WO2019155795A1 - Endoscope - Google Patents

Endoscope Download PDF

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Publication number
WO2019155795A1
WO2019155795A1 PCT/JP2019/000018 JP2019000018W WO2019155795A1 WO 2019155795 A1 WO2019155795 A1 WO 2019155795A1 JP 2019000018 W JP2019000018 W JP 2019000018W WO 2019155795 A1 WO2019155795 A1 WO 2019155795A1
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WO
WIPO (PCT)
Prior art keywords
movable member
wire
shaft portion
shaft
hole
Prior art date
Application number
PCT/JP2019/000018
Other languages
English (en)
Japanese (ja)
Inventor
原田　高志
Original Assignee
富士フイルム株式会社
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 富士フイルム株式会社 filed Critical 富士フイルム株式会社
Priority to CN201980007136.6A priority Critical patent/CN111542252B/zh
Priority to JP2019570334A priority patent/JP6865862B2/ja
Publication of WO2019155795A1 publication Critical patent/WO2019155795A1/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
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes

Definitions

  • the present invention relates to an endoscope, and more particularly, to an endoscope provided with a treatment instrument stand that changes the direction in which a treatment instrument is led out at the distal end of an insertion portion.
  • various treatment instruments are introduced from a treatment instrument introduction port provided in a hand operation section (hereinafter referred to as “operation section”), and the treatment instrument is opened to the distal end member of the insertion section.
  • operation section a treatment instrument introduction port provided in a hand operation section
  • a treatment tool such as forceps or a contrast tube is used in a duodenoscope
  • a treatment tool such as a puncture needle is used in an ultrasonic endoscope.
  • Such a treatment tool needs to change the derivation direction of the treatment tool derived from the treatment instrument outlet in order to treat a desired position in the subject.
  • a treatment instrument stand hereinafter referred to as “stand stand” is provided on the distal end member, and a treatment instrument stand for changing the posture of the stand between the standing position and the lying position is provided on the operation unit.
  • a mechanism is provided.
  • a wire pulling type mechanism is known in which the tip of a wire (also referred to as a forceps raising wire) is directly attached to a stand (see Patent Document 1).
  • This mechanism connects the proximal end side of the wire to a standing operation lever (also referred to as a forceps raising lever) provided in the operation unit, and rotates the stand by pushing and pulling the wire with the standing operation lever. It is rotated around an axis to change its posture between the standing position and the lying position.
  • the operation part of the cited document 1 is provided with a grip part for holding the operation part by hand and an angle knob.
  • the wire opening is provided below the grip portion, and the drive shaft opening is provided in the grip portion.
  • the base end of the wire is led out from the wire opening, and from the drive shaft opening,
  • the tip of the drive shaft moved by the forceps raising lever is derived.
  • the distal end of the drive shaft and the proximal end of the wire are detachably coupled to the connection tool, and a protective cover that covers the connection tool is detachably provided on the operation unit.
  • Patent Document 2 discloses an endoscope in which a base end of a cable cord is led out from a base end of a control handle and a collet is connected to the base end of the cable cord. The collet is fastened to the nut and is moved in the front-rear direction by the operation lever.
  • the endoscope of Patent Document 1 has a configuration in which a connecting tool that connects the drive shaft, which is an upright operation mechanism, and the proximal end of the wire is housed in a narrow interior of the operation unit. There has been a problem that the operation of attaching and detaching the base end of this is complicated.
  • the endoscope disclosed in Patent Document 1 has a problem that the operation unit is enlarged by the amount that the connection tool is accommodated in the operation unit.
  • the present invention has been made in view of such circumstances, and provides an endoscope capable of improving the cleanability of the endoscope while easily performing the attaching / detaching operation of the proximal end of the wire with respect to the standing operation mechanism. For the purpose.
  • an endoscope of the present invention is provided with an operation portion provided with an operation member, an insertion portion provided on the distal end side of the operation portion, and a distal end portion of the insertion portion.
  • the treatment instrument stand, a movable member exposed outside the operation unit and operating in conjunction with the operation of the operation member, and an exposure member arranged outside the operation unit to rotatably support the movable member on the operation unit.
  • a first shaft portion and a first bearing portion provided on one end side of the movable member, wherein a bottomed recess is formed on an inner surface facing the operation portion, and the first shaft portion is accommodated in the recess.
  • a first bearing portion covering the first shaft portion, a seal member disposed between the outer peripheral surface of the first shaft portion and the inner peripheral surface of the concave portion of the first bearing portion, and the distal end side Connected to the treatment instrument stand, the proximal end side is connected to the movable member, and the treatment instrument is raised by being pushed and pulled according to the movement of the movable member.
  • Standing operation wire for operating the platform provided at the base end of the rising operation wire, comprising a mounting member engaged detachably to the movable member.
  • the first shaft portion is preferably a shaft portion that transmits the operation of the operation portion to the movable member.
  • One aspect of the present invention is a second bearing portion provided on the other end side of the movable member, and has a through hole from an inner surface facing the operation portion to an outer surface opposite to the inner surface.
  • an engagement hole is provided in one of the movable member and the attachment member, and an engagement portion that is detachably engaged with the engagement hole is provided in the other.
  • the engaging portion is preferably provided with an elastically deforming portion that is elastically deformed and engaged with the engaging hole.
  • the elastically deforming portion is formed with a pair of elastically deformable claws that are engaged with the edge of the engaging hole, and engages or disengages the engaging hole and the engaging portion. In doing so, it is preferable to displace the pair of claw portions in a direction to approach each other by elastic deformation.
  • the engaging portion has a cylindrical portion that is inserted into the engaging hole, and the elastically deforming portion is configured by a slit portion provided at a tip portion of the cylindrical portion. It is preferable that the slit portion is configured to be able to be reduced in diameter by elastic deformation when the distal end portion of the portion is inserted into the engagement hole.
  • the engagement hole has a narrow portion having a first width and a wide portion having a second width larger than the first width, and the engagement portion has a first width or less. It is preferable to have a shaft portion having an outer diameter and a diameter-increased portion provided at the tip of the shaft portion and having an outer diameter larger than the first width and smaller than the second width.
  • the engagement hole has a narrow portion having a first width and a wide portion having a second width larger than the first width, and the engagement portion has a first width or less.
  • the enlarged diameter portion is inserted into the wide portion, the enlarged diameter portion is preferably configured to be elastically deformable by a plurality of slits so that the diameter can be reduced.
  • the engagement hole provides friction resistance to the shaft portion by contacting the outer peripheral surface of the shaft portion when the shaft portion is moved between the narrow portion and the wide portion. It is preferable to have a part.
  • a cylindrical body extending in a direction perpendicular to the axial direction of the standing operation wire is provided on one of the movable member and the mounting member, and the other is rotatable on the outer periphery of the cylindrical body. It is preferable that an annular body to be engaged is provided and a rotation restricting stopper for restricting relative rotation between the cylindrical body and the annular body is provided.
  • the attachment member includes a shaft portion extending in a direction perpendicular to the axial direction of the standing operation wire, a connecting portion extending in a direction perpendicular to the longitudinal axis of the shaft portion, A locking portion provided on the opposite side of the shaft portion is provided, and the movable member has a mounting hole into which the shaft portion is inserted, and a longitudinal axis of the shaft portion with the shaft portion being inserted into the mounting hole. It is preferable that a locking groove portion that locks the locking portion when the shaft portion is rotated is provided.
  • the connecting portion includes a wire groove portion along the extending direction of the connecting portion, the wire groove portion accommodating the standing operation wire when the locking portion is locked to the locking groove portion. It is preferable to be provided.
  • the attachment member includes a pair of claw portions, a biasing member that biases the pair of claw portions in a direction to approach each other, and a pair of claw portions against the biasing force of the biasing member. It is preferable that a knob for moving in a direction away from each other is provided, and the movable member is provided with a pair of mounting holes in which the pair of claws are mounted by the biasing force of the biasing member.
  • a fixed shaft portion is provided in one of the movable member and the attachment member, and a fixed hole into which the fixed shaft portion is fitted is provided in the other, and the movable member and the attachment member It is preferable that either one is provided with a retaining hole, and the other is provided with a retaining part fitted to the retaining hole.
  • the mounting member includes a shaft portion extending in the axial direction of the standing operation wire, a small diameter portion formed at a central portion in the longitudinal axis direction of the shaft portion, and one end portion of the shaft portion.
  • a first locking portion provided on the shaft and a second locking portion provided on the other end of the shaft portion, and the movable member includes a fixed groove for receiving the shaft portion, and a shaft in the fixed groove.
  • a retaining portion that is in contact with the first locking portion and the second locking portion when the portion is received and restricts movement of the shaft portion in the longitudinal axis direction; It is preferable that a convex pressing portion that is brought into contact with the central portion of the shaft portion when the portion is accommodated is provided.
  • the retaining portion includes a pair of retaining pieces arranged with a gap along the longitudinal direction of the shaft portion, and a biasing member that biases the pair of retaining pieces in a direction approaching each other.
  • the shaft portion is preferably accommodated in the fixing groove against the urging force of the urging member from the gap between the pair of retaining pieces.
  • an endoscope capable of improving the cleaning performance of the endoscope while easily performing the attaching / detaching operation of the proximal end of the wire with respect to the standing operation mechanism.
  • tip member in which the stand is located in the standing position Enlarged perspective view of the stand Cross-sectional view of the main part showing the mounting structure of the stand for the tip member
  • the perspective view which illustrated the other side surface which opposes one side surface of the operation part shown in FIG. Enlarged perspective view in which the engaging portion is accommodated in the accommodating portion via the engaging guide portion Operation explanatory view in which the engaging portion is guided to the engaging guiding portion and is accommodated in the accommodating portion.
  • FIG. 1 An enlarged perspective view of the movable member attached to the operation unit as seen from one side.
  • FIG. 1 An enlarged perspective view of the movable member attached to the operation unit as seen from the other direction side Sectional view of the operation section along line 13-13 in FIG. Sectional drawing which showed the state before attaching a movable member to an operation part Sectional drawing which showed the state just before accommodating a sleeve in the recessed part of a 1st bearing part Sectional drawing which showed the state which accommodated the sleeve in the recessed part of a 1st bearing part Sectional drawing which showed the state which has arrange
  • the perspective view of the attachment structure of 1st Embodiment The perspective view which looked at the attachment structure shown in FIG.
  • the top view which showed the size of the engaging part to the engaging hole Assembly perspective view of mounting structure of third embodiment A plan view of the engagement hole showing the size of the engagement portion with respect to the engagement hole
  • the perspective view of the attachment structure of 5th Embodiment 36 is an assembled perspective view of the mounting structure shown in FIG. 36 is an assembled perspective view of the mounting structure shown in FIG.
  • the perspective view of the attachment structure of 7th Embodiment 41 is an assembled perspective view of the mounting structure shown in FIG. 41 is an assembled perspective view of the mounting structure shown in FIG.
  • the perspective view of the attachment structure of 8th Embodiment 44 is an assembled perspective view of the mounting structure shown in FIG. Sectional drawing which showed the principal part structure of the attachment structure shown in FIG. An explanatory view showing a state in which the shaft portion is broken by the pressing portion.
  • FIG. 1 is a configuration diagram of an endoscope system 12 including an endoscope 10 according to an embodiment of the present invention.
  • the endoscope system 12 includes an endoscope 10, a processor device 14, a light source device 16, and a display 18.
  • FIG. 1 also shows a treatment instrument 56 used in the endoscope system 12.
  • the endoscope 10 includes an operation unit 22 that includes an upright operation lever 20 that is an operation member, and an insertion unit 24 that is provided on the distal end side of the operation unit 22.
  • FIG. 2 is a perspective view of the tip member 28 in which the upright stand 30 is located in the lying position
  • FIG. 3 is a perspective view of the tip member 28 in which the stand 30 is located in the upright position.
  • the Z (+) direction in FIGS. 1 to 3 is referred to as the upward direction, and the Z ( ⁇ ) direction is referred to as the downward direction.
  • the X (+) direction is referred to as the right direction, and the X ( ⁇ ) direction is referred to as the left direction.
  • the Y (+) direction is referred to as the distal end side direction, and the Y ( ⁇ ) direction is referred to as the proximal end side direction.
  • the operation unit 22 is extended toward the distal end side from the operation unit main body 32 provided with the standing operation lever 20, the gripping part 34 connected to the operation part main body 32, and the gripping part 34.
  • the proximal end portion of the insertion portion 24 is connected to the distal end side of the extended portion 36 via a bend preventing tube 38.
  • the grasping portion 34 is a portion that the operator grasps when operating the endoscope 10.
  • the extending portion 36 extends from the distal end portion of the gripping portion 34 toward the distal end side in order to provide the movable member 96 (see FIG. 6) connected to the standing operation mechanism 120 (FIGS. 9 and 10).
  • This is a portion of the non-gripping region.
  • the region A from the distal end portion 44A of the convex mount portion 44 of the treatment instrument introduction port 42 provided in the grasping portion 34 to the proximal end portion 38A of the folding stop tube 38 corresponds to the extending portion 36.
  • An annular flange 40 is provided in the region A of the extended portion 36.
  • a universal cord 46 is provided in the operation unit main body 32 of the operation unit 22.
  • a light source connector 50 is provided on the distal end side of the universal cord 46, and the light source connector 50 is connected to the light source device 16.
  • an electrical connector 48 is branched from the light source connector 50, and the electrical connector 48 is connected to the processor device 14.
  • the insertion portion 24 is configured by connecting a distal end portion 26, a bending portion 52, and a flexible portion 54 from the distal end side toward the proximal end side.
  • the following contents are provided inside the insertion portion 24. That is, an operation for changing the leading end portion 56A of the treatment instrument 56 shown in FIG. 1 to the distal end member 28 shown in FIG.
  • a standing operation wire 60 (hereinafter referred to as a wire 60) for performing, a standing operation wire channel 62 (hereinafter referred to as a wire channel 62) for guiding the tip of the wire 60 to the tip member 28, and the light source device of FIG.
  • a light guide (not shown) for guiding the illumination light supplied from 16 to the tip member 28 in FIG. 2, an air / water supply tube (not shown), an angle wire (not shown), a signal cable (not shown), etc.
  • the contents are provided.
  • the operation unit 22 is configured in a substantially cylindrical shape as a whole, and has a cylindrical axis B along the Y (+)-Y ( ⁇ ) direction.
  • a pair of angle knobs 64 and 64 for bending the bending portion 52 are disposed on the side surface 22A on one side with a vertical section including the cylindrical axis B of the operation portion 22 as a boundary.
  • the pair of angle knobs 64, 64 are provided so as to be rotatable on the same axis.
  • the bending portion 52 has a structure in which a plurality of angle rings (not shown) are connected to each other so as to be rotatable.
  • the bending portion 52 is configured by covering the outer periphery of the structure with a cylindrical net knitted with a metal wire and covering the outer peripheral surface of the net with a rubber cylindrical outer skin.
  • four angle wires are arranged from the bending portion 52 configured as described above to the angle knobs 64 and 64. By rotating the angle knobs 64 and 64, these angle wires are connected to each other.
  • the bending portion 52 is bent vertically and horizontally by pushing and pulling.
  • the soft part 54 has a spiral tube (not shown) formed by spirally winding a thin metal strip having elasticity.
  • the flexible portion 54 is configured by covering the outer surface of the spiral tube with a cylindrical mesh knitted with a metal wire, and covering the outer peripheral surface of the mesh with a cylindrical outer skin made of resin.
  • the air / water supply button 66 and the suction button 68 are arranged in the operation unit main body 32 side by side.
  • air and water can be ejected from the air / water supply nozzle 70 provided in the tip member 28 of FIG.
  • the suction button 68 of FIG. 1 it is possible to suck body fluid such as blood from the suction port that also serves as the treatment instrument outlet port 72 provided in the distal end member 28 of FIG.
  • a treatment instrument introduction port 42 for introducing a treatment instrument 56 is provided in the grasping section 34 of the operation section 22 of FIG.
  • the treatment instrument 56 introduced from the treatment instrument introduction port 42 with the distal end portion 56 ⁇ / b> A at the head is inserted into the treatment instrument channel 58 of FIG. 2 inserted through the insertion section 24, and the treatment instrument guide provided on the distal end member 28 is introduced. It is led out from the outlet 72.
  • the standing operation lever 20 is rotated by an operator's hand holding the holding part 34.
  • the wire 60 shown in FIG. 2 is pushed and pulled by the standing operation mechanism 120 (see FIGS. 9 and 10) that operates in conjunction with the rotation operation of the standing operation lever 20.
  • the posture of the stand 30 connected to the front end side of 60 is changed between the standing position of FIG. 3 and the lying position of FIG.
  • the above-described standing operation mechanism 120 will be described later.
  • the endoscope 10 of the embodiment configured as described above is a side endoscope used as a duodenoscope, and the insertion portion 24 is inserted into the subject through the oral cavity.
  • the insertion unit 24 is inserted from the esophagus through the stomach to the duodenum, and a predetermined examination or treatment is performed.
  • a biopsy forceps having a cup capable of collecting a biological tissue at the distal end portion 56A is exemplified as the treatment instrument 56, but is not limited thereto.
  • a treatment instrument such as a contrast tube or a knife for EST (Endoscopic Sphincterotomy) is used as another treatment instrument.
  • the distal end portion 26 includes a distal end member 28 and a cap member 76 that is detachably attached to the distal end member 28.
  • the cap member 76 is configured in a substantially cylindrical shape whose front end is sealed, and a substantially rectangular opening window 76A is formed on a part of the outer peripheral surface thereof.
  • the opening window 76 ⁇ / b> A of the cap member 76 is communicated with the treatment instrument outlet 72 of the distal end member 28.
  • the distal end portion 56A of the treatment instrument 56 led out from the treatment instrument lead-out port 72 is led out from the opening window 76A.
  • the cap member 76 is made of an elastic material, for example, a rubber material such as fluorine rubber or silicon rubber, or a resin material such as polysulfone or polycarbonate, and is formed on the distal end member 28 on the base end side thereof.
  • An engaging portion (not shown) that engages with a groove (not shown) is provided, and the engaging portion is attached to the tip member 28 by engaging with the groove of the tip member 28. Further, when the treatment of the endoscope 10 is completed, the cap member 76 is removed from the distal end member 28 and cleaned or disinfected, or is discarded as a disposable.
  • the tip member 28 is made of a metal material having corrosion resistance.
  • the tip member 28 is integrally provided with a partition wall 78 projecting toward the tip side and a partition wall 80 facing the partition wall 78. Between the partition wall 78 and the partition wall 80, a stand support chamber 82 for storing the stand 30 is formed.
  • a treatment instrument outlet 72 for leading the treatment instrument 56 to the outside is formed on the proximal end side of the upright storage chamber 82, and the distal end portion of the treatment instrument channel 58 is connected to the treatment instrument outlet 72.
  • the treatment instrument channel 58 is inserted into the insertion portion 24 of FIG.
  • the proximal end portion of the treatment instrument channel 58 is connected to the distal end tube 202 of the branch tube 200 (see FIG. 10) provided inside the operation unit 22.
  • This branch pipe 200 has a well-known structure, and a base end portion is branched into two pipe lines 204 and 206, and a treatment instrument introduction port 42 is formed at the base end of one pipe line 204. Therefore, the distal end portion 56A of the treatment instrument 56 introduced from the treatment instrument introduction port 42 into the treatment instrument channel 58 via the conduit 204 is inserted into the treatment instrument channel 58 and stands up from the treatment instrument outlet 72 of FIG. It is led out to the table accommodation room 82.
  • the leading end portion 56 ⁇ / b> A of the treatment instrument 56 led out to the upright stand accommodating chamber 82 is changed in the lead-out direction according to the posture between the standing position and the lying down position of the stand 30 arranged in the upright stand accommodating chamber 82. Is done.
  • the distal end of a suction pipe 208 that sucks body fluid such as blood is connected to the proximal end of the other pipe line 206 of the branch pipe 200 shown in FIG.
  • FIG. 4 is an enlarged perspective view of the stand 30.
  • a guide surface 30 ⁇ / b> A is provided on the upper surface of the stand 30.
  • the distal end portion 56A of the treatment instrument 56 of FIG. 1 is led out from the opening window 76A of the cap member 76 of FIG.
  • the stand 30 is provided with rotating shaft portions 84 and 86 on both side surfaces of the base portion 30 ⁇ / b> B.
  • the axial directions of the rotary shaft portions 84 and 86 are set in the X (+) ⁇ X ( ⁇ ) direction of FIG. 2 when the upright base 30 is attached to the tip member 28.
  • FIG. 5 is a cross-sectional view of the main part showing the mounting structure of the stand 30 with respect to the tip member 28.
  • the shafts of the pivot shafts 84 and 86 are coaxially arranged via the base 30 ⁇ / b> B of the upright 30, and the pivot shaft 84 can pivot on the concave bearing portion 78 ⁇ / b> A of the partition wall 78.
  • the rotation shaft portion 86 is fitted to the concave bearing portion 80A of the partition wall 80 so as to be rotatable. Further, the rotation shaft portions 84 and 86 are attached to the bearing portions 78A and 80A with a predetermined backlash amount x in the axial direction of the rotation shaft portions 84 and 86, respectively.
  • an optical system accommodation chamber 88 is provided inside the partition wall 78.
  • An illumination window 90 and an observation window 92 are disposed adjacent to each other above the optical system accommodation chamber 88, and an air / water supply nozzle 70 directed toward the observation window 92 is provided on the tip member 28.
  • the air / water supply nozzle 70 is connected to an air / water supply device (not shown) via an air / water supply tube (not shown) inserted through the insertion portion 24, and the air / water supply button 66 of the operation portion 22 shown in FIG. Is operated, air or water is jetted from the air / water feeding nozzle 70 toward the observation window 92. Thereby, the observation window 92 is cleaned.
  • the illumination unit includes an illumination lens (not shown) installed inside the illumination window 90, and a light guide (not shown) arranged so that the front end face the illumination lens.
  • the light guide is disposed on the universal cord 46 from the insertion portion 24 of the endoscope 10 via the operation portion 22, and the base end thereof is connected to the light source device 16 via the light source connector 50. Thereby, the irradiation light from the light source device 16 is transmitted through the light guide and is irradiated to the outside from the illumination window 90.
  • the above-described imaging unit includes an imaging optical system (not shown) disposed inside the observation window 92 and a CMOS (complementary metal oxide semiconductor) type or CCD (charge coupled device) type imaging device (not shown). ing.
  • the imaging device is connected to the processor device 14 via a signal cable (not shown) inserted through the insertion unit 24 in FIG.
  • the imaging signal of the subject image obtained by the photographing unit is output to the processor device 14 via the signal cable and subjected to image processing, and then displayed on the display 18 as the subject image.
  • the wire 60 will be described. As shown in FIGS. 2 and 3, the wire 60 is connected to the stand 30 with the tip of the wire 60 being disposed outside the outlet 74. Further, the proximal end of the wire 60 is disposed outside the introduction port 94 provided in the operation unit 22 as shown in FIG.
  • FIG. 6 is a perspective view of the operation unit 22, and is a perspective view illustrating the other side surface 22B of the operation unit 22 shown in FIG. 1 opposite to the one side surface 22A.
  • the introduction port 94 is provided in the extending part 36 of the operation part 22.
  • An attachment member 98 is provided at the proximal end of the wire 60 disposed outside the introduction port 94, and this attachment member 98 is detachably attached to an engagement hole (described later) of the movable member 96. .
  • a movable member 96 is provided in the operation unit 22.
  • the movable member 96 is disposed so as to be exposed to the outside of the operation unit 22 and operates in conjunction with the operation of the standing operation lever 20 by the standing operation mechanism 120 (see FIGS. 9 and 10).
  • the movable member 96 is rotatably disposed on the other side surface 22B opposite to the one side surface 22A on which the angle knobs 64, 64 are provided.
  • the arrangement position is not limited, and it is sufficient that the operation unit 22 is rotatably arranged at a predetermined position.
  • the movable member 96 is a driven lever that rotates in conjunction with the rotation operation of the standing operation lever 20.
  • the standing operation mechanism 120 is a mechanism that is disposed inside the operation unit 22 and operates the movable member 96 in conjunction with the operation of the standing operation lever 20. Therefore, when the standing operation lever 20 is operated, the movable member 96 operates through the standing operation mechanism 120, and the wire 60 (see FIG. 2) connected to the movable member 96 is pushed and pulled.
  • the wire 60 is provided with an engaging member 100 at the tip.
  • the stand 30 is provided with a receiving groove 102 that is detachably engaged with the engaging member 100 and has an opening 104 formed on the X (+) direction side.
  • the engagement member 100 provided at the distal end of the wire 60 is accommodated in the accommodation groove 102 through the opening 104, so that the distal end of the wire 60 is coupled to the upright 30.
  • the engagement member 100 is a sphere
  • the accommodation groove 102 is a spherical recess that accommodates the sphere engagement member 100.
  • the shapes of the engaging member 100 and the receiving groove 102 are not limited to the above shapes, the wire 60 can be pushed and pulled by making the engaging member 100 a sphere and the receiving groove 102 a spherical recess. The sliding resistance between the engaging member 100 and the accommodation groove 102 generated by the operation can be reduced. Therefore, the push / pull operation of the wire 60 can be performed smoothly.
  • the distal end member 28 is provided with an engaging guiding portion 106 that is connected to the receiving groove 102 in the standing position of FIG.
  • the engagement guide portion 106 has a function of guiding the engagement member 100 led out from the lead-out port 74 to the opening 104 of the housing groove 102.
  • the lead-out port 74 is provided in the distal end member 28 and communicates with the introduction port 94 (see FIG. 6) via a wire channel 62 provided in the insertion portion 24.
  • the engagement member 100 is connected to the wire channel 62 (FIG. 2). And is led out from the outlet 74 to the outside. Then, the engaging member 100 is guided toward the opening 104 of the receiving groove 102 of the stand 30 by the engaging guiding portion 106 by the continuous introduction operation of the wire 60, and is engaged with the receiving groove 102 from the opening 104. Is done.
  • the engaging member 100 of the wire 60 can be engaged with the receiving groove 102 of the stand 30 only by the introduction operation of the wire 60.
  • FIG. 7 is an enlarged perspective view in which the engaging member 100 is engaged with the receiving groove 102 via the engaging guiding portion 106.
  • FIG. 8 is an explanatory view continuously showing the operation until the engaging member 100 is guided by the engaging guiding portion 106 and engaged with the receiving groove 102.
  • the engaging guiding portion 106 includes an engaging guiding path 108 that guides the engaging member 100 led out from the outlet 74 to the opening 104 of the housing groove 102, and an inside of the engaging guiding path 108. And a deformation generating portion 110 connected to the opening 104 of the receiving groove 102.
  • the deformation generation unit 110 contacts the engagement member 100 that advances in the Y (+) direction toward the opening 104 in the engagement guide path 108, and guides the engagement member 100 in the Y (+) direction X ( Guide in the + direction.
  • the tip of the wire 60 is elastically deformed in a direction (X (+) direction) gradually moving away from the opening 104 as the engaging member 100 approaches the opening 104 along the engaging guide path 108.
  • X (+) direction a direction gradually moving away from the opening 104 as the engaging member 100 approaches the opening 104 along the engaging guide path 108.
  • the engaging guide path 108 is formed by cutting out a part of the peripheral surface 28A of the tip member 28 into a concave shape, and gradually inclines in the X (+) direction from the outlet 74 toward the Y (+) direction. Surface.
  • a deformation generating part 110 is formed on the distal end side of the engaging guide path 108.
  • the engaging guide portion 106 is formed with a groove 112 that allows the distal end side of the wire 60 to be immersed and escaped when the engaging member 100 is engaged with the receiving groove 102.
  • a groove 114 is formed on the proximal end side of the receiving groove 102 of the stand 30 so that when the engaging member 100 is engaged with the receiving groove 102, the distal end side of the wire 60 is immersed and released.
  • the width dimension of the groove 112 in the direction orthogonal to the paper surface of FIG. 8 is larger than the diameter of the wire 60, and the engagement member 100 so that the engagement member 100 passing through the deformation generating portion 110 does not enter the groove 112. Smaller than the diameter.
  • the width dimension of the groove 114 in the direction orthogonal to the paper surface of FIG. 8 is larger than the diameter of the wire 60 and the engaging member 100 engaged with the receiving groove 102 does not come out in the Y ( ⁇ ) direction.
  • the diameter of the engaging member 100 is smaller.
  • the engaging guide portion 106 is a form suitable for engaging the engaging member 100 with the receiving groove 102 in a state where the stand 30 is positioned at the standing position. That is, as shown in FIG. 7, the housing groove 102 is disposed at a position facing the outlet port 74 in a state where the stand 30 is located at the standing position. Therefore, by moving the engagement member 100 straight from the outlet 74, the engagement member 100 can be engaged with the receiving groove 102 of the stand 30 positioned at the standing position via the engagement guide portion 106.
  • the tip member 28 is provided with a detaching guide surface 116, and the detaching guide surface 116 is provided on the upper surface of the partition wall 80 (see FIG. 2).
  • the separation guide surface 116 is a guide surface (see FIGS. 2 and 3) inclined in the Z ( ⁇ ) direction toward the X (+) direction.
  • the separation guide surface 116 is removed from the inside of the receiving groove 102. It functions as a surface for guiding the wire 60 in the direction in which the engaging member 100 is detached from the opening 104.
  • the attachment member (described later) provided at the proximal end of the wire 60 is removed from the engagement hole (described later) of the movable member 96, and then the introduction port of the extending portion 36 is removed.
  • the wire 60 is pushed in from 94, and the stand 30 is positioned from the standing position in FIG. 3 to the lying position in FIG. Thereafter, when the wire 60 is further pushed in, the wire 60 is guided in the X (+) direction by which the engaging member 100 is detached from the inside of the accommodation groove 102 to the outside of the opening 104 by the guide surface 116 for removal of the tip member 28.
  • the engaging member 100 is easily detached from the housing groove 102 to the outside of the opening 104 by the restoring force of the wire 60.
  • FIG. 9 is a configuration diagram showing the overall configuration of the standing operation mechanism 120.
  • FIG. 10 is a side view of the standing operation mechanism 120 of FIG. 9 and 10, the exterior case (not shown) of the operation unit 22 is omitted, and the standing operation mechanism 120 disposed inside the operation unit 22 is illustrated.
  • the standing operation mechanism 120 functions as a power transmission mechanism that connects the standing operation lever 20 and the movable member 96 and transmits the rotation operation of the standing operation lever 20 to the movable member 96.
  • the standing operation mechanism 120 includes a first conversion mechanism 124 that converts the rotational motion of the standing operation lever 20 into a linear motion, a wire 126 that is linearly moved by the first conversion mechanism 124, and a linear motion of the wire 126 that is converted into a rotational motion. And a second conversion mechanism 128 that rotates the movable member 96.
  • the first conversion mechanism 124 includes a crank member 130 having a base end connected to the standing operation lever 20, a first slider 132 having a base end connected to the tip of the crank member 130, and a base end to the tip of the first slider 132. Are connected to each other.
  • the proximal end of the wire 126 is connected to the distal end of the second slider 134, and the distal end of the wire 126 is connected to the second conversion mechanism 128.
  • the crank member 130, the first slider 132, and the second slider 134 are moved along the cylindrical axis B in conjunction therewith. Move linearly. Thereby, the wire 126 moves linearly along the cylindrical axis B, and the linear motion is transmitted to the second conversion mechanism 128.
  • the second conversion mechanism 128 includes a lever 136, a first gear 138, a second gear 140, a third gear 142, and a fourth gear 144, and a reduction mechanism is configured by these gears.
  • the lever 136 is rotatably supported by the bracket 146 via a shaft portion 148, and the tip end of the wire 126 is connected. Therefore, the lever 136 is rotated around the shaft portion 148 by the linear motion of the wire 126.
  • the first gear 138 is provided integrally with the lever 136 and is rotated about the shaft portion 148.
  • the second gear 140 meshes with the first gear 138 and is rotatably supported by the bracket 146 via the shaft portion 150.
  • the third gear 142 is provided integrally with the second gear 140 and is provided coaxially with the second gear 140.
  • the fourth gear 144 is meshed with the third gear 142.
  • a rotation shaft 152 (see FIG. 13) is fixed to the fourth gear 144 coaxially with the fourth gear 144.
  • a proximal end side of the rotation shaft 152 is rotatably supported by the bracket 146, and a distal end side of the rotation shaft 152 is disposed outside the operation unit 22.
  • the rotating shaft 152 is provided coaxially with the disk-shaped rotating body 154, and the rotating body 154 is connected to the rotating shaft 152 and rotated together with the rotating shaft 152.
  • the rotating body 154 is rotatably supported by the opening 23 of the operation unit 22 via the O-ring 166.
  • the opening 23 is sealed by the O-ring 166, and the water tightness of the operation unit 22 is ensured.
  • a sleeve 156 is formed on the side surface of the rotating body 154.
  • the sleeve 156 is provided coaxially with the rotating body 154, and the first bearing portion 162 of the movable member 96 is connected to the outer peripheral surface of the sleeve 156 via an O-ring 158.
  • the above-described sleeve 156 corresponds to the first shaft portion of the present invention that rotatably supports the movable member 96 on the operation portion 22, and the O-ring 158 corresponds to the seal member of the present invention. To do. A connection structure between the first bearing portion 162 and the sleeve 156 will be described later.
  • the second conversion mechanism 128 (see FIGS. 9 and 10) configured as described above, when the linear motion of the wire 126 is transmitted to the lever 136, the first gear 138 is rotated together with the lever 136, The rotation operation of the first gear 138 is transmitted to the fourth gear 144 via the second gear 140 and the third gear 142, and the fourth gear 144 is rotated.
  • the rotating body 154 is rotated together with the rotating shaft 152 (see FIG. 13).
  • the movable member 96 connected to the sleeve 156 of the rotating body 154 via the O-ring 158 is rotated about the axis of the sleeve 155.
  • the rotation operation of the standing operation lever 20 is decelerated and transmitted to the movable member 96 by the second conversion mechanism 128 including the deceleration mechanism. That is, the rotation angle of the first bearing portion 162 of the movable member 96 is smaller than the rotation angle of the lever 136 that is operated by operating the standing operation lever 20. Thereby, the force required to operate the standing operation lever 20 can be further reduced, and the raising and lowering posture control of the standing table 30 by the standing operation lever 20 is facilitated.
  • the wire 126 is used as a component constituting the standing operation mechanism 120.
  • the use of the wire 126 has the following advantages. That is, when the linear motion of the second slider 134 is converted into the rotational motion of the lever 136, the wire 126 can move in a curvilinear manner (slack), so that it is not necessary to install a link mechanism, and space constraints are reduced.
  • slack curvilinear manner
  • the second slider 134 and the lever 136 are connected by a link mechanism, a force escape field is reduced in the standing operation mechanism 120.
  • the wire 126 is loosened, thereby releasing the force. Therefore, the load applied to the standing operation mechanism 120 can be reduced.
  • FIG. 11 is an enlarged perspective view of the movable member 96 attached to the operation unit 22 as viewed from one direction side, and is a perspective view specifically showing the first bearing portion 162 provided on one end side of the movable member 96. It is.
  • FIG. 12 is an enlarged perspective view of the movable member 96 attached to the operation unit 22 as seen from the other direction side, and particularly shows the second bearing portion 164 provided on the other end side of the movable member 96.
  • FIG. 13 is a cross-sectional view of the operation unit 22 taken along line 13-13 in FIG.
  • the movable member 96 is provided on the plate-shaped beam portion 160, the first bearing portion 162 provided on one end side of the beam portion 160, and the other end side of the beam portion 160.
  • the second bearing portion 164 is provided and is configured in a U shape as a whole.
  • the first bearing portion 162 is formed with a bottomed concave portion 163 on the inner side surface 162 ⁇ / b> A facing the operation portion 22.
  • the recess 163 has an opening on the side facing the operation unit 22, and the sleeve 156 is accommodated in the recess 163 through the opening. Thereby, the sleeve 156 is covered with the first bearing portion 162 without being exposed to the outside.
  • the O-ring 158 described above is disposed between the outer peripheral surface of the sleeve 156 and the inner peripheral surface of the recess 163. Thereby, the water tightness of the internal space of the recessed part 163 in which the sleeve 156 is arrange
  • positioned is ensured.
  • connection structure of such an embodiment for example, a through hole is formed in the first bearing portion 162, and the rotation shaft 152 and the first bearing portion 162 are connected to the through hole through the rotation shaft 152.
  • a connection structure that is connected by a screw (not shown)
  • the inner peripheral surface of the through hole and the screw are exposed to the outside. For this reason, it takes time to clean the inner peripheral surface of the through hole and the screw.
  • the connecting structure of the embodiment is a structure in which the rotating shaft 152, the sleeve 156, and the concave portion 163 are not exposed to the outside, the cleaning performance of the first bearing portion 162 can be improved.
  • the cleaning performance of the endoscope 10 can be improved as compared with the conventional endoscope.
  • the outer surface 162B of the first bearing portion 162 is preferably a smooth surface in order to improve the cleanability.
  • the second bearing portion 164 has a through hole 165 from the inner surface 164A facing the operation portion 22 toward the outer surface 164B opposite to the inner surface 164A.
  • a driven shaft 168 configured as a screw is inserted into the through hole 165, and the driven shaft 168 is fastened and fixed to a screw hole 21 formed in the operation unit 22. As a result, the second bearing portion 164 is pivotally supported on the operation portion 22 via the driven shaft 168.
  • a cap member 167 made of an elastic member such as rubber is attached to the opening on the outer surface 164 B side of the through hole 165, and the through hole 165 is closed by the cap member 167. . Even in such a connection structure, since the through-hole 165 and the driven shaft 168 are not exposed to the outside, the cleaning performance of the endoscope 10 is improved.
  • the driven shaft 168 corresponds to the second shaft portion of the present invention
  • the cap member 167 corresponds to the closing member of the present invention.
  • a cylindrical spacer 169 is inserted between the second bearing portion 164 and the operation portion 22, and the driven shaft 168 is inserted into the spacer 169 and fixed to the operation portion 22.
  • the shaft cores of the sleeve 156 on the first bearing portion 162 side and the driven shaft 168 on the second bearing portion 164 side are set coaxially.
  • FIG. 14 is a cross-sectional view of the operation unit 22 showing a state immediately before the movable member 96 is attached to the operation unit 22.
  • FIG. 14 shows that an O-ring 158 is attached to the outer peripheral surface of the sleeve 156.
  • FIG. 15 is a cross-sectional view of the operation portion 22 showing a state immediately before the sleeve 156 is accommodated in the concave portion 163 of the first bearing portion 162 of the movable member 96.
  • FIG. 15 shows that the inner side surface 164A of the second bearing portion 164 is brought into contact with the operation portion 22, and the opening of the concave portion 163 faces the sleeve 156 at that position. That is, it is shown that the inner side surface 164A of the second bearing portion 164 functions as a positioning surface for accommodating the sleeve 156 in the recess 163.
  • FIG. 16 is a cross-sectional view of the operation portion 22 showing a state in which the sleeve 156 is accommodated in the concave portion 163 of the first bearing portion 162. That is, the sleeve 156 can be accommodated in the recess 163 only by pushing the first bearing portion 162 shown in FIG. 15 toward the sleeve 156. This completes the attachment work for attaching the first bearing portion 162 to the operation portion 22 side. In the state of FIG. 16, the water tightness of the recess 163 is ensured by the O-ring 158. Further, the inner surface 164 ⁇ / b> A of the second bearing portion 164 is separated from the operation portion 22 because the first bearing portion 162 is pushed toward the sleeve 156.
  • FIG. 17 is a cross-sectional view of the operation portion 22 showing a state in which the spacer 169 is disposed in the gap between the inner surface 164A of the second bearing portion 164 and the operation portion 22.
  • the driven shaft 168 is inserted into the through hole 165 of the second bearing portion 164 as shown in FIG. Thereafter, the driven shaft 168 is fastened to the screw hole 21 of the operation unit 22, and then the through hole 165 is closed by the cap member 167.
  • the attaching operation for attaching the second bearing portion 164 to the operation portion 22 is completed, and the attaching operation for attaching the movable member 96 to the operation portion 22 is completed.
  • the movable member 96 attached to the operation unit 22 does not have a through hole for inserting a screw in the first bearing unit 162, and the second bearing unit 164 Has a through hole 165 for inserting the driven shaft 168, and the through hole 165 is sealed by a cap member 167. For this reason, the cleaning property of the movable member 96 is improved, and as a result, the cleaning property of the endoscope 10 is improved.
  • FIG. 18 is a perspective view of the mounting structure 170 viewed from the other side surface 22B of the operation unit 22.
  • FIG. 19 is a perspective view of the mounting structure 170 shown in FIG. 18 as viewed from the left side.
  • FIG. 20 is a perspective view of a wire assembly 172 including a wire 60 and an attachment member 98 provided at the proximal end of the wire 60.
  • FIG. 21 is a front view of the mounting member 98
  • FIG. 22 is a perspective view of the extending portion 36 having the introduction port 94 and the movable member 96.
  • the movable member 96 is provided with an engagement hole 174 into which the attachment member 98 (see FIG. 21) is detachably engaged.
  • the engagement hole 174 is formed along the longitudinal direction of the beam portion 160 of the movable member 96, and is configured by a through hole that penetrates the front and back surfaces of the beam portion 160.
  • a pair of engagement portions 176 and 176 (see FIG. 21) of the attachment member 98 are detachably engaged with the engagement holes 174.
  • the attachment member 98 shown in FIG. 21 is a substantially triangular plate-like body, and a hole 180 where the proximal end of the wire 60 is connected to the core 178 at the center is formed.
  • the pair of engaging portions 176 and 176 of the attachment member 98 are provided on both sides of the core portion 178 via slit-shaped notches 182.
  • the pair of engaging portions 176 and 176 are formed with elastic deformation portions 184 that are elastically deformed and engaged with the engagement holes 174, respectively.
  • the elastic deformation portions 184 and 184 are respectively formed with claw portions 186 that are engaged with the edge portions 175 and 175 (see FIG. 22) on both sides of the engagement hole 174 in the longitudinal direction.
  • FIG. 23 shows a diagram in which the wire 60 is inserted from the introduction port 94 with the engaging member 100 (see FIG. 20) at the head.
  • FIG. 24 shows the posture of the attachment member 98 in a state where the tip of the wire 60 is connected to the upright 30.
  • the taper portions 187 and 187 of the lower portions of the claw portions 186 and 186 are brought into contact with the edge portions 175 and 175 (see FIG. 23) on both sides of the engagement hole 174 to engage the attachment member 98.
  • Push into the hole 174 By this pushing operation, the interval between the claw portions 186 and 186 is narrowed, and the claw portions 186 and 186 are locked to the edge portions 175 and 175 on both sides of the engagement hole 174.
  • the attachment member 98 is connected to the movable member 96 as shown in the connection diagram of FIG.
  • the base end of the wire 60 can be touched to the movable member 96 only by pushing the claws 186 and 186 of the attachment member 98 into the engagement holes 174 of the movable member 96. Can be attached.
  • the movable member 96 is moved in the arrow C direction or the arrow D direction as shown in FIG. Then, in conjunction with the operation of the movable member 96, the wire 60 is pushed and pulled by the movable member 96 via the attachment member 98. Thereby, the stand 30 is rotated between the standing position and the lying position.
  • the endoscope 10 is used for various examinations or treatments. Thereafter, when the endoscope 10 is cleaned, the following operation is performed.
  • the cap member 76 shown in FIG. the engaging portions 176 and 176 of the mounting member 98 are picked with fingers, the interval between the claw portions 186 and 186 is narrowed to be smaller than the longitudinal dimension of the engaging hole 174, and then the engaging hole The claw portions 186 and 186 are pulled out from 174.
  • the base end of the wire 60 can be detached from the movable member 96 only by pulling out the claw portions 186 and 186 from the engagement holes 174.
  • the wire 60 is pushed in from the introduction port 94 of the extending portion 36, so that the stand 30 is positioned from the standing position in FIG. 3 to the lying position in FIG. Thereafter, the wire 60 is further pushed in so that the engaging member 100 is detached from the housing groove 102 to the outside of the opening 104. With this operation, the tip of the wire 60 can be removed from the upright 30. Next, the wire 60 is pulled out from the introduction port 94 to empty the wire channel 62. Thereafter, the tip member 28, the upright stand 30, and the wire channel 62 are cleaned.
  • the operation of the wire 60 can be performed only by pushing the claws 186 and 186 of the attachment member 98 into the engagement holes 174 of the movable member 96 outside the operation portion 22.
  • the proximal end can be attached to the movable member 96.
  • the base end of the wire 60 can be removed from the movable member 96 only by pulling the engagement portions 176 and 176 of the attachment member 98 from the engagement hole 174 of the movable member 96 outside the operation portion 22.
  • the detachment operation of the proximal end of the wire 60 with respect to the standing operation mechanism 120 can be easily performed as compared with the conventional endoscope. Can do.
  • the endoscope 10 of the embodiment has improved cleaning properties of the endoscope 10 due to the mounting structure of the movable member 96 to the operation unit 22.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • the engagement hole 174 is formed in the movable member 96 and the engagement portion 176 is formed in the attachment member 98.
  • the engagement portion 176 is formed in the movable member 96 and attached.
  • An engagement hole 174 may be formed in the member 98. That is, an engagement hole 174 may be provided in one of the movable member 96 and the attachment member 98, and an engagement portion 176 that is detachably engaged with the engagement hole 174 may be provided on the other.
  • the claw portion 186 may be provided not on the longitudinal direction side of the beam portion 160 of the movable member 96 but on the lateral direction side.
  • the engagement holes 174 may be two engagement holes formed to be separated from each other in the longitudinal direction of the beam portion 160.
  • the engagement hole 174 may be a concave non-through hole that does not penetrate the front and back surfaces of the beam portion 160.
  • the wire 60 is pulled out from the introduction port 94 in order to empty the wire channel 62.
  • the present invention is not limited to this.
  • the wire 60 prior to pulling out the wire 60 from the wire channel 62, the wire 60 can be pulled out from the outlet 74 by removing the proximal end of the wire 60 from the attachment member 98.
  • FIG. 26 is a perspective view showing a mounting structure 170A, which is a modification of the mounting structure 170 shown in FIGS.
  • the engagement hole 174A formed in the movable member 96 is a circular through hole. Further, the engaging portion 176A of the mounting member 98A has a cylindrical portion 177 inserted into the engaging hole 174A.
  • the elastically deforming portion of the attachment member 98A is configured by a slit portion 184A provided at the tip of the cylindrical portion 177, and a claw portion 186A is formed on the outer peripheral surface of the slit portion 184A.
  • the slit portion 184A of the cylindrical portion 177 when the slit portion 184A of the cylindrical portion 177 is inserted into the engagement hole 174A, the slit portion 184A is reduced in diameter by elastic deformation. Thereby, when the slit part 184A passes through the engagement hole 174A and the slit part 184A passes through the engagement hole 174A, the slit part 184A returns to the original diameter. Accordingly, as shown in the sectional view of the mounting structure 170A shown in FIG. 27, the claw portion 186A of the slit portion 184A engages with the back surface 160A of the beam portion 160 of the movable member 96, so that the mounting member 98A is attached to the movable member 96. Connected.
  • the base end of the wire 60 can be attached to the movable member 96 only by inserting the engagement portion 176A into the engagement hole 174A.
  • the base end of the wire 60 is removed from the movable member 96 only by pulling the slit portion 184A from the engagement hole 174A after pinching the slit portion 184A with a finger to reduce the diameter of the slit portion 184A. Can do.
  • the base end of the wire 60 can be easily attached to and detached from the standing operation mechanism 120 (see FIGS. 9 and 10), similarly to the mounting structure 170 of the first embodiment.
  • the endoscope 10 of the embodiment having the mounting structure 170A it is possible to improve the cleanability of the endoscope 10 while easily performing the attaching / detaching operation of the proximal end of the wire 60 with respect to the standing operation mechanism 120. it can.
  • FIG. 28 is a perspective view of the mounting structure 210
  • FIG. 29 is an assembled perspective view of the mounting structure 210
  • FIG. 30 is a cross-sectional view of the main part of the mounting structure 210.
  • the mounting structure 210 includes a movable member 96 and a mounting member 212.
  • the beam portion 160 of the movable member 96 is provided with an engagement hole 214
  • the attachment member 212 is provided with an engagement portion 216 that is detachably engaged with the engagement hole 214.
  • the attachment member 212 includes a knob portion 218 and a shaft portion 220 that constitutes the engaging portion 216, and a proximal end of the wire 60 is coupled to a hole portion 222 formed in the shaft portion 220.
  • FIG. 31 is a plan view of the engagement hole 214, in which the shape of the enlarged diameter portion 228 (see FIG. 29) of the engagement portion 216 is superimposed on the shape of the engagement hole 214.
  • the engagement hole 214 has a narrow part 224 having a diameter a and a wide part 226 having a diameter b larger than the diameter a.
  • the first width of the present invention is described by a diameter a
  • the second width of the present invention is indicated by a diameter b.
  • a line CL connecting the center of the narrow portion 224 and the center of the wide portion 226 is a curve along an arc centered on the introduction port 94 (not shown).
  • the arrangement of the narrow portion 224 and the wide portion 226 facilitates an operation when the attachment member 212 is engaged with the engagement hole 214. This will be described later.
  • the 29 has a shaft part 220 having an outer diameter c equal to or smaller than the diameter a in FIG. 31 and a diameter-enlarged part 228 provided at the tip of the shaft part 220.
  • the engagement part 216 of the mounting member 212 shown in FIG. By reducing the difference between the diameter a and the outer diameter c, the shaft portion 220 can be stably held by the narrow portion 224.
  • the enlarged diameter portion 228 has an outer diameter d that is larger than the diameter a and smaller than the diameter b.
  • the enlarged diameter portion 228 functions as a retaining member that restricts the shaft portion 220 from separating from the narrow portion 224 in the axial direction of the shaft portion 220.
  • the engagement hole 214 has a frictional resistance portion 230 between the narrow portion 224 and the wide portion 226.
  • the frictional resistance portion 230 is provided at the opening entrance portion of the narrow portion 224 and is formed so as to protrude from the opposing wall surfaces of the engagement hole 214.
  • the frictional resistance part 230 functions as a restricting member that restricts the shaft part 220 inserted into the narrow part 224 from inadvertently sliding from the narrow part 224 to the wide part 226.
  • the engaging portion 216 is inserted into the wide portion 226.
  • the attachment member 212 slides from the wide part 226 toward the narrow part 224.
  • the attachment member 212 moves along a curve CL centering on the introduction port 94.
  • the attachment member 212 slides smoothly from the wide portion 226 toward the narrow portion 224.
  • the shaft portion 220 comes into contact with the frictional resistance portion 230, but the engaging portion 216 is made to have a width by the force of sliding the engaging portion 216.
  • the narrow portion 224 can be engaged without any problem.
  • the attachment member 212 is coupled to the movable member 96.
  • the base end of the wire 60 can be attached to the movable member 96 only by engaging the engaging portion 216 with the narrow portion 224.
  • the diameter expanding portion 228 can prevent the shaft portion 220 from being detached from the narrow portion 224 in the axial direction of the shaft portion 220. . Further, the shaft portion 220 abuts against the frictional resistance portion 230, so that the engagement portion 216 can be prevented from sliding from the narrow portion 224 toward the wide portion 226. Thereby, the attachment member 212 can be reliably connected to the movable member 96.
  • the engaging portion 216 is slid from the narrow portion 224 to the wide portion 226, and from the wide portion 226 to the engaging portion. Pull out 216.
  • the base end of the wire 60 can be detached from the movable member 96 only by pulling out the engaging portion 216 from the wide portion 226.
  • attachment structure 210 of the second embodiment similarly to the attachment structure 170 of the first embodiment, it is easy to attach and detach the proximal end of the wire 60 with respect to the standing operation mechanism 120 (see FIGS. 9 and 10). It can be carried out.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • FIG. 32 is an assembly perspective view of the mounting structure 232.
  • FIG. 33 is a plan view of the engagement hole 214 formed in the movable member 96, and shows the shape of the enlarged diameter portion 238 of the engagement portion 236 of the attachment member 234 superimposed on the shape of the engagement hole 214. Yes.
  • the engagement hole 214 has a narrow part 224 having a diameter a and a wide part 226 having a diameter b larger than the diameter a.
  • the narrow portion 224 and the wide portion 226 are in a positional relationship as in FIG.
  • the engaging portion 236 of the attachment member 234 shown in FIG. 32 is provided at the shaft portion 220 having an outer diameter c equal to or smaller than the diameter a and the tip of the shaft portion 220, and has an outer diameter f larger than the diameter b.
  • the enlarged diameter portion 238 is elastically deformed by the plurality of slits 237 and reduced in diameter when the enlarged diameter portion 238 is inserted into the wide portion 226.
  • the enlarged diameter portion 238 when the enlarged diameter portion 238 is fitted into the wide portion 226 of the engagement hole 214, the enlarged diameter portion 238 is elastically deformed by the plurality of slot grooves 237 and reduced in diameter. . Thereby, the enlarged diameter part 238 passes through the wide part 226, and when the enlarged diameter part 238 passes through the wide part 226, the enlarged diameter part 238 returns to the original diameter. As a result, the enlarged diameter portion 238 is engaged with the back surface 160A of the beam portion 160 of the movable member 96, so that the attachment member 234 is prevented from coming off from the movable member 96.
  • the engaging portion 236 is slid toward the narrow portion 224, and the engaging portion 236 is engaged with the narrow portion 224.
  • the attachment member 234 is coupled to the movable member 96.
  • the base end of the wire 60 can be attached to the movable member 96 only by engaging the engaging portion 236 with the narrow portion 224.
  • the diameter expanding portion 238 can prevent the shaft portion 220 from being detached from the narrow portion 224 in the axial direction of the shaft portion 220. . Further, the shaft portion 220 abuts against the frictional resistance portion 230, so that the engagement portion 236 can be prevented from sliding from the narrow portion 224 toward the wide portion 226. Thereby, the attachment member 234 can be reliably connected to the movable member 96.
  • the engaging portion 236 of the attachment member 234 is slid from the narrow portion 224 to the wide portion 226, and then the diameter is increased.
  • the part 238 is picked with a finger, the diameter-enlarged part 238 is reduced in diameter, and the diameter-enlarged part 238 is pulled out from the wide part 226.
  • the base end of the wire 60 can be removed from the movable member 96 only by pulling out the enlarged diameter portion 238 from the wide portion 226.
  • the attachment structure 232 of the third embodiment similarly to the attachment structure 170 of the first embodiment, the operation of attaching and detaching the proximal end of the wire 60 to the standing operation mechanism 120 (see FIGS. 9 and 10) can be easily performed. It can be carried out.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • FIG. 34 is a perspective view of the mounting structure 240
  • FIG. 35 is an assembly perspective view of the mounting structure 210.
  • the mounting structure 240 includes a movable member 242 and a mounting member 244.
  • the movable member 242 includes a first bearing portion 162, a second bearing portion 164, and a cylindrical body 246 that connects the first bearing portion 162 and the second bearing portion 164.
  • the cylindrical body 246 extends in a direction (X (+)-X ( ⁇ ) direction) perpendicular to the axial direction of the wire 60.
  • U-shaped grooves 248 and 250 constituting rotation restriction stoppers are formed at the upper end portions of the first bearing portion 162 and the second bearing portion 164, respectively.
  • the movable member 242 is also attached to the operation unit 22 with the same attachment structure as the movable member 96 shown in FIG.
  • the attachment member 244 includes an annular body 252 that is rotatably engaged with the outer periphery of the cylindrical body 246, and pins 254 and 256 that together with the grooves 248 and 250 constitute a rotation restricting stopper.
  • the annular body 252 has a C-shaped cross section perpendicular to the longitudinal direction, and the slit 253 formed in the longitudinal direction is pressed against the cylindrical body 246 to expand the diameter and engage with the cylindrical body 246. .
  • the slit 253 of the annular body 252 of the mounting member 244 is pressed against the cylindrical body 246 of the movable member 242, and the annular body 252 is engaged with the cylindrical body 246.
  • the base end of the wire 60 can be attached to the movable member 242 only by engaging the annular body 252 with the cylindrical body 246.
  • the pin 254 is engaged with the groove 248 and the pin 256 is engaged with the groove 250 at the same time, so that the movable member 242 pushes and pulls the wire 60.
  • the relative rotation of the annular body 252 with respect to the cylindrical body 246 can be prevented. Thereby, the wire 60 can be smoothly pushed and pulled.
  • the annular body 252 is cylindrical when the attachment member 244 is pulled in the direction of removing the pins 254 and 256 from the grooves 248 and 250.
  • the diameter is increased by being pushed by the body 246, and the annular body 252 is detached from the cylindrical body 246.
  • the base end of the wire 60 can be detached from the movable member 96 only by pulling the attachment member 244.
  • the attachment / detachment operation of the proximal end of the wire 60 with respect to the upright operation mechanism 120 can be easily performed as with the attachment structure 170 of the first embodiment. It can be carried out.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • the movable member 242 is provided with the cylindrical body 246, and the mounting member 244 is provided with the annular body 252.
  • the movable member 242 and the mounting member 244 are provided with the cylindrical body 246, and the other An annular body 252 may be provided on the surface.
  • FIG. 36 is a perspective view of the mounting structure 270
  • FIGS. 37 and 38 are assembly perspective views of the mounting structure 270.
  • the attachment structure 270 includes a movable member 96 and an attachment member 272.
  • the attachment member 272 includes a shaft portion 274 extending in a direction perpendicular to the axial direction of the wire 60, a connecting portion 276 extending in a direction h perpendicular to the longitudinal axis g of the shaft portion 274, and a shaft of the connecting portion 276.
  • a locking portion 278 provided on the opposite side to the portion 274 is provided.
  • the beam portion 160 of the movable member 96 is provided with a mounting hole 280 into which the shaft portion 274 is inserted, and a locking groove portion 282 in which the locking portion 278 is locked.
  • the mounting hole 280 is formed along the axial direction of the wire 60, and the length j of the mounting hole 280 along the axial direction is obtained by adding the diameter k of the shaft portion 274 and the length m of the connecting portion 276. It is set longer than the length.
  • the locking portion 278 is locked as shown in FIG. 36 when the shaft portion 274 is rotated around the longitudinal axis g of the shaft portion 274 in the state of FIG. 38 in which the shaft portion 274 is inserted deeply into the mounting hole 280.
  • the groove 282 is locked.
  • the beam portion 160 is formed with a notch 284 penetrating the mounting hole 280.
  • the connecting portion 276 is received in the mounting hole 280 via the notch portion 284.
  • the connecting portion 276 is provided with a wire groove portion 286 along the direction h which is the extending direction of the connecting portion 276.
  • the wire groove portion 286 accommodates the wire 60 when the locking portion 278 is locked to the locking groove portion 282.
  • the shaft portion 274 is inserted into the mounting hole 280, the shaft portion 274 is rotated around the longitudinal axis g of the shaft portion 274, and the locking portion 278 is locked to the locking groove portion. Lock to 282.
  • the proximal end of the wire 60 can be attached to the movable member 96 only by inserting the shaft portion 274 into the mounting hole 280 and rotating the shaft portion 274.
  • the base end of the wire 60 is removed from the movable member 96 simply by removing the locking portion 278 from the locking groove portion 282 and pulling out the shaft portion 274 from the mounting hole 280. be able to.
  • the attachment structure 270 of the fifth embodiment similarly to the attachment structure 170 of the first embodiment, the attachment / detachment operation of the proximal end of the wire 60 with respect to the standing operation mechanism 120 (see FIGS. 9 and 10) can be easily performed. It can be carried out.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • FIG. 39 is a perspective view of the mounting structure 290
  • FIG. 40 is an assembled perspective view of the mounting structure 290.
  • the attachment structure 290 includes a movable member 96 and an attachment member 292.
  • the attachment member 292 includes a pair of claw portions 294A and 294B, a spring 296 that urges the pair of claw portions 294A and 294B toward each other, and a pair of claw portions 294A and 294B against the urging force of the spring 296.
  • a pair of knobs 298A and 298B are provided for moving the two in a direction away from each other.
  • the spring 296 corresponds to the biasing member of the present invention.
  • the claw portion 294A and the knob portion 298A are integrally formed.
  • the claw portion 294B and the knob portion 298B are integrally formed and are pivotally supported by the shaft 300.
  • the proximal end of the wire 60 is fixed to the shaft 300.
  • the beam 160 of the movable member 96 is provided with a pair of mounting holes 302A and 302B in which the pair of claws 294A and 294B are mounted by the biasing force of the spring 296.
  • the pair of claw portions 298A, 298B is pinched to widen the distance between the pair of claw portions 294A, 294B, and the pair of claw portions 294A, 294B are paired with the pair of mounting holes 302A, Insert into 302B and release the fingers from the pair of claws 294A, 294B. Accordingly, the pair of knobs 298A and 298B are locked to the pair of mounting holes 302A and 302B by the biasing force of the spring 296.
  • the base end of the wire 60 is attached to the movable member 96 only by engaging the pair of knobs 298A, 298B with the pair of mounting holes 302A, 302B. Can do.
  • the pair of claw portions 298A and 298B are pinched to widen the distance between the pair of claw portions 294A and 294B.
  • the claw portions 294A and 294B are removed from the pair of mounting holes 302A and 302B.
  • the base end of the wire 60 can be removed from the movable member 96 only by removing the pair of knobs 298A, 298B from the pair of mounting holes 302A, 302B. .
  • the attaching / detaching operation of the proximal end of the wire 60 with respect to the standing operation mechanism 120 can be easily performed as in the attachment structure 170 of the first embodiment. It can be carried out.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • FIG. 41 is a perspective view of the mounting structure 310
  • FIGS. 42 and 43 are assembly perspective views of the mounting structure 3100.
  • FIG. 41 is a perspective view of the mounting structure 310
  • FIGS. 42 and 43 are assembly perspective views of the mounting structure 3100.
  • the attachment structure 310 includes a movable member 96 and an attachment member 312.
  • a fixed shaft portion 316 is provided on the beam portion 160 of the movable member 96. Further, the attachment member 312 is formed in a plate shape and is provided with a fixing hole 318 to be fitted to the fixed shaft portion 316.
  • the attachment member 312 is provided with a retaining hole 320
  • the movable member 96 is provided with a retaining part 322 that is fitted into the retaining hole 320.
  • the retaining portion 322 is formed in a shaft shape. Further, the retaining portion 322 is provided integrally with a soft resin sheet 324 such as polypropylene and is connected to the beam portion 160 via the resin sheet 324.
  • the fixing hole 318 is fitted into the fixed shaft portion 316 as shown in FIG. 43, and the retaining portion 322 is fitted into the retaining hole 320 as shown in FIG.
  • the base end of the wire 60 can be secured only by fitting the fixing hole 318 to the fixed shaft portion 316 and fitting the retaining portion 322 to the retaining hole 320.
  • the movable member 96 can be attached.
  • the base end of the wire 60 can be moved to the movable member only by pulling out the fixing hole 318 from the fixed shaft portion 316 after pulling out the retaining portion 322 from the retaining hole 320. 96 can be removed.
  • the attachment structure 310 of the seventh embodiment similarly to the attachment structure 170 of the first embodiment, the attachment / detachment operation of the proximal end of the wire 60 with respect to the standing operation mechanism 120 (see FIGS. 9 and 10) can be easily performed. It can be carried out.
  • the cleaning performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • the fixed shaft portion 316 is provided in the movable member 96 and the fixing hole 318 is provided in the attachment member 312.
  • the present invention is not limited to this, and the fixed hole 318 is provided in the movable member 96.
  • a fixed shaft portion 316 may be provided.
  • the retaining member 312 is provided with the retaining hole 320, and the movable member 96 is provided with the retaining portion 322.
  • the present invention is not limited thereto, and the mounting member 312 is provided with the retaining portion 322.
  • 96 may be provided with a retaining hole 320.
  • FIG. 44 is a perspective view of the mounting structure 330
  • FIG. 45 is an assembly perspective view of the mounting structure 330
  • FIG. 46 is a cross-sectional view showing the main configuration of the mounting structure 330
  • FIG. 47 is an explanatory view showing a state where a shaft portion 334, which will be described later, is broken by the pressing portion 346.
  • the attachment structure 310 includes a movable member 96 and an attachment member 332.
  • the attachment member 332 is provided at a shaft portion 334 extending in the axial direction of the wire 60, a small-diameter portion 336 formed at the center portion in the longitudinal axis direction of the shaft portion 334, and one end portion of the shaft portion 334.
  • a first locking portion 338 and a second locking portion 340 provided at the other end of the shaft portion 334 are provided.
  • the first locking portion 338 has a stopper portion 338A having a diameter larger than the diameter of the shaft portion 334 and a knob portion 338B formed on the stopper portion 338A.
  • the second locking portion 340 includes a stopper portion 340A having a diameter larger than the diameter of the shaft portion 334 and a knob portion 340B formed on the stopper portion 340A.
  • the beam portion 160 of the movable member 96 includes a fixed groove 342 that receives the shaft portion 334, and a stopper portion 338 ⁇ / b> A and a second lock portion of the first locking portion 338 when the shaft portion 334 is received in the fixed groove 342.
  • 340 is abutting against the stopper portion 340A of the 340 and restricts the movement of the shaft portion 334 in the longitudinal axis direction, and a shaft formed when the shaft portion 334 is accommodated in the fixed groove 342 formed in the fixed groove 342.
  • a convex pressing portion 346 (see FIG. 46) that is in contact with the central portion of the portion 334 is provided.
  • the retaining portion 344 is provided with a pair of retaining pieces 344A and 344A and a pair of retaining portions 344A and 344A that are disposed with a gap along the longitudinal direction of the shaft portion 334 in a direction approaching each other.
  • the elastic member 344B corresponds to the biasing member of the present invention.
  • the knobs 338B and 340B are picked with fingers, and the shaft part 334 is urged by the elastic members 344B and 344B from the gap between the pair of retaining pieces 344A and 344A.
  • the fixing groove 342 To be accommodated in the fixing groove 342. Accordingly, the axial movement of the shaft portion 334 is restricted by the retaining portion 344, and the shaft portion 334 is prevented from being detached from the fixing groove 343 by the pair of retaining portions 344A and 344A.
  • the base end of the wire 60 can be attached to the movable member 96 only by the operation of accommodating the shaft portion 334 in the fixed groove 342.
  • the wire 60 can be obtained simply by dividing the shaft portion 334 into the two shaft portions 334A and 334A and pulling out the two shaft portions 334A and 334A from the fixing groove 342. Can be removed from the movable member 96.
  • the attachment / detachment operation of the proximal end of the wire 60 with respect to the standing operation mechanism 120 can be easily performed in the same manner as the attachment structure 170 of the first embodiment. It can be carried out.
  • the rinsing performance of the endoscope 10 can be easily performed while the proximal end of the wire 60 is easily attached to and detached from the standing operation mechanism 120. Can be improved.
  • a duodenoscope has been exemplified and described as the endoscope 10.
  • the endoscope is provided with an upright table that adjusts the leading direction of the treatment tool at the distal end portion of the insertion portion, ultrasonic endoscope
  • the present invention can be applied to various endoscopes such as mirrors.

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

Abstract

L'invention concerne un endoscope permettant d'améliorer la nettoyabilité de l'endoscope tout en permettant l'accouplement et le désaccouplement faciles entre une extrémité proximale d'un fil et un mécanisme de levage. L'endoscope comprend : un élément mobile (96) disposé et visible sur l'extérieur d'une partie de manipulation (22), et fonctionnant conjointement avec la manipulation d'un levier de levage (20) ; un manchon (156) disposé et visible sur l'extérieur de la partie de manipulation (22), et portant à rotation l'élément mobile (96) sur la partie de manipulation (22) ; une première partie de support (162) disposée sur l'élément mobile (96), comportant un évidement inférieur fermé (163) formé sur une surface interne faisant face à la partie de manipulation (22), recevant le manchon (156) dans l'évidement (163) et recouvrant le manchon (156) ; un joint torique (158) disposé entre la surface circonférentielle externe du manchon (156) et la surface circonférentielle interne de l'évidement (163) ; un fil (60) relié au niveau de son extrémité distale à une plateforme relevable (30), et au niveau de son extrémité proximale à l'élément mobile (96) ; et un élément de fixation (98) disposé au niveau de l'extrémité proximale du fil (60) et venant en prise amovible avec l'élément mobile (96).
PCT/JP2019/000018 2018-02-09 2019-01-04 Endoscope WO2019155795A1 (fr)

Priority Applications (2)

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CN201980007136.6A CN111542252B (zh) 2018-02-09 2019-01-04 内窥镜
JP2019570334A JP6865862B2 (ja) 2018-02-09 2019-01-04 内視鏡

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JP2018-022237 2018-02-09

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Publication number Priority date Publication date Assignee Title
WO2021187298A1 (fr) * 2020-03-18 2021-09-23 富士フイルム株式会社 Endoscope
CN113476144A (zh) * 2021-08-23 2021-10-08 上海生知医疗科技有限公司 一种多自由度的便携微创手术机械臂

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JPH06315458A (ja) * 1993-05-07 1994-11-15 Olympus Optical Co Ltd 内視鏡
JPH07184831A (ja) * 1993-12-27 1995-07-25 Olympus Optical Co Ltd 内視鏡カバー方式の内視鏡装置
JP2016067770A (ja) * 2014-09-30 2016-05-09 富士フイルム株式会社 内視鏡装置

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JP3485196B2 (ja) * 1993-08-03 2004-01-13 オリンパス株式会社 内視鏡カバー方式内視鏡
JPH06315459A (ja) * 1993-05-07 1994-11-15 Olympus Optical Co Ltd 内視鏡
JP3313185B2 (ja) * 1993-05-11 2002-08-12 オリンパス光学工業株式会社 内視鏡
JP3349804B2 (ja) * 1993-08-23 2002-11-25 オリンパス光学工業株式会社 チャンネル付内視鏡カバー
JP2014128465A (ja) * 2012-12-28 2014-07-10 Fujifilm Corp 処置具起立ユニット及び内視鏡
JP5855628B2 (ja) * 2013-11-28 2016-02-09 富士フイルム株式会社 ワイヤ押し引き装置及び内視鏡
JP6249978B2 (ja) * 2015-03-20 2017-12-20 富士フイルム株式会社 内視鏡

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06315458A (ja) * 1993-05-07 1994-11-15 Olympus Optical Co Ltd 内視鏡
JPH07184831A (ja) * 1993-12-27 1995-07-25 Olympus Optical Co Ltd 内視鏡カバー方式の内視鏡装置
JP2016067770A (ja) * 2014-09-30 2016-05-09 富士フイルム株式会社 内視鏡装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021187298A1 (fr) * 2020-03-18 2021-09-23 富士フイルム株式会社 Endoscope
CN113476144A (zh) * 2021-08-23 2021-10-08 上海生知医疗科技有限公司 一种多自由度的便携微创手术机械臂

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CN111542252B (zh) 2023-12-15
JPWO2019155795A1 (ja) 2021-01-07
JP6865862B2 (ja) 2021-04-28
CN111542252A (zh) 2020-08-14

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