiment of the present invention.
7 is a perspective view illustrating a cover provided in a detachable endoscope according to an embodiment of the present invention and a force module from which the cover is separated.
8 is a perspective view showing a force module from which a cover is separated according to an embodiment of the present invention, and FIG. 8 (a) is a cross-sectional view viewed from the II-II' direction.
9 illustrates some steps of an assembly process of a force module according to an embodiment of the present invention.
10 illustrates some other steps in the process of assembling a force module according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and, therefore, is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, coupled)" with another part, this includes not only the case of being "directly connected" but also the case of being "indirectly connected" with another member interposed therebetween. In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprise" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but it should be understood that the presence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof is not excluded in advance.

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

1 is a plan view showing a detachable endoscope according to an embodiment of the present invention, and FIG. 1 (a) is an enlarged perspective view of an insertion end provided in an insertion unit. FIG. 2 is a perspective view showing a state before the first detachable module and the second detachable module provided in the detachable unit according to an embodiment of the present invention are coupled. 3 is a perspective view illustrating a state in which a first detachable module and a second detachable module provided in the detachable unit according to an embodiment of the present invention are coupled. FIG. 4 is a perspective view showing the inside of the first detachable module and the second detachable module of FIG. 2 . And, Figure 5 is a perspective view showing the inside of the first detachable module and the second detachable module of FIG.

Referring to FIGS. 1 to 6 , the detachable endoscope 10 may be a device for inspecting and performing procedures on organs inside the body. Here, the target part for examination and treatment may be, for example, the duodenum.

The detachable endoscope 10 may include a manipulation unit 100 , an insertion unit 200 , and a detachable unit 300 . In addition, the detachable endoscope 10 may further include a joint unit (not shown) electrically connected to an endoscope control and management system (not shown).

The operation unit 100 is a part that the user manipulates to control the operation of the insertion unit 200, and may include an operation module H. At this time, the manipulation module (H) may include a first manipulation unit (H10), a second manipulation unit (H20), and a third manipulation unit (H30).

A detachable insertion unit 200 may be selectively connected to one end (hereinafter, a first coupling end) of the operation unit 100 . In a state in which the insertion unit 200 is coupled to the operation unit 100, the user can rotate the first operation unit H10 left and right to bend the front end (hereinafter referred to as the insertion end) of the insertion unit 200 in the up and down direction, or rotate the second operation unit H20 left and right to bend the insertion end in the left and right directions.

The user can control a rotation operation of the force module 400 (eg, rotation of the force unit 420) to be described later by rotating the third manipulation unit H30 in one direction.

The third manipulation unit H30 may be connected to a lifting unit (not shown) disposed inside the manipulation unit 100 . The lifting unit may, in one embodiment, be operated in a hydraulic manner. In this case, the lifting unit may include a hydraulic pressure supply unit (not shown) and a linear moving shaft (not shown). At this time, the hydraulic pressure supply unit may supply hydraulic pressure to the linear movement shaft connected to the intermediate connecting member 105 to be described later based on the operation of the third operation unit H30.

At this time, when the third operation unit H30 is rotated in one of the left and right directions (hereinafter referred to as the operation direction) by the user in a state in which the insertion unit 200 is coupled to the operation unit 100, the linear movement shaft can move backward (-Y axis direction) due to the hydraulic pressure supplied by the hydraulic pressure supply unit. Accordingly, the intermediate connecting member 105, the second intermediate connecting body 315, and the second insertion end connecting body 345 and the second operating wire 205 coupled thereto move in the pulling direction (hereinafter, the axial direction) toward the operating unit 100 (e.g., -Y axis direction), so that force is applied to the force module 400 connected to the second operating wire 205 in the axial direction (-Y axis direction). can be inflicted As a result, the force module 400 can rotate and operate, and a detailed description thereof will be described later.

On the other hand, the present invention is not limited to the above-described embodiment, and the lifting unit can be operated in a manner other than the breast method so that the force module 400 can be manipulated to rotate. However, for convenience of explanation, hereinafter, an embodiment in which the lifting unit operates in a hydraulic method will be mainly described.

A part (ie, an insertion end) of the insertion unit 200 may be inserted into the body during an endoscopic procedure. In this case, the insertion end may be an end opposite to an end coupled to the operation unit 100 (hereinafter referred to as a second coupled end) among both ends of the insertion unit 200 .

Insertion unit 200, in one embodiment, may have a long and thin cylindrical shape with a hollow formed therein. At least a portion of the insertion unit 200 may be made of a flexible material so that the bending direction can be adjusted by the operation unit 100 as described above. For example, a cover forming the outer surface of the insertion unit 200 may be made of a flexible tube material such as a resin composition.

Meanwhile, the operation unit 100 may include a control switch and a control button for injecting or discharging liquid and gas used during endoscopic procedures. A part of the insertion unit 200 that is detachably coupled to the first coupling end of the manipulation unit 100 through the detachable unit 300 (for example, the second coupling end or a peripheral portion thereof) may be provided with an entrance 510 for allowing a surgical tool, such as an endoscope treatment tool having a clip, into and out of the insertion unit 200, and a cap 511 that opens and closes the insertion unit 200.

The detachable unit 300 may detachably connect the control unit 100 and the insertion unit 200 . At this time, the detachable unit 300 may include a first detachable module 300a and a second detachable module 300b that are detachably coupled to each other. The operation unit 100 and the insertion unit 200 may be connected or separated by coupling or disengaging the first detachable module 300a and the second detachable module 300b.

The first detachable module 300a is disposed to be inserted into the control unit 100, and may include a first module body 310, a first intermediate connection portion, and a second intermediate connection portion. The second detachable module 300b is disposed to be inserted into the insertion unit 200, and may include a second module body 330, a first insertion end connection part, and a second insertion end connection part.

Although reference numerals are not indicated in the drawings, for convenience of explanation, the first intermediate connection portion will be referred to as reference number 320 and the second intermediate connection portion will be referred to as reference number 320'. In addition, the first insertion end connection portion will be referred to as reference numeral 340 and the second insertion end connection portion will be referred to as reference numeral 340'.

The first module body 310 may be a housing having a first intermediate hollow portion penetrating both ends along its longitudinal direction (Y-axis direction) and a second intermediate hollow portion spaced apart from the first intermediate hollow portion.

The first intermediate connection unit 320 may connect the operation module H and the insertion end connection unit 340 via the first connection wires 101 , 102 , 103 , and 104 . At this time, the first intermediate connection portion 320 may include first intermediate connection bodies 311, 312, 313, and 314 and first connection ends E1, E2, E3, and E4.

The first intermediate connection bodies 311, 312, 313, and 314 may be formed of, for example, a bar having an elongated cylindrical shape and inserted through the first intermediate hollow portion.

The first connecting ends E1 , E2 , E3 , and E4 may be detachably connected to the first engaging members 331 , 332 , 333 , and 334 .

The first connection ends E1 , E2 , E3 , and E4 may have first insertion grooves 321 , 322 , 323 , and 324 . The first insertion grooves 321 , 322 , 323 , and 324 may be formed concavely from the first connecting ends E1 , E2 , E3 , and E4 to the inside in the longitudinal direction (eg, -Y axis direction). At this time, the first insertion groove (321, 322, 323, 324), the first connection end (E1, E2, E3, E4) penetrating portion (N) may be formed.

When the first detachable module 300a and the second detachable module 300b are coupled, the first engaging members 331, 332, 333, and 334 may be inserted into the first insertion grooves 321, 322, 323, and 324. Although not shown in the drawing, the first engaging members 331, 332, 333, and 334 may move backward (-Y-axis direction) while rotating around the longitudinal direction (Y-axis direction) in an inserted state. In this case, one side end (a 'locking protrusion' to be described later) of the first hooking members 331, 332, 333, and 334 is hooked and fixed to the penetrating portion N, so that the first hooking members 331, 332, 333, and 334 and the first connection ends E1, E2, E3, and E4 may be coupled.

The first connection ends E1 , E2 , E3 , and E4 may be disposed at one end of the first intermediate connection bodies 311 , 312 , 313 , and 314 to face the insertion unit 200 . At this time, the other ends of the first intermediate connection bodies 311, 312, 313, and 314 are connected to one end of the first connection wires 101, 102, 103, and 104, and the other ends of the first connection wires 101, 102, 103, and 104 may be connected to the first operation unit H10 or the second operation unit H20.

In this case, the first connection wires 101, 102, 103, 104 are operated in a direction parallel to the longitudinal direction (Y axis direction) by the user's manipulation of the first control unit H10 or the second control unit H20. Reciprocating linear motion can be performed. Accordingly, the first connecting wire (101, 102, 103, 104) connected to the first intermediate connection body (311, 312, 313, 314) can be reciprocating linear motion in the same direction.

At this time, as described above, the first hooking members 331, 332, 333, and 334 are hooked and fixed to the first connection ends E1, E2, E3, and E4, so that the first intermediate connection part 320 and the first insertion end connection part 340 are coupled to each other, so that the operation module H can be operated integrally.

The second intermediate connection portion 320' may connect the manipulation module H and the force module 400 via the intermediate connection member 105. At this time, the second intermediate connection portion 320' may include a second intermediate connection body 315 and a second connection end portion E5.

The second intermediate connection body 315 may be inserted through the second intermediate hollow portion. When the first detachable module 300a and the second detachable module 300b are coupled, the second connection end E5 may be detachably connected to the second engaging member 335 .

The second connection end (E5) may be disposed at one end of the second intermediate connection body (315). At this time, the other end of the second intermediate connection body 315 may be provided with an intermediate connection member 105. At this time, the intermediate connection member 105 may be connected to the third operation unit H30 via a lifting unit.

As exemplarily shown in the drawings, the intermediate connection member 105 may be formed by protruding from the second intermediate connection body 315 toward the rear (-Y axis direction) in parallel with the longitudinal direction (Y axis direction). At this time, a hooking protrusion may be provided at the rear end of the intermediate connecting member 105 to be hooked with the linear movement shaft of the lifting unit. In this case, after the intermediate connecting member 105 is inserted into the locking groove (not shown) provided at the front end of the linear movement shaft, the locking protrusion can be locked and fixed in the locking groove. By this, the intermediate connection member 105 and the second intermediate connection body 315 can be coupled to the lifting unit. On the other hand, the present invention is not limited thereto, and as another embodiment, the intermediate connecting member 105 may be connected to the linear movement shaft via a connecting wire (not shown).

In this case, as the user manipulates the third manipulation unit H30 in the operating direction, the linear movement shaft and the intermediate connecting member 105 connected thereto are linearly moved in the direction of force (-Y axis direction) by the hydraulic pressure supplied from the hydraulic pressure supply unit. At the same time, the second intermediate connection body 315 and the second connection end (E5) can linearly move in the direction of force (-Y axis direction).

The first intermediate connection unit 320 may include two pairs of first intermediate connection bodies 311 , 312 , 313 , and 314 . Correspondingly, two pairs of first intermediate hollow parts may be formed in the first module body 310 . In this case, each of the first intermediate connection bodies 311, 312, 313, and 314 may be inserted through the two pairs of first intermediate hollow portions.

The first intermediate connection bodies 311, 312, 313, 314 may be disposed symmetrically with each other in the width direction (X-axis direction) and/or height direction (Z-axis direction) within the first module body 310. More specifically, the pair of first intermediate connection bodies 311 and 312 are disposed side by side on the upper side inside the first module body 310, and the other pair of first intermediate connection bodies 313 and 314 may be disposed side by side on the lower side inside the first module body 310.

In this case, the second intermediate hollow portion may extend past the 'inner space of the first module body 310' defined by being surrounded by the first intermediate connection bodies 311, 312, 313, and 314. At this time, the second intermediate connection portion 320 ′ that is inserted through the second hollow portion may be located in the center of the first intermediate connection body 311 , 312 , 313 , and 314 .

The connection ends of the first and second intermediate connection bodies 311, 312, 313, 314, and 315 (ie, the first and second connection ends E1, E2, E3, E4, and E5) may protrude outward from the first module body 310 toward the insertion unit 200. At this time, the other end of the first intermediate connection body (311, 312, 313, 314) disposed on the opposite side of the first connection end (E1, E2, E3, E4), the first connection wire (101, 102, 103, 104) can be connected, respectively. And, the other end of the second intermediate connection body 315 is provided with the above-described intermediate connection member 105 can be connected to the lifting unit.

As described above, the second detachable module 300b may include the second module body 330, the first insertion end connection part 340, and the second insertion end connection part 340'.

The second module body 330 may be a housing having a first insertion end hollow portion penetrating both ends along the longitudinal direction (Y-axis direction) and a second insertion end hollow portion spaced apart from the first insertion end hollow portion.

The first insertion end connection part 340 can transfer the force applied by the user's operation of the operation module H to the insertion end through the first operation wires 201, 202, 203, 204 so that the insertion end of the insertion unit 200 can be bent. At this time, the first insertion end connection portion 340 may include first insertion end connection bodies 341 , 342 , 343 , and 344 and first holding members 331 , 332 , 333 , and 334 .

The first insertion end connection bodies 341, 342, 343, and 344 are formed as, for example, bars having an elongated cylindrical shape, and can be inserted through the hollow portion of the first insertion end of the second module body 330.

The first insertion end connection bodies 341, 342, 343, and 344 may have a 'rack gear part L' having a rack gear formed on one surface. The rack gear unit L may be disposed on a surface of the first insertion end connecting bodies 341 , 342 , 343 , and 344 facing the center of the second module body 330 . And, the leg gear part (L) may extend along the longitudinal direction (Y-axis direction) of the first insertion end connection body (341, 342, 343, 344).

The first engaging members 331, 332, 333, and 334 are inserted into the first insertion grooves 321, 322, 323, and 324 of the first connection ends E1, E2, E3, and E4, and can be detachably coupled.

The first locking members 331, 332, 333, and 334 are disposed at one end of the first insertion end connecting body 341, 342, 343, and 344, and can face the operation unit 100 when coupled with the first attachment/detachment module 300a. At this time, one end of the first operation wire 201, 202, 203, 204 is connected to the other end of the first insertion end connection body 341, 342, 343, 344, and the other end of the first operation wire 201, 202, 203, 204 may be connected to the inside of the insertion end.

At this time, the first locking member (331, 332, 333, 334) is the first insertion groove (321, 322, 323, 324) in the longitudinal direction of the concave depth and similar protrusion length, preferably a shorter protrusion length It can be formed. Accordingly, when the first engaging members 331, 332, 333, and 334 are inserted into the first insertion grooves 321, 322, 323, and 324, a predetermined gap may exist between the first engaging members 331, 332, 333, and 334 and the first insertion grooves 321, 322, 323, and 324.

The second insertion end connector 340' can transfer the force applied by the user's manipulation of the third manipulation unit H30 to the force module 400 via the second operation wire 205 so that the force module 400 rotates. In this case, the second insertion end connection portion 340' may include a second insertion end connection body 345, a curved connection member 346, and a second holding member 335.

The second insertion end connection body 345 may be inserted into the second insertion end hollow part spaced apart from the first insertion end hollow part.

A hollow portion for accommodating the operating wire 205 may be formed inside the curved connecting member 346 . At this time, the curved connecting member 346 may be disposed between the second insertion end connecting body 345 and the force module 400 . In this case, the operating wire 205 may be disposed to pass through the hollow inside the curved connecting member 346 and extend from the second insertion end connection body 345 toward the force module 400 . At this time, one end of the actuation wire 205 may be connected to the second insertion end connecting body 345, and the other end of the actuation wire 205 may be connected to the force module 400, which will be described later.

The curved connecting member 346 may have a curved portion curved with respect to the longitudinal direction (Y-axis direction) of the second insertion end connecting portion 340'. Through this curved portion, it is possible to adjust the bending direction and degree of bending of the operating wire 205 disposed inside the inner hollow of the curved connecting member 346 .

Specifically, the second operating wire 205 may have one end connected to the second insertion end connection body 345 and the other end extending toward the insertion end. At this time, a part between the above-mentioned one end and the other end of the second operating wire 205 may be bent and extended along the curved connection member 346 . Accordingly, among the entire length of the second operating wire 205, a length extending beyond the curved connecting member 346 may be arranged to extend toward the insertion end so as to pass through the center of the insertion unit 200 in the longitudinal direction (Y-axis direction) inside the insertion unit 200.

In addition, within the limited space inside the second module body 330 through the curved connection member 346, the second insertion end connection portion 340 'can be disposed so as not to affect the first insertion end connection portion 340 extending in a straight line, so space utilization can be improved.

As described above, the second engaging member 335 may be inserted into the second insertion groove 325 of the second connection end E5 and detachably coupled thereto. The second locking member 335 may protrude outward in the longitudinal direction (-Y axis direction) at the opposite end of the curved connecting member 346 among both ends of the second insertion end connecting body 345. At this time, one end of the operation wire 205 may be connected to the other end of the second insertion end connection body 345 , and the other end of the second operation wire 205 may be connected to the force module 400 .

In this case, as the user operates the third control unit H30 in the operating direction, the linear movement shaft and the intermediate connection member 105 and the second intermediate connection body 315 connected thereto are linearly moved in the direction of force (-Y axis direction) by the hydraulic pressure supplied by the hydraulic pressure supply unit.

At this time, as the second connecting end E5 is engaged with the second engaging member 335, the second intermediate connecting portion 320' and the second inserting end connecting portion 340' are coupled to each other, and can be operated integrally by manipulation of the manipulation module H. Since the specific characteristics of the second intermediate connector 320' and the method of coupling with the second insertion end connector 340' and the method of operation after coupling are the same as or similar to those of the above-described first intermediate connector 320, duplicate descriptions thereof will be omitted.

The first insertion end connection portion 340 may include two pairs of first insertion end connection bodies 341 , 342 , 343 , and 344 . Correspondingly, two pairs of first insertion end hollow portions may be formed in the second module body 330 . In this case, each of the first insertion end connection bodies 341, 342, 343, and 344 may be inserted into the two pairs of first insertion end hollow portions.

The first insertion end connection bodies 341 , 342 , 343 , and 344 may be symmetrically arranged in the second module body 330 in a width direction (X-axis direction) and/or a height direction (Z-axis direction). More specifically, the pair of first insertion end connection bodies 341 and 342 are arranged side by side as a pair on the inside of the second module body 330, so that the leg gear parts L provided in the pair of first insertion end connection bodies 341 and 342 can face each other. In addition, the other pair of first insertion end connection bodies 343 and 344 are arranged side by side as a pair on the lower side inside the second module body 330, so that the pair of first insertion end connection bodies 343 and 344 may face each other.

At this time, as described above, the second insertion end connection portion 340' may be disposed in a defined area surrounded by the two pairs of first insertion end connection bodies 341, 342, 343, and 344 in the inner space of the second module body 330. In this case, the second insertion end connection body 345 may be located in the center of the two pairs of fourteenth insertion end connection bodies 341, 342, 343, and 344.

The second module body 330 may include a pinion gear unit (P). At this time, the pinion gear unit P may include a first pinion gear P10 and a second pinion gear P20 (see FIGS. 4 and 5).

The first pinion gear P10 is disposed between the 1-1st insertion end connection body 341 and the 1-2 insertion end connection body 342, and may be engaged with the first leg gear part L of the 1-1 insertion end connection body 341 and the second rack gear part L of the 1-2 insertion end connection body 342 at the same time. In this meshed state, the first pinion gear P10 may rotate about the first central axis perpendicular to the longitudinal direction (Y-axis direction) according to the user's operation of the operation module H.

The second pinion gear P20 is disposed between the 1-3 insertion end connection body 343 and the 1-4 insertion end connection body 344, and may be engaged with the third leg gear part L of the 1-3 insertion end connection body 343 and the fourth rack gear part L of the 1-4 insertion end connection body 344 at the same time. In this meshed state, the second pinion gear P20 may rotate about the second central axis perpendicular to the longitudinal direction (Y-axis direction) according to the user's operation of the operation module H.

The second central axis portion is disposed on the same line as the first central axis portion, but may be configured to be separated from each other and independently rotatable. Accordingly, while the first pinion gear P10 and the second pinion gear P20 rotate around the first central axis or the second central axis, they may not interfere (or hinder) each other's rotational movements.

In the above-described case, the second module body 330 passes through the center of the inner space surrounded by the first insertion end connection bodies 341, 342, 343, and 344, and is formed through a guide hole (not shown) in the longitudinal direction (Y-axis direction). This 'guide hole' is disposed between the first pinion gear P10 and the second pinion gear P20, and at this time, the second insertion end connecting body 345 is inserted into the guide hole and disposed in the longitudinal direction (Y axis). It can reciprocate and rectilinearly move in parallel. As such, since the guide hole extends between the first pinion gear P10 and the second pinion gear P20 that rotate independently of each other, rotation of the pinion gears P10 and P20 may not be disturbed.

The second module body 330 may have a linear guide slit (G) extending along the longitudinal direction (Y-axis direction) on its upper and lower surfaces. The straight guide slits (G) have a pair of 'top straight guide slits' provided on the upper surface of the second module body 330 to face the 1-1 insertion end connection body 341 and the 1-2 insertion end connection body 342, respectively, and a pair provided on the lower surface of the second module body 330 to face the 1-3 insertion end connection body 343 and the 1-4 insertion end connection body 344, respectively. A bottom straight guide slit may be included.

At this time, the 1-1 insertion end connection body 341 and the 1-2 insertion end connection body 342 extend upward, respectively, and are inserted into the upper surface straight guide slit (G). Can be provided with an 'upper guide protruding member (I)'. In addition, the 1-3 insertion end connection body 343 and the 1-4 insertion end connection body 344 extend downward, respectively, and are inserted into the bottom straight guide slit (G). It may be provided with a 'lower guide protruding member (I)'. In this case, each guide protruding member (I) can guide the reciprocating linear motion of the first insertion end connection body (341, 342, 343, 344) by moving along the corresponding linear guide slit (G).

A first holding member 331 , 332 , 333 , 334 may be provided at one end of each of the first insertion end connection bodies 341 , 342 , 343 , and 344 . In addition, the first operation wires 201, 202, 203, and 204 may be connected to the other ends of the first insertion end connection bodies 341, 342, 343, and 344, respectively.

During an endoscopic procedure, a surgical tool may be inserted into the insertion unit 200 through the entrance 510 provided in the insertion unit 200, pass through the internal passage U1, pass through the insertion end, and enter the inside of the patient's body.

At this time, the force module 400 may be disposed at the insertion end of the insertion unit 200 . The pressing module 400 may apply pressure to the surgical tool drawn out through the insertion end to bend the tip of the surgical tool toward the treatment target unit, which will be described in detail below.

6 is a perspective view illustrating a force module included in a detachable endoscope according to an embodiment of the present invention. 7 is a perspective view illustrating a cover provided in a detachable endoscope according to an embodiment of the present invention and a force module from which the cover is separated. 8 is a perspective view showing a force module from which a cover is separated according to an embodiment of the present invention, and FIG. 8 (a) is a cross-sectional view viewed from the II-II' direction. 9 illustrates some steps of an assembling process of a force module according to an embodiment of the present invention. 10 illustrates some other steps in the process of assembling a force module according to an embodiment of the present invention.

6 to 10, the force module 400 may include a module body 400a and a cover part 400b. At this time, the module main body 400a may include a body 410, an application part 420, a first connection pipe 411, and a second connection pipe 412.

The body 410 is a part where other components of the force module 400 are disposed, and may be coupled to the insertion end of the insertion unit 200 described above.

The body 410 may include a 'front end (Ea)' disposed toward the outside of the insertion unit 200 in the longitudinal direction (Y-axis direction) and a 'rear end (Eb)' inserted into and connected to the inside of the insertion unit 200. In addition, the body 410 may further include a 'protrusion part (Eab)' disposed between the front end part (Ea) and the rear end part (Eb).

The protruding portion Eab may be a boundary portion separating and partitioning the front end portion Ea and the rear end portion Eb. The protrusion Eab protrudes outward in the radial direction from the outer surface of the body 410 and may be formed in a ring shape extending along the circumferential direction of the body 410 so that both ends meet each other.

Body 410 may have an at least partially circular cross-section. As an example, the front end portion Ea may have a circular cross section viewed from the II-II′ direction of FIG. 8 . At this time, the diameter R of the circular cross section of the tip portion Ea may be 10.5 to 14.5 mm, preferably 13.5 mm.

On the other hand, in the drawings, the cross section of the tip portion Ea is shown as a shape corresponding to a portion of a 'circle', but the present invention is not limited thereto, and the cross section of the tip portion Ea may have a complete circular shape. In this case, the cross-sectional shape of the protruding portion Eab when viewed in the same direction as above may be a circular shape having a larger diameter than the distal end portion Ea.

The front end (Ea) may have an accommodation space (A). This accommodating space (A) may be defined by the first plate portion (A10) and the second plate portion (A20) protruding outward from the front end portion (Ea).

As an embodiment, the first plate portion A10 may be disposed on one side of the front end portion Ea and protrude outward in the longitudinal direction (Y-axis direction). The second plate portion A20 may be spaced apart from the first plate portion A10 by being disposed at the center of or adjacent to the front end portion Ea and protruding outward in the longitudinal direction (Y-axis direction). At this time, the first plate portion A10 and the second plate portion A20 may be parallel to each other.

In this case, the accommodating space A may be a space in which both sides of the boundary are defined by the first plate portion A10 and the second plate portion A20. Specifically, the receiving space (A), while both sides in the width direction (X-axis direction) are closed by the first plate portion (A10) and the second plate portion (A20), while the upper and lower sides are opened in the height direction (Z-axis direction) An opening may be formed.

The body 410 may have a plurality of through holes H formed through both ends of the body 410 . In this case, the plurality of through holes H may be formed to extend from the rear end portion Eb along the longitudinal direction (Y-axis direction) to pass through the protruding portion Eab and pass through the front end portion Ea. At this time, the plurality of through holes (H) may be arranged side by side with each other.

As an embodiment, three through holes H may be provided, and for convenience of description, these three through holes H are referred to as a first through hole H1, a second through hole H2, and a third through hole H3 (see FIG. 8). In this case, the first through hole H1, the second through hole H2, and the third through hole H3 may have different diameters. For example, the first through hole H1 may have the largest diameter.

The first through hole H1, the second through hole H2, and the third through hole H3 may be spaced apart from each other. At this time, the first through hole H1 may communicate with the accommodation space A by being disposed on the same line as the accommodation space A along a direction parallel to the longitudinal direction (Y-axis direction).

As an embodiment, the first through hole H1 is biased from the center of the body 410 to one side when viewed in a direction parallel to the ZX plane in the drawing (ie, II-II' direction in FIG. 8). Can be disposed. Specifically, with respect to the drawing, the first through hole H1 is deflected to the left (X-axis direction), or to the left (X-axis direction) and the bottom (-Z axis direction) with respect to the center of the body 410. It may be deflected at the same time (see enlarged view (a) in FIG.

The second through hole H2 and the third through hole H3 may be disposed on both sides of the first through hole H1 with the first through hole H1 interposed therebetween. As described above, when the first through hole H1 is biased toward the left (X-axis direction) and lower side (-Z-axis direction) with respect to the center of the body 410, the second through-hole H2 may be disposed to be biased toward the left (X-axis direction) and above (Z-axis direction) than the first through-hole H1.

In addition, the third through hole H3 may be biased toward the right side (-X axis) and the upper side (Z-axis direction) with respect to the center of the body 410 . At this time, the third through-hole H3 may be disposed adjacent to the lighting photographing unit 430 to be described later. More specifically, based on the vertical direction of the drawing, the third through hole H3 may be disposed directly above the image sensor provided in the light capturing unit 430 (see enlarged view (a) of FIG. 8 and FIG. 10 (b)).

However, the present invention is not limited to the above-described embodiment, and the first through hole H1 may be biased to at least one of the right side (-X axis direction) and the upper side (Z axis direction), and accordingly, the second through hole H2 and the third through hole H3 may be biased in the opposite direction to that described above.

As the first, second, and third through-holes H1, H2, and H3 are biased in different directions with respect to the center of the body 410, a space between the through-holes H1, H2, and H3 can be secured in which the force unit 420 and the light capture unit 430, which will be described later, are disposed. As a result, the body 410 may be formed to have a circular cross section as described above in a state in which the plurality of through holes H1, H2, and H3, the force unit 420, and the light capture unit 430 are all disposed. In this case, the size of the insertion end of the insertion unit 200 can be minimized by reducing the cross-sectional area of the body 410 compared to the case where the body 410 is formed in an oval shape.

The force module 400 may include a plurality of connection pipes 411, 412, and 413. The plurality of connecting pipes 411, 412, and 413 may be in the form of a pipe having hollow portions penetrating both ends.

As an embodiment, the force module 400 may include three connectors corresponding to the through holes H1, H2, and H3, and these three connectors will be referred to as a first connector 411, a second connector 412, and a third connector 413 for convenience of description.

The first connection pipe 411 may be coupled to the first through hole H1. Specifically, the front end of the first connection pipe 411 is inserted into and coupled to the first through hole H1, and the rear end of the first connection pipe 411 protrudes toward the inside of the insertion unit 200 to which the force module 400 is coupled.

The rear end of the first connection pipe 411 may be connected to the internal passage part U1 disposed inside the insertion unit 200 . The inner passage part U1 may be in communication with the entrance 510 provided in the insertion unit 200 . In this case, surgical equipment used for endoscopic procedures may be inserted through the entrance 510 . In addition, the insertion unit 200 may be provided with an additional entrance (not shown) disposed at a position different from (eg, opposite to) the entrance 510 and connected to the internal passage U1. Through this additional port, a suction nozzle (not shown) of a suction device (not shown) can be inserted. The surgical equipment and/or the suction nozzle inserted in this way can be drawn out of the force module 400 through the internal passage U1 and the first connection pipe 411 communicating therewith to perform an endoscopic procedure or to suck in and discharge contaminants (e.g., blood) generated during the procedure.

The second connection pipe 412 may be coupled to the second through hole H2. The second connection pipe 412 may communicate with the curved connection member 346 via an intermediate connection member connection passage U2 to be described later.

As exemplarily shown in FIG. 9 , the second connection pipe 412 may include an insertion portion 412a, a connection portion 412b, and an intermediate protrusion 412c. The insertion portion 412a may be a portion inserted into the second through hole H2. The connecting portion 412b is an end opposite to the insertion portion 412a and may protrude outside the second through hole H2.

An intermediate protrusion 412c may be provided between the connecting portion 412b and the insertion portion 412a. The protruding portion Eab may protrude outwardly in the radial direction of the second connection pipe 412 to determine the insertion length of the insertion portion 412a into the second through hole H2. The insertion portion 412a and the connection portion 412b may be partitioned by the protrusion Eab.

The connection passage part U2 may be connected to the connection part 412b. The connection passage part U2 is provided in the form of a pipe having a hollow part therein, and may communicate with the hollow part inside the second connection pipe 412 . Specifically, one end of the second connection pipe 412 (ie, the insertion portion 412a) may be inserted into the second through hole H2 and coupled thereto. Also, the connection passage part U2 may be coupled to the other end of the second connection pipe 412 (ie, the connection part 412b). The connecting passage U2 extends backward (in the -Y-axis direction) through the inside of the insertion unit 200 to which the force module 400 is coupled, and may be connected to the curved connecting member 346 described above.

At this time, the hollow inside the second connection pipe 412 may communicate with the hollow inside the curved connection member 346 through the hollow inside the connection passage U2. Accordingly, the second operating wire 205 passing through the curved connecting member 346 passes through the inside of the connecting passage U2, is inserted into the second connecting pipe 412, and then extends toward the pressing module 400, so that it can be connected to the pressing part 420.

The third connection pipe 413 may be coupled to the third through hole H3. Specifically, the third connection pipe 413 is inserted through the third through hole H3, and accordingly, the front end of the third connection pipe 413 protrudes outward from the front end Ea, and the rear end of the third connection pipe 413 may protrude outward from the rear end Eb.

The rear end of the third connection pipe 413 may be connected to the 'fluid passage U3' arranged to pass through the insertion unit 200 . In this case, the fluid passage part U3 may be connected to the inner passage part U1 in the insertion unit 200, for example. As another example, the fluid passage portion U3 may have the same configuration as the internal passage portion U1.

After being inserted through the entrance 510, the injection nozzle of the supply device (not shown) may pass through the fluid passage U3 and communicate with the third connection pipe 413. Accordingly, when the cleaning operation is performed after the endoscopic procedure is completed, water or air supplied from the supply device may be moved to the third connection pipe 413 . In this case, as the third through hole H3 is disposed right above the image sensor of the light capture unit 430 as described above, the image sensor can be washed by water or air discharged through the third connection pipe 413.

The pressing unit 420 may be rotatably disposed on the body 410 . As an example, the weighting unit 420 may be disposed in the receiving space A of the body 410 and rotatably coupled to the first and second plate parts A10 and A20. At this time, the pressing unit 420 may have a pressing groove CH.

The pressing groove CH may be concavely formed from an upper surface of the pressing unit 420 toward the inside. Here, the upper surface of the pressing unit 420 may be one surface of the applying unit 420 facing upward based on the drawing. At this time, the pressing groove CH extends along the longitudinal direction of the pressing portion 420 and may have the same or similar length as the pressing portion 420 .

When the surgical tool passes through the inside of the first connection pipe 411 and is drawn into the receiving space A through the first through hole H1, it may face the pressing groove CH. Thereafter, when the pressing unit 420 is rotated to press the treatment tool, the treatment tool may be accommodated in the pressing groove CH and may be pressed and bent in a state in contact with the inner surface of the pressing groove CH.

The force unit 420 may rotate about a rotational axis C perpendicular to the longitudinal direction (Y-axis direction) of the body 410 . The pressing unit 420 may rotate in the first rotational direction R1 or the second rotational direction R2 through the 'opening' of the accommodation space A described above (see FIG. 1 ). At this time, the rotational motion of the force unit 420 may be operated in the following manner.

For example, as the user manipulates the third operating unit H30 in the manipulation direction, the intermediate connection member 105 and the second operating wire 205 connected thereto may be pulled backward (in the -Y axis direction) and moved. Accordingly, the pressing unit 420 connected to the front end of the second operating wire 205 can be pulled backward (in the -Y axis direction), whereby the applying unit 420 is centered on the rotation axis C. It can be rotated in the first rotational direction (R1).

As such, during an endoscopic procedure, by rotating the force unit 420 in the first rotational direction R1 through manipulation of the third operation unit H30, the surgical equipment (or suction nozzle) drawn out through the first connector 411 to the outside of the insertion end can be applied and bent in the first rotational direction R1. At this time, by appropriately adjusting the rotational angle of the third manipulation unit H30, it is possible to adjust the rotational radius of the force unit 420 and the treatment equipment (or suction nozzle).

As another example, when an endoscopic procedure is completed or a procedure equipment needs to be replaced, the user can return the force unit 420 to its original position by removing the force applied to the third manipulation unit H30.

At this time, an elastic part (not shown) may be provided in the third manipulation unit H30. After the elastic part is compressed and deformed as the third manipulation unit H30 is rotated in the manipulation direction, when the force applied to the third manipulation member H30 is removed, an elastic restoring force is generated in the opposite direction to the manipulation direction. The third manipulation member H30 can be returned to its original position. Accordingly, the hydraulic pressure applied to the linear movement shaft is removed, so that the intermediate connecting member 105 and the second operating wire 205 can move again in the opposite direction (Y-axis direction) to the applied direction. By doing so, the applying unit 420 rotates in the second rotational direction R2 and returns to the original position, thereby removing the force applied to the treatment equipment (or the suction nozzle) and returning it to the state before bending.

The illumination capture unit 430 may include a light source for illuminating the body and an image sensor for capturing the body during endoscopic procedures. The lighting photographing unit 430 may be installed at the distal end Ea of the body 410 . As an example, the lighting photographing unit 430 may be coupled to the second plate unit A20. In this case, the lighting photographing unit 430 may be disposed to face the accommodating space A with the second plate unit A20 interposed therebetween. At this time, the third through hole H3 and the third connection pipe 413 are disposed directly above the upper side (Z-axis direction) of the lighting photographing unit 430, so that various components are densely arranged on the body 410. Space utilization can be improved.

The cover 400b may cover and protect the outside of the module body 400a. Specifically, the cover 400b may have an accommodation groove into which at least a portion of the body 410 is inserted and accommodated. In addition, the cover 400b may include a communication portion B that communicates the accommodation space A with the outside.

Specifically, the front end Ea of the body 410 or the front end Ea and the protrusion Eab may be inserted into the receiving groove of the cover 400b. At this time, when the cover 400b and the module body 400a are coupled, the communication unit B may be disposed at a position corresponding to the receiving space A of the body 410. Accordingly, even when the cover 400b is coupled, the accommodation space (A) can maintain a state of communication with the outside through the communication portion (B). The treatment equipment and the suction nozzle may be drawn out of the force module 400 through the communication portion B. In addition, rotation in the first rotational direction R1 of the pressing unit 420 may be possible through the communication unit B.

As described above, the force module 400 according to the embodiments of the present invention, the insertion unit 200 including the same, and the detachable endoscope 10 are configured so that the force module 400 has a circular cross section by adjusting the arrangement of the plurality of through holes (H1, H2, H3), the force part 420, and the light capture part 430 in the body 410 of the force module 400 to improve space efficiency. You can. Accordingly, compared to a case having an elliptical cross section, the size of the insertion end of the insertion unit 200 inserted into the body can be minimized.

The above description of the present invention is for illustrative purposes, and those skilled in the art to which the present invention pertains can easily be modified into other specific forms without changing the technical spirit or essential features of the present invention. It will be appreciated. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

10: detachable endoscope
100: operation unit
200: insertion unit
300: detachable unit
400: force module
H: control module

Claims (7)

A body provided with a receiving space at the front end and a plurality of through holes penetrating both ends;
a weighting unit rotatably disposed in the accommodation space;
a first connection pipe coupled to a first through hole among the plurality of through holes and communicating with the receiving space; and
and a second connection pipe coupled to a second through hole among the plurality of through holes and through which an actuating wire connected to the pressing unit is inserted. According to claim 1,
A third connection pipe coupled to a third through hole among the plurality of through holes; further comprising,
When coupled to the body, the second connection pipe and the third connection pipe are disposed on both sides with the first connection pipe interposed therebetween. According to claim 1,
The second connector,
A force module comprising: an insertion portion inserted into and fixed to the second through hole; and an intermediate protrusion protruding outward in a radial direction to have a larger diameter than the insertion portion. According to claim 1,
The force module further comprising a; cover coupled to cover the front end of the body and having a communication portion communicating the accommodation space with the outside when coupled with the body. According to claim 1,
wherein the body has an at least partially circular cross-section. An insertion unit for a detachable endoscope comprising the force module according to any one of claims 1 to 5 disposed at a front end. an insertion unit having one end inserted into the body and having the force module according to claim 6 rotatably disposed on the one end;
an operation unit coupled to the other end of the insertion unit and operating the one end of the insertion unit to perform a bending motion using an operation module; and
A detachable endoscope comprising a; detachable unit that detachably couples the operation unit and the insertion unit.