WO2010076918A1 - Micro-endoscope avec extrémité distale à angle et courbure réglables - Google Patents

Micro-endoscope avec extrémité distale à angle et courbure réglables Download PDF

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Publication number
WO2010076918A1
WO2010076918A1 PCT/KR2009/001113 KR2009001113W WO2010076918A1 WO 2010076918 A1 WO2010076918 A1 WO 2010076918A1 KR 2009001113 W KR2009001113 W KR 2009001113W WO 2010076918 A1 WO2010076918 A1 WO 2010076918A1
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WO
WIPO (PCT)
Prior art keywords
insertion tube
distal end
bending
angle
spring module
Prior art date
Application number
PCT/KR2009/001113
Other languages
English (en)
Inventor
Byung-Ju Yi
Youngjin Choi
Hyunsoo Yoon
Se Min Oh
Original Assignee
Iucf-Hyu(Industry-University Cooperation Foundation Hanyang University)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iucf-Hyu(Industry-University Cooperation Foundation Hanyang University) filed Critical Iucf-Hyu(Industry-University Cooperation Foundation Hanyang University)
Publication of WO2010076918A1 publication Critical patent/WO2010076918A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations

Definitions

  • the present invention relates to a micro endoscope with a distal end adjustable in angle and curvature, and particularly to, a micro endoscope with a distal end adjustable in angle and curvature in which a distal end of an insertion tube can be bended to 180° depending on applications and the curvature of the distal end can be adjusted.
  • An endoscope is a medical instrument enabling to directly observe internal organs or coeloms of a human body.
  • the endoscope is inserted into organs of which pathologies cannot be directly observed without operating or making an autopsy, for the purpose of observing the organs.
  • Examples of the endoscope generally include a bronchoscope, an esophagoscope, a gastroscope, a duodenoscope, a rectoscope, a cystoscope, a laparoscope, a thoracoscope, a mediastinoscope, and a cardioscope
  • endoscopes are generally configured so that an insertion tube is flexible to be bent along the internal bent portions of a human body, but the flexibility is limited. That is, a user does not adjust the bending of the insertion tube of the endoscope, but the insertion tube is naturally bent along the internal bent portions of a human body. Therefore, since the insertion tube cannot be bent in accordance with a user's intension at the time of inserting the endoscope into the inside of a human body, a camera disposed at a distal end of the insertion tube cannot be bent in a direction desired by the user.
  • An endoscope partially bendable has been developed to solve the above-mentioned problem.
  • the bending angle and the curvature thereof are limited and the insertion tube cannot be fixed in a state where it is bent within the limited angle.
  • a technical goal of the invention is that it provided a micro endoscope with a distal end adjustable in angle and curvature in which an angle and a curvature of a distal end of an insertion tube can be adjusted.
  • Another technical goal of the invention is that it provides a micro endoscope with a distal end adjustable in angle and curvature in which the angle of the distal end of the insertion tube can be adjusted and then fixed.
  • a micro endoscope with a distal end adjustable in angle and curvature comprising: an insertion tube having a flexible spring module, one or more cylinders connected to one end of the spring module and separated from each other with a gap, a camera disposed at one end of the spring module, and one or more wires disposed around a main body of the spring module in a longitudinal direction thereof; and a driver connected to one end of the wires to tense or relax the wires.
  • the free length of the spring module and the length of the cylinders are determined on the basis of a bending angle of a final node of the insertion tube, a radius of curvature at the time of bending the insertion tube, a radius of the insertion tube, and the total number of nodes.
  • Each node includes one cylinder and one spring module adjacent to the cylinder.
  • the bending angle of the final node of the insertion tube can be calculated by the following expression,
  • ⁇ i represents the bending angle of the distal end of the respective nodes
  • i represents the number of a node and has a value of 1 to N
  • N represents the total number of nodes.
  • the free length L of the spring module can be expressed by the following expression,
  • N represents the total number of nodes
  • r represents a radius of the insertion tube
  • ⁇ 1 represents an angle of the distal end of the insertion tube.
  • the driver may further include a fixing device fixing the bending angle of the insertion tube.
  • the driver may include a bidirectional motor and a roller and a bending shaft transmitting the power of the bidirectional motor to the wires, and the fixing device may be connected to the bending shaft.
  • the fixing device may include a worm gear.
  • the number of wires may be even and the wires may be arranged with a constant gap.
  • a micro endoscope with a distal end adjustable in angle and curvature in which the distal end of the insertion tube can be bent to an angle desired by a user by the use of the spring module, the cylinders, and the wires.
  • the distal end of the insertion tube can be bent and fixed in the bent state by the use of the fixing device such as a worm gear, it is possible to easily and accurately observe an internal part of a human body desired by a user.
  • FIG. 1 is a diagram illustrating a micro endoscope with a distal end adjustable in angle and curvature according to an embodiment of the invention and an operation control system thereof.
  • FIG. 2 is a perspective view illustrating a coupling relation among a main body, cylinders, and wires in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 3 is a conceptual diagram illustrating a bending of a spring module of an insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 4 is a conceptual diagram illustrating the final node of the distal end of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 5 is a conceptual diagram illustrating the first node of the distal end of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 6 is a conceptual diagram illustrating a state where the insertion tube is bent to 180° in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 7 is a conceptual diagram illustrating a relation between the bending angle of the distal end of the insertion tube and the bending angle of the spring module in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 8 is a conceptual diagram illustrating inner and outer boundary lengths of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 1 is a diagram illustrating a micro endoscope with a distal end adjustable in angle and curvature according to an embodiment of the invention and an operation control system thereof.
  • FIG. 2 is a perspective view illustrating a coupling relation among a main body, cylinders, and wires in the micro endoscope with a distal end adjustable in angle and curvature.
  • the micro endoscope with a distal end adjustable in angle and curvature includes an insertion tube 1000 having a tube-like longitudinal shape and being bendable and a controller 2000 controlling the insertion tube 1000.
  • the insertion tube 1000 is a part that can be inserted into a human body and bent and includes a main body 100 bendable, cylinders 200 inserted onto the main body 100 and disposed with a constant gap, wires 300 used to bend the main body 100, and a camera 150.
  • the controller 2000 serves to control the bending of the insertion tube 1000 and includes a driver 400, a manipulator 500, and a fixing device (not shown).
  • the main body 100 serves to give flexibility to the insertion tube 1000 to be bendable.
  • the main body 100 is formed of a spring-like elastic member, that is, a spring module, having a predetermined length corresponding to the shape of the insertion tube 1000.
  • the spring module can be elastically bent vertically and horizontally thanks to the basic feature of a spring and has a restoring force for restoring the shape to the original shape. Accordingly, when the insertion tube 1000 is bent and is then restored to the original shape, the insertion tube 1000 can be restored to the original shape thanks to the restoring force of the main body 100.
  • the cylinders 200 serve to receive the wires and to assist the bending and restoring of the main body 100 and each includes a cylinder body 210 having an opening 211 into which the main body 100 can be inserted and wire holes 212 formed to penetrate the cylinder body 210.
  • the cylinder body 210 comes in direct contact with the main body 100 so as to allow the main body 100 to be inserted therein and is formed of metal such as aluminum (Al) or alloy containing aluminum (Al).
  • the cylinder body 210 is not limited to aluminum (Al), but may be formed of metal other than aluminum (Al) or non-metal as long as it is suitable for the application of the cylinder body 210.
  • the wire holes 212 are formed in the cylinder body 210 to receive the wires and penetrate the cylinder body 210 to be opened in the same direction as the opening direction of the opening 211 of the cylinder body 210.
  • the number of wire holes 212 effectively corresponds to the number of wires, but the number of wire holes 212 may be greater than the number of wires as needed.
  • the cylinders having the above-mentioned structure are inserted in the longitudinal direction of the main body 100 and are preferably disposed at the distal end of the insertion tube 1000 which should be inserted into a human body and bent.
  • the cylinders 200 are disposed at the distal end of the insertion tube 1000 with regular or irregular gaps from each other and thus enable the spring module between the cylinders to be bent.
  • the length of the cylinders and the length of the spring module can be determined on the basis of the bending angle of the distal end of the insertion tube 1000, the bending radius of curvature of the distal end of the insertion tube 1000, the radius of the insertion tube 1000, and the total number of nodes in the insertion tube 1000, which are set depending on the application of the endoscope. The determination will be described now with reference to the accompanying drawings.
  • FIG. 3 is a conceptual diagram illustrating the bending of the spring module of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • F represents a force applied to the spring module
  • L represents a free length of the spring module.
  • FIG. 4 is a conceptual diagram illustrating the final node of the distal end of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 5 is a conceptual diagram illustrating the first node of the distal end of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 6 is a conceptual diagram illustrating a state where the insertion tube is bent to 180° in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 7 is a conceptual diagram illustrating a relation between the bending angle of the distal end of the insertion tube and the bending angle of the spring module in the micro endoscope with a distal end adjustable in angle and curvature.
  • FIG. 8 is a conceptual diagram illustrating inner and outer boundary lengths of the insertion tube in the micro endoscope with a distal end adjustable in angle and curvature.
  • P represents the length of the cylinders
  • L represents the free length of the spring module
  • i represents the number of a node
  • N represents the total number of nodes
  • ⁇ 1 represents the bending angle of the respective nodes.
  • the node means a basic unit of a bendable structure and includes one cylinder and one spring module.
  • the bending angle ⁇ i of the respective nodes of the insertion tube can be calculated by Expression 1 from the geometric relation.
  • the position of the distal end of the insertion tube 1000 is first calculated.
  • Functions of position of the final node of the insertion tube 1000 and the first node of the endoscope can be obtained from the geometric relation of FIGS. 4 and 5.
  • the function of position of the final node of the endoscope can be expressed by Expression 2.
  • H i represents the function of the position in the bending direction of the insertion tube 100 and W i represents the function of the position in the longitudinal direction of the insertion tube 1000.
  • the function of the position of the first node can be expressed by Expression 3.
  • the function (Z) of the end-position in the longitudinal direction of the insertion tube and the function (X) of the end-position in the bending direction of the insertion tube are a function of the length P of the cylinders and the free length L of the spring module as seen from FIGS. 4 and 5.
  • the insertion tube 1000 should satisfy Expression 6.
  • ⁇ v denotes a bending angle of a spring module.
  • the bending angle ⁇ v of the spring module decreases.
  • the contracted length k of one side of the spring module in FIG. 8 can be expressed by Expression 9.
  • the length L s of the insertion tube 1000 in the contracted region in FIG. 8 can be calculated by adding the length P of the cylinders to the value, which is obtained by subtracting the contracted length 2k of both sides of the spring module from the free length L of the spring module, to obtain the length of one node and multiplying the length of one node by the total number of nodes N.
  • the length L c of the insertion tube 1000 in the free-length region can be calculated by multiplying the total number of nodes N by the value obtained by adding the length P of the cylinders to the free length L of the spring module.
  • one condition that is, information on the length by which one spring module should be contracted. This information can be obtained by dividing the contracted length of the entire spring module, which is obtained from Expressions 10 and 11, by the total number of nodes N. Accordingly, one condition for the free length L of the spring module, that is, the information on the length by which one spring module should be contracted, is added and is expressed by Expression 12.
  • the length P of the cylinders and the free length L of the spring module can be determined.
  • the wires 300 serves to bend the main body 100 by a user's manipulation and one or more wires are inserted into the wire holes 212 of the cylinder bodies 210 in the longitudinal direction of the main body 100. That is, four wires, that is, first to fourth wires 310, 320, 330, and 340, are shown in FIG. 2, but the number of wires is not limited to four. The number of wires 300 can be changed depending on the application of the endoscope.
  • the first wire 310 is opposed to the fourth wire 340 and the second wire 320 is opposed to the third wire 330.
  • the camera 150 serves to acquire visible information and is preferably disposed at the distal end of the main body 100 to be bent.
  • the driver 400 serves to physically tense or relax the wires 300.
  • Two wires 300 can be connected one driver 400. Since four wires are provided in this embodiment, the driver 400 includes two drivers, that is, first and second drivers 410 and 420.
  • the first driver 410 includes a first bidirectional motor 411, a first bending shaft 412, and a first roller 413.
  • the second driver 420 includes a second bidirectional motor 421, a second bending shaft 422, and a second roller 423.
  • the driver 400 can be driven with power externally supplied.
  • the first and second drivers 410 and 420 transmit the power of the first and second bidirectional motors 411 and 412 for independently adjusting the tension to the first to fourth wires 310, 320, 330, and 340 through the first and second bending shafts 412 and 422 and the first and second rollers 413 and 423.
  • the first to fourth wires 310, 320, 330, and 340 are wound on or unwound from the first and second bending shafts 412 and 422 with the operations of the first and second bidirectional motors 411 and 421, thereby bending the main body 100 or restoring the main body 100 to the original status.
  • the driver 400 may further include a fixing device (not shown) to fix the bending status of the insertion tube 1000.
  • the fixing device fixes the first and second bending shafts 412 and 422 to maintain the bending status of the insertion tube 1000 and includes a structure such as a worm gear.
  • the fixing device can be turned on and off by a user and thus the status of the insertion tube 1000 can be freely fixed.
  • the manipulator 500 serves to control the driver 400 and is electrically connected to the driver 400.
  • the manipulator 500 includes a manipulation device such as a joy stick and buttons to enable the user to control the bending direction of the main body.
  • Operation information of the first and second bidirectional motors 411 and 421 of the driver 400 may be set in advance in the manipulator 500 on the basis of the bending direction information of the main body.
  • the manipulator 500 can drive one or both of the first and second bidirectional motors 411 and 421 on the basis of the predetermined operation information of the first and second bidirectional motors 411 and 421.
  • the bending of the distal end of the insertion tube 1000 in direction B drives the first bidirectional motor 411 in one direction to wind the first wire 310 on the first roller 413, thereby pulling the first wire 310.
  • the fourth wire 340 opposed to the first wire 310 is relaxed opposite to the first wire 310.
  • one side of the spring module is contracted and the other side is expanded, thereby bending the distal end of the insertion tube 1000 in direction B.
  • the manipulator 500 drives the first bidirectional motor 411 in the other direction to wind the fourth wire 340 on the first roller 413, thereby pulling the fourth wire.
  • the first wire 310 opposed to the fourth wire 340 is relaxed opposite to the fourth wire 340.
  • one side of the spring module is expanded and the other side is contracted, thereby bending the distal end of the insertion tube 1000 in direction A.
  • the manipulator 500 drives the second bidirectional motor 421 in one direction to wind the second wire 320 on the second roller 423, thereby pulling the second wire 320.
  • the third wire 330 opposed to the second wire 320 is relaxed opposite to the second wire 320.
  • the distal end of the insertion tube 1000 is bent in direction C.
  • this operation can be embodied by driving at least one of the first and second bidirectional motors 411 and 421 by the use of the manipulator 500.
  • the bending status of the insertion tube 1000 can be fixed with the fixing device and then the inside part of a human body can be freely observed.
  • the number of wires 300 is four, two wires can be driven with the driving of one driver and thus the insertion tube 1000 can be bent in two opposite directions.
  • Four wires can be driven with the driving of two drivers and thus the insertion tube 1000 can be bent in all directions.
  • the distal end of the insertion tube can be bent to an angle desired by a user, for example, to 180°, by the use of the spring module, the cylinders, and the wires.
  • the distal end of the insertion tube can be fixed to the bent status by the use of the fixing device such as a worm gear, it is possible to easily and accurately observe a desired inner part of a human body.
  • the distal end of the insertion tube is bent to 180° in the above-mentioned embodiment, the invention is not limited to the angle, but the distal end of the insertion tube can be bent and fixed to an angle greater than or less than 180°.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
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  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
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  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un micro-endoscope présentant une extrémité distale dont l'angle et la courbure sont réglables, dans lequel une extrémité distale d'une tube d'insertion (1000) peut être courbée à 180° en fonction des applications, et la courbure de l'extrémité distale peut être réglée. Ici, l'extrémité distale du tube d'insertion peut être courbée à un angle souhaité par un utilisateur en utilisant un module à ressort (100), des cylindres (200), et des fils (300). En outre, étant donné que l'extrémité distale du tube d'insertion (1000) peut être fixée après avoir été courbée en utilisant un dispositif de fixation tel qu'un engrenage à vis sans fin, il est possible d'observer facilement et précisément l'intérieur d'un corps humain comme cela est souhaité par l'utilisateur.
PCT/KR2009/001113 2009-01-05 2009-03-05 Micro-endoscope avec extrémité distale à angle et courbure réglables WO2010076918A1 (fr)

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KR1020090000443A KR100990992B1 (ko) 2009-01-05 2009-01-05 말단의 각도 및 곡률 조절이 가능한 마이크로 내시경
KR10-2009-0000443 2009-01-05

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103263242A (zh) * 2013-06-03 2013-08-28 深圳市开立科技有限公司 一种弯曲部控制机构及其设备
CN103619230A (zh) * 2011-06-16 2014-03-05 奥林巴斯医疗株式会社 内窥镜
CN106419819A (zh) * 2016-11-23 2017-02-22 中国人民解放军第二军医大学 一种经尿道的可弯曲手动膀胱镜
CN115996687A (zh) * 2020-09-09 2023-04-21 瑞德医疗机器股份有限公司 运算装置

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KR101332250B1 (ko) * 2011-04-21 2013-11-26 주식회사 액츠비전 내시경
KR101311232B1 (ko) 2012-04-25 2013-09-27 한양대학교 에리카산학협력단 굴곡형 엔드이펙터
WO2014061842A1 (fr) * 2012-10-19 2014-04-24 주식회사 액츠비전 Endoscope
KR101506932B1 (ko) 2013-07-29 2015-04-07 한국과학기술연구원 방향전환이 가능한 엔드 이펙터를 구비하는 튜브 삽입장치
KR101670242B1 (ko) 2015-01-15 2016-10-28 주식회사 옵티메드 공압 조향 내시경
KR101993256B1 (ko) 2017-07-26 2019-06-26 (재)예수병원유지재단 복강경 수술용 텔레스코프의 각도 조절장치

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US5243967A (en) * 1991-03-26 1993-09-14 Olympus Optical Co., Ltd. Endoscope system providing mutual operative communication between the drive control means and the video signal control means
FR2732225A1 (fr) * 1995-03-27 1996-10-04 Mazars Paul Catheter a deformation pilotee

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JPH11332823A (ja) 1998-05-22 1999-12-07 Suzuki Motor Corp 検査用挿入管の屈曲装置

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
US5243967A (en) * 1991-03-26 1993-09-14 Olympus Optical Co., Ltd. Endoscope system providing mutual operative communication between the drive control means and the video signal control means
FR2732225A1 (fr) * 1995-03-27 1996-10-04 Mazars Paul Catheter a deformation pilotee

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103619230A (zh) * 2011-06-16 2014-03-05 奥林巴斯医疗株式会社 内窥镜
CN103263242A (zh) * 2013-06-03 2013-08-28 深圳市开立科技有限公司 一种弯曲部控制机构及其设备
CN103263242B (zh) * 2013-06-03 2015-09-23 深圳开立生物医疗科技股份有限公司 一种弯曲部控制机构及其内窥镜设备
CN106419819A (zh) * 2016-11-23 2017-02-22 中国人民解放军第二军医大学 一种经尿道的可弯曲手动膀胱镜
CN106419819B (zh) * 2016-11-23 2017-12-08 中国人民解放军第二军医大学 一种经尿道的可弯曲手动膀胱镜
CN115996687A (zh) * 2020-09-09 2023-04-21 瑞德医疗机器股份有限公司 运算装置

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KR20100081149A (ko) 2010-07-14

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